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Removed 'empty' message from event port handlers
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@ClintMcKenzieJr
ClintMcKenzieJr committed Dec 22, 2024
1 parent 4137b3e commit afcbc04
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Showing 2 changed files with 124 additions and 37 deletions.
2 changes: 1 addition & 1 deletion jvm/src/test
Submodule test updated 10 files
+2 −1 ...lax/src/building_control_cpp_pkg/include/building_control_cpp_pkg/base_headers/tcp_tempControl_base_src.hpp
+1 −1 ...ixed/lax/src/building_control_cpp_pkg/include/building_control_cpp_pkg/user_headers/tcp_tempControl_src.hpp
+7 −1 ...ros2/building_control_gen_mixed/lax/src/building_control_cpp_pkg/src/base_code/tcp_tempControl_base_src.cpp
+2 −2 ...cted/ros2/building_control_gen_mixed/lax/src/building_control_cpp_pkg/src/user_code/tcp_tempControl_src.cpp
+1 −1 ...ict/src/building_control_cpp_pkg/include/building_control_cpp_pkg/base_headers/tcp_tempControl_base_src.hpp
+1 −1 ...d/strict/src/building_control_cpp_pkg/include/building_control_cpp_pkg/user_headers/tcp_tempControl_src.hpp
+1 −1 ...cted/ros2/building_control_gen_mixed/strict/src/building_control_cpp_pkg/src/base_code/tcp_fan_base_src.cpp
+3 −7 ...2/building_control_gen_mixed/strict/src/building_control_cpp_pkg/src/base_code/tcp_tempControl_base_src.cpp
+2 −2 ...d/ros2/building_control_gen_mixed/strict/src/building_control_cpp_pkg/src/user_code/tcp_tempControl_src.cpp
+19 −19 ...ted/ros2/datatype-examples/strict/src/datatypes_system_cpp_pkg/src/base_code/consumer_consumer_base_src.cpp
159 changes: 123 additions & 36 deletions shared/src/main/scala/org/sireum/hamr/codegen/ros2/Generator.scala
View file
Original file line number Diff line number Diff line change
Expand Up @@ -716,12 +716,21 @@ object Generator {
val topicName = genPortName(inPort)
val portName = inPort.identifier

val portCode: ST =
st"""${topicName}_subscription_ = this->create_subscription<${portType}>(
| "${topicName}",
| 1,
| std::bind(&${nodeName}::handle_${portName}, this, std::placeholders::_1), ${subscription_options_name});
"""
var portCode: ST = st""
if (isEventPort(portType)) {
portCode = st"""${topicName}_subscription_ = this->create_subscription<${portType}>(
| "${topicName}",
| 1,
| std::bind(&${nodeName}::event_handle_${portName}, this, std::placeholders::_1), ${subscription_options_name});
"""
}
else {
portCode = st"""${topicName}_subscription_ = this->create_subscription<${portType}>(
| "${topicName}",
| 1,
| std::bind(&${nodeName}::handle_${portName}, this, std::placeholders::_1), ${subscription_options_name});
"""
}
return portCode
}

Expand Down Expand Up @@ -964,42 +973,87 @@ object Generator {
def genCppSubscriptionHandlerVirtualHeader(inPort: AadlPort, portType: String): ST = {
val handlerName = inPort.identifier

val subscriptionHandlerHeader: ST =
st"virtual void handle_${handlerName}(const ${portType}::SharedPtr msg) = 0;"
var subscriptionHandlerHeader: ST = st""
if (isEventPort(portType)) {
subscriptionHandlerHeader = st"""void event_handle_${handlerName}(const ${portType}::SharedPtr msg);
|virtual void handle_${handlerName}() = 0;"""
}
else {
subscriptionHandlerHeader = st"virtual void handle_${handlerName}(const ${portType}::SharedPtr msg) = 0;"
}
return subscriptionHandlerHeader
}

def genCppSubscriptionHandlerVirtualHeaderStrict(inPort: AadlPort, portType: String): ST = {
val handlerName = inPort.identifier

val subscriptionHandlerHeader: ST =
st"virtual void handle_${handlerName}(const ${portType} msg) = 0;"
var subscriptionHandlerHeader: ST = st""
if (isEventPort(portType)) {
subscriptionHandlerHeader = st"virtual void handle_${handlerName}() = 0;"
}
else {
subscriptionHandlerHeader = st"virtual void handle_${handlerName}(const ${portType} msg) = 0;"
}

return subscriptionHandlerHeader
}

def genCppEventPortHandler(inPort: AadlPort, nodeName: String, portType: String): ST = {
val handlerName = inPort.identifier

val handler: ST = st"""void ${nodeName}::event_handle_${handlerName}(const ${portType}::SharedPtr msg)
|{
| (void)msg;
| handle_${handlerName}();
|}
"""

return handler
}

// Example:
// void handle_currentTemp(const example_interfaces::msg::Int32::SharedPtr currentTempMsg) {}
def genCppSubscriptionHandlerSporadic(inPort: AadlPort, nodeName: String, portType: String): ST = {
val handlerName = inPort.identifier

