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‎rosidl_gen/templates/message.dot‎

Lines changed: 77 additions & 73 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ if (it.spec.fields.length === 0) {
3131
},
3232
"name": "_dummy"
3333
});
34-
} /* if */
34+
}
3535

3636
function getPrimitiveNameByType(type) {
3737
if (type.type === 'bool') {
@@ -108,7 +108,6 @@ function getTypedArrayName(type) {
108108
default:
109109
typedArrayName = '';
110110
}
111-
112111
return typedArrayName;
113112
}
114113

@@ -267,80 +266,84 @@ const {{=refObjectArrayType}} = StructType({
267266
capacity: ref.types.size_t
268267
});
269268

270-
// Define the wrapper class.
269+
{{/* Define the wrapper class for the message. */}}
271270
class {{=objectWrapper}} {
272271
constructor(other, willCheckConsistency = false) {
273-
this._wrapperFields = {};
274-
this._willCheckConsistency = willCheckConsistency;
275-
{{~ it.spec.fields :field}}
276-
{{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
277-
this._{{=field.name}}Array = [];
278-
{{?}}
279-
{{~}}
272+
this._initMembers(willCheckConsistency);
273+
this._setDefaults();
274+
{{/* Construct `this` from `other`. */}}
280275

281276
if (typeof other === 'object' && other._refObject) {
277+
//this._initMembers(willCheckConsistency);
282278
this._refObject = new {{=refObjectType}}(other._refObject.toObject());
283279
{{~ it.spec.fields :field}}
284-
{{? field.type.isPrimitiveType && !field.type.isArray}}
285-
this._{{=field.name}}Intialized = true;
286-
{{?}}
287-
288-
{{? field.type.isArray}}
289-
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
290-
this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
291-
{{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
292-
this.{{=field.name}} = other.{{=field.name}};
293-
{{?}}
294-
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
295-
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
296-
{{?}}
280+
{{? field.type.isPrimitiveType && !field.type.isArray}}
281+
this._{{=field.name}}Intialized = true;
282+
{{?}}
283+
284+
{{? field.type.isArray}}
285+
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
286+
this._wrapperFields.{{=field.name}}.copy(other._wrapperFields.{{=field.name}});
287+
{{? field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
288+
this.{{=field.name}} = other.{{=field.name}};
289+
{{?}}
290+
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
291+
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}(other._wrapperFields.{{=field.name}});
292+
{{?}}
297293
{{~}}
298294
} else if (typeof other !== 'undefined') {
299-
this._initMembers();
295+
{{/* Try to construct the message from a plan object of JavaScript. */}}
296+
//this._initMembers(willCheckConsistency);
300297
translator.constructFromPlanObject(this, other);
301298
} else {
302-
this._initMembers();
299+
//this._initMembers(willCheckConsistency);
303300
}
304301
this.freeze();
305302
}
306303

307-
_initMembers() {
308-
this._refObject = new {{=refObjectType}}();
304+
_setDefaults() {
309305
{{~ it.spec.fields :field}}
310-
{{? it.spec.isEmpty}}
311-
this._{{=field.name}}Intialized = true;
312-
{{??}}
313-
{{? field.type.isPrimitiveType && !field.type.isArray}}
314-
{{? field.default_value === null}}
315-
this._{{=field.name}}Intialized = false;
316-
{{?? field.type.type === 'string' || field.