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// Copyright 2011-2020 Wason Technology, LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//DataTypes
%rr_intrusive_ptr(RobotRaconteur::Message)
%rr_intrusive_ptr(RobotRaconteur::MessageEntry)
%rr_intrusive_ptr(RobotRaconteur::MessageHeader)
%rr_intrusive_ptr(RobotRaconteur::MessageElement)
%rr_intrusive_ptr(RobotRaconteur::MessageElementNestedElementList)
//Message
%template(vectorptr_messageentry) std::vector<boost::intrusive_ptr<RobotRaconteur::MessageEntry> > ;
%template(vectorptr_messageelement) std::vector<boost::intrusive_ptr<RobotRaconteur::MessageElement> > ;
namespace RobotRaconteur
{
class TimeSpec;
class Message : public virtual RRValue
{
public:
boost::intrusive_ptr<RobotRaconteur::MessageHeader> header;
std::vector<boost::intrusive_ptr<RobotRaconteur::MessageEntry> > entries;
Message();
uint32_t ComputeSize();
//void Write(ArrayBinaryWriter &w);
boost::intrusive_ptr<RobotRaconteur::MessageEntry> FindEntry(const std::string& name);
boost::intrusive_ptr<RobotRaconteur::MessageEntry> AddEntry(MessageEntryType t, const std::string& name);
//void Read(ArrayBinaryReader &r);
};
class MessageHeader : public virtual RRValue
{
public:
uint16_t HeaderSize;
uint8_t MessageFlags;
uint32_t SenderEndpoint;
uint32_t ReceiverEndpoint;
MessageStringPtr SenderNodeName;
MessageStringPtr ReceiverNodeName;
NodeID SenderNodeID;
NodeID ReceiverNodeID;
MessageStringPtr MetaData;
uint16_t EntryCount;
uint16_t MessageID;
uint16_t MessageResID;
uint32_t MessageSize;
uint16_t Priority;
std::vector<uint8_t> Extended;
uint16_t ComputeSize();
//std::vector < boost::tuple<uint32_t, std::string> > StringTable; //Type not SWIG compatible?
void UpdateHeader(uint32_t message_size, uint16_t entry_count);
//void Write(ArrayBinaryWriter &w);
//void Read(ArrayBinaryReader &r);
MessageHeader();
};
class MessageElement;
class MessageEntry : public virtual RRValue
{
public:
uint32_t EntrySize;
uint8_t EntryFlags;
MessageEntryType EntryType;
MessageStringPtr ServicePath;
MessageStringPtr MemberName;
uint32_t MemberNameCode;
uint32_t RequestID;
MessageErrorType Error;
MessageStringPtr MetaData;
std::vector<uint8_t> Extended;
std::vector<boost::intrusive_ptr<RobotRaconteur::MessageElement> > elements;
MessageEntry();
MessageEntry(MessageEntryType t, const std::string& n);
uint32_t ComputeSize();
boost::intrusive_ptr<MessageElement> FindElement(const std::string& name);
//boost::intrusive_ptr<MessageElement> AddElement(const std::string& name, const boost::intrusive_ptr<RobotRaconteur::MessageElementData>& data);
boost::intrusive_ptr<MessageElement> AddElement(const boost::intrusive_ptr<RobotRaconteur::MessageElement>& m);
//void Write(ArrayBinaryWriter &w);
//void Read(ArrayBinaryReader &r);
};
class MessageElement : public virtual RRValue
{
public:
uint32_t ElementSize;
uint8_t ElementFlags;
MessageStringPtr ElementName;
uint32_t ElementNameCode;
int32_t ElementNumber;
DataTypes ElementType;
MessageStringPtr ElementTypeName;
uint32_t ElementTypeNameCode;
MessageStringPtr MetaData;
std::vector<uint8_t> Extended;
uint32_t DataCount;
MessageElement();
RR_MAKE_METHOD_PRIVATE(GetData);
RR_MAKE_METHOD_PRIVATE(SetData);
boost::intrusive_ptr<RobotRaconteur::MessageElementData> GetData();
void SetData(const boost::intrusive_ptr<RobotRaconteur::MessageElementData>& value);
uint32_t ComputeSize();
void UpdateData();
//void Write(ArrayBinaryWriter &w);
//void Read(ArrayBinaryReader &r);
static boost::intrusive_ptr<RobotRaconteur::MessageElement> FindElement(std::vector<boost::intrusive_ptr<RobotRaconteur::MessageElement> > &m, const std::string& name);
static bool ContainsElement(std::vector<boost::intrusive_ptr<RobotRaconteur::MessageElement> > &m, const std::string& name);
};
class MessageElementNestedElementList : public MessageElementData
{
public:
DataTypes Type;
MessageStringPtr TypeName;
std::vector<boost::intrusive_ptr<MessageElement> > Elements;
MessageElementNestedElementList(DataTypes type_, const std::string& type_name_, const std::vector<boost::intrusive_ptr<MessageElement> > &elements_);
virtual MessageStringPtr GetTypeString();
virtual DataTypes GetTypeID();
//virtual boost::string_ref RRType();
};
}
%inline
{
class MessageElementDataUtil
{
public:
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> ToRRBaseArray(const boost::intrusive_ptr<RobotRaconteur::MessageElementData>& m)
{
return boost::dynamic_pointer_cast<RRBaseArray>(m);
}
static boost::intrusive_ptr<RobotRaconteur::MessageElementNestedElementList> ToMessageElementNestedElementList(const boost::intrusive_ptr<RobotRaconteur::MessageElementData>& m)
{
return boost::dynamic_pointer_cast<MessageElementNestedElementList>(m);
}
#ifdef RR_MESSAGE_ELEMENT_DATA_UTIL_EXTRAS
static std::string RRBaseArrayToString(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
return RRArrayToString(rr_cast<RRArray<char> >(rrarray));