val subscriptionHandlerHeader: ST =
st"""void ${nodeName}::handle_${handlerName}(const ${portType}::SharedPtr msg)
|{
| // Handle ${handlerName} msg
|}
"""
var subscriptionHandlerHeader: ST = st""
if (isEventPort(portType)) {
subscriptionHandlerHeader = st"""void ${nodeName}::handle_${handlerName}()
|{
| // Handle ${handlerName} event
|}
"""
}
else {
subscriptionHandlerHeader = st"""void ${nodeName}::handle_${handlerName}(const ${portType}::SharedPtr msg)
|{
| // Handle ${handlerName} msg
|}
"""
}

return subscriptionHandlerHeader
}

def genCppSubscriptionHandlerSporadicStrict(inPort: AadlPort, nodeName: String, portType: String): ST = {
val handlerName = inPort.identifier

val subscriptionHandlerHeader: ST =
st"""void ${nodeName}::handle_${handlerName}(const ${portType} msg)
|{
| // Handle ${handlerName} msg
|}
"""
var subscriptionHandlerHeader: ST = st""
if (isEventPort(portType)) {
subscriptionHandlerHeader = st"""void ${nodeName}::handle_${handlerName}()
|{
| // Handle ${handlerName} event
|}
"""
}
else {
subscriptionHandlerHeader = st"""void ${nodeName}::handle_${handlerName}(const ${portType} msg)
|{
| // Handle ${handlerName} msg
|}
"""
}

return subscriptionHandlerHeader
}

Expand All @@ -1017,16 +1071,25 @@ object Generator {
def genCppSubscriptionHandlerBaseSporadic(inPort: AadlPort, nodeName: String, portType: String): ST = {
val handlerName = inPort.identifier

val handlerCode: ST =
st"""void ${nodeName}::handle_${handlerName}_base(MsgType msg)
|{
| if (auto typedMsg = std::get_if<${portType}>(&msg)) {
| handle_${handlerName}(*typedMsg);
| } else {
| PRINT_ERROR("Sending out wrong type of variable on port ${handlerName}.\nThis shouldn't be possible. If you are seeing this message, please notify this tool's current maintainer.");
| }
|}
"""
var handlerCode: ST = st""
if (isEventPort(portType)) {
handlerCode = st"""void ${nodeName}::handle_${handlerName}_base(MsgType msg)
|{
| handle_${handlerName}();
|}
"""
}
else {
handlerCode = st"""void ${nodeName}::handle_${handlerName}_base(MsgType msg)
|{
| if (auto typedMsg = std::get_if<${portType}>(&msg)) {
| handle_${handlerName}(*typedMsg);
| } else {
| PRINT_ERROR("Receiving wrong type of variable on port ${handlerName}.\nThis shouldn't be possible. If you are seeing this message, please notify this tool's current maintainer.");
| }
|}
"""
}

return handlerCode
}
Expand All @@ -1036,16 +1099,28 @@ object Generator {
def genCppSubscriptionHandlerHeader(inPort: AadlPort, portType: String): ST = {
val handlerName = inPort.identifier

val subscriptionHandlerHeader: ST =
st"void handle_${handlerName}(const ${portType}::SharedPtr msg);"
var subscriptionHandlerHeader: ST = st""
if (isEventPort(portType)) {
subscriptionHandlerHeader = st"void handle_${handlerName}();"
}
else {
subscriptionHandlerHeader = st"void handle_${handlerName}(const ${portType}::SharedPtr msg);"
}

return subscriptionHandlerHeader
}

def genCppSubscriptionHandlerHeaderStrict(inPort: AadlPort, portType: String): ST = {
val handlerName = inPort.identifier

val subscriptionHandlerHeader: ST =
st"void handle_${handlerName}(const ${portType} msg);"
var subscriptionHandlerHeader: ST = st""
if (isEventPort(portType)) {
subscriptionHandlerHeader = st"void handle_${handlerName}();"
}
else {
subscriptionHandlerHeader = st"void handle_${handlerName}(const ${portType} msg);"
}

return subscriptionHandlerHeader
}

Expand Down Expand Up @@ -1636,6 +1711,7 @@ object Generator {
var subscriberMethods: ISZ[ST] = IS()
var publisherMethods: ISZ[ST] = IS()
var subscriptionMessageGetters: ISZ[ST] = IS()
var eventPortHandlers: ISZ[ST] = IS()

var outPortNames: ISZ[String] = IS()
var inTuplePortNames: ISZ[String] = IS()
Expand Down Expand Up @@ -1678,6 +1754,10 @@ object Generator {
else {
if (p.direction == Direction.In) {
subscribers = subscribers :+ genCppTopicSubscription(p, nodeName, portDatatype)
// Specifically for event ports, not eventdata ports (no data to be handled)
if (isEventPort(portDatatype)) {
eventPortHandlers = eventPortHandlers :+ genCppEventPortHandler(p, nodeName, portDatatype)
}
if (!isSporadic(component) || p.isInstanceOf[AadlDataPort]) {
subscriberMethods = subscriberMethods :+
genCppSubscriptionHandlerPeriodic(p, nodeName, portDatatype)
Expand Down Expand Up @@ -1781,6 +1861,13 @@ object Generator {
|${(subscriptionMessageGetters, "\n")}"""
}

// TODO: Here
if (eventPortHandlers.size > 0) {
fileBody =
st"""${fileBody}
|${(eventPortHandlers, "\n")}"""
}

if (strictSubscriptionHandlerBaseMethods.size > 0) {
fileBody =
st"""${fileBody}
Expand Down

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