Module: OroGen::Gen::RTT_CPP::OperationGeneration

Defined in:
lib/orogen/gen/tasks.rb

Overview

Module that is used to add code generation functionality to Spec::Operation

Instance Method Summary collapse

Instance Method Details

#argument_signature(with_names = true, with_types = true) ⇒ Object

Returns the argument part of the C++ signature for this callable



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# File 'lib/orogen/gen/tasks.rb', line 213

def argument_signature(with_names = true, with_types = true)
    arglist = arguments.map do |name, type, doc, qualified_type|
        # Auto-add const-ref for non-trivial types
        arg =
            if type.cxx_name == qualified_type && !(type < Typelib::NumericType)
                "#{type.cxx_name} const &"
            else
                qualified_type
            end

        ("#{arg if with_types} #{name if with_names}").strip
    end

    arglist.join(", ")
end

#initialize ⇒ Object 



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# File 'lib/orogen/gen/tasks.rb', line 188

def initialize
    @method_name = self.name.dup
    method_name[0, 1] = method_name[0, 1].downcase
end

#register_for_generation ⇒ Object

Called to register methods/hook code and so on on the task context



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# File 'lib/orogen/gen/tasks.rb', line 239

def register_for_generation
    thread_flag =
        if in_caller_thread then "RTT::ClientThread"
        else "RTT::OwnThread"
        end

    constructor = "provides()->addOperation( _#{name})\n" +
        "    .doc(#{Generation.multiline_string_to_cxx(doc)})"
    if !arguments.empty?
        constructor += "\n" + arguments.map { |n, _, d| "    .arg(\"#{n}\", \"#{d}\")" }.join("\n")
    end

    if hidden? && !self.base_body
        raise InternalError, "a hidden operation with name #{name} must have a body"
    end


    body =
        if self.body
            self.body
        elsif has_return_value?
            "    return #{return_type.first.cxx_name}();"
        else ""
        end

    task.add_base_member("operation", "_#{name}", "RTT::Operation< #{signature(false)} >").
        initializer("_#{name}(\"#{name}\", &#{task.basename}Base::#{method_name}, this, #{thread_flag})").
        constructor("#{constructor};")


    if hidden? || base_body
        task.add_base_method(return_type[1], method_name, argument_signature).
            body(base_body).
            doc("base implementation of the #{method_name} operation")
    end
    if !hidden?
        task.add_user_method(return_type[1], method_name, argument_signature). 
            body(body).
            doc(doc || "Handler for the #{method_name} operation")
    end
        
end

#signature(with_names = true) ⇒ Object

Returns the C++ signature for this operation. Used in code generation only.



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# File 'lib/orogen/gen/tasks.rb', line 195

def signature(with_names = true)
    result = return_type[1].dup
    if with_names
        result << " " <<
            if block_given? then yield
            else method_name
            end
    end
    result << "(" << argument_signature(with_names) << ")"
end

#used_types ⇒ Object

Returns the set of types that this operation uses, as a Set of Typelib::Type classes.



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# File 'lib/orogen/gen/tasks.rb', line 208

def used_types
    each_interface_type.to_a
end