}
static void RRBaseArrayToDoubles(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, double* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_double_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(double));
}
static void RRBaseArrayToFloats(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, float* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_single_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(float));
}
static void RRBaseArrayToBytes(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, int8_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_int8_t && rrarray->GetTypeID()!=DataTypes_uint8_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(int8_t));
}
static void RRBaseArrayToBytes(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, uint8_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_uint8_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(uint8_t));
}
static void RRBaseArrayToShorts(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, int16_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_int16_t && rrarray->GetTypeID()!=DataTypes_uint16_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(int16_t));
}
static void RRBaseArrayToShorts(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, uint16_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_uint16_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(uint16_t));
}
static void RRBaseArrayToInts(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, int32_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_int32_t && rrarray->GetTypeID()!=DataTypes_uint32_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(int32_t));
}
static void RRBaseArrayToInts(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, uint32_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_uint32_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(uint32_t));
}
static void RRBaseArrayToLongs(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, int64_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_int64_t && rrarray->GetTypeID()!=DataTypes_uint64_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(int64_t));
}
#ifndef SWIGJAVA
static void RRBaseArrayToLongs(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, uint64_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_uint64_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(uint64_t));
}
#endif
static void RRBaseArrayComplexToDoubles(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, double* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_cdouble_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len/2) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(double));
}
static void RRBaseArrayComplexToFloats(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, float* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_csingle_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len/2) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(float));
}
static void RRBaseArrayBoolToBytes(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, uint8_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_bool_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(uint8_t));
}
static void RRBaseArrayBoolToBytes(const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray, int8_t* array_out, int32_t len)
{
if (rrarray->GetTypeID()!=DataTypes_bool_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(array_out,rrarray->void_ptr(),len*sizeof(int8_t));
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> stringToRRBaseArray(const std::string& str)
{
return stringToRRArray(str);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> DoublesToRRBaseArray(double* array_in, int32_t len)
{
return AttachRRArrayCopy(array_in,len);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> FloatsToRRBaseArray(float* array_in, int32_t len)
{
return AttachRRArrayCopy(array_in,len);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> BytesToRRBaseArray( int8_t* array_in, int32_t len, RobotRaconteur::DataTypes type)
{
if (type == DataTypes_int8_t) return AttachRRArrayCopy(array_in,len);
if (type == DataTypes_uint8_t) return AttachRRArrayCopy((uint8_t*)array_in,len);
throw DataTypeException("Invalid data type");
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> BytesToRRBaseArray( uint8_t* array_in, int32_t len)
{
return AttachRRArrayCopy(array_in,len);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> ShortsToRRBaseArray( int16_t* array_in, int32_t len, RobotRaconteur::DataTypes type)
{
if (type == DataTypes_int16_t) return AttachRRArrayCopy(array_in,len);
if (type == DataTypes_uint16_t) return AttachRRArrayCopy((uint16_t*)array_in,len);
throw DataTypeException("Invalid data type");
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> ShortsToRRBaseArray( uint16_t* array_in, int32_t len)
{
return AttachRRArrayCopy(array_in,len);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> IntsToRRBaseArray( int32_t* array_in, int32_t len, RobotRaconteur::DataTypes type)
{
if (type == DataTypes_int32_t) return AttachRRArrayCopy(array_in,len);
if (type == DataTypes_uint32_t) return AttachRRArrayCopy((uint32_t*)array_in,len);
throw DataTypeException("Invalid data type");
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> IntsToRRBaseArray( uint32_t* array_in, int32_t len)
{
return AttachRRArrayCopy(array_in,len);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> LongsToRRBaseArray( int64_t* array_in, int32_t len, RobotRaconteur::DataTypes type)
{
if (type == DataTypes_int64_t) return AttachRRArrayCopy(array_in,len);
if (type == DataTypes_uint64_t) return AttachRRArrayCopy((uint64_t*)array_in,len);
throw DataTypeException("Invalid data type");
}
#ifndef SWIGJAVA
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> LongsToRRBaseArray( uint64_t* array_in, int32_t len)
{
return AttachRRArrayCopy(array_in,len);
}
#endif
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> DoublesToComplexRRBaseArray(double* array_in, int32_t len)
{
if (len %2 != 0) throw InvalidArgumentException("Array must be even length");
return AttachRRArrayCopy((cdouble*)array_in,len/2);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> FloatsToComplexRRBaseArray(float* array_in, int32_t len)
{
if (len %2 != 0) throw InvalidArgumentException("Array must be even length");
return AttachRRArrayCopy((cfloat*)array_in,len/2);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> BytesToBoolRRBaseArray(uint8_t* array_in, int32_t len)
{
return AttachRRArrayCopy((rr_bool*)array_in,len);
}
static boost::intrusive_ptr<RobotRaconteur::RRBaseArray> BytesToBoolRRBaseArray(int8_t* array_in, int32_t len)
{
return AttachRRArrayCopy((rr_bool*)array_in,len);
}
static void DoublesToRRBaseArray(double* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_double_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(double));
}
static void FloatsToRRBaseArray(float* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_single_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(float));
}
static void BytesToRRBaseArray( int8_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_int8_t && rrarray->GetTypeID()!=DataTypes_uint8_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(int8_t));
}
static void BytesToRRBaseArray( uint8_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_uint8_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(uint8_t));
}
static void ShortsToRRBaseArray( int16_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_int16_t && rrarray->GetTypeID()!=DataTypes_uint16_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(int16_t));
}
static void ShortsToRRBaseArray( uint16_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_uint16_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(uint16_t));
}
static void IntsToRRBaseArray( int32_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_int32_t && rrarray->GetTypeID()!=DataTypes_uint32_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(int32_t));
}
static void IntsToRRBaseArray( uint32_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_uint32_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(uint32_t));
}
static void LongsToRRBaseArray( int64_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_int64_t && rrarray->GetTypeID()!=DataTypes_uint64_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(int64_t));
}
#ifndef SWIGJAVA
static void LongsToRRBaseArray( uint64_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_uint64_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(uint64_t));
}
#endif
static void DoublesToComplexRRBaseArray(double* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_cdouble_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len/2) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(double));
}
static void FloatsToComplexRRBaseArray(float* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_csingle_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len/2) throw InvalidArgumentException("RRArray error");
memcpy(rrarray->void_ptr(),array_in,len*sizeof(float));
}
static void BytesToBoolRRBaseArray( int8_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_bool_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy((rr_bool*)rrarray->void_ptr(),array_in,len*sizeof(int8_t));
}
static void BytesToBoolRRBaseArray( uint8_t* array_in, int32_t len,const boost::intrusive_ptr<RobotRaconteur::RRBaseArray>& rrarray)
{
if (rrarray->GetTypeID()!=DataTypes_bool_t) throw InvalidArgumentException("RRArray error");
if (rrarray->size()!=len) throw InvalidArgumentException("RRArray error");
memcpy((rr_bool*)rrarray->void_ptr(),array_in,len*sizeof(uint8_t));
}
#endif
};
}
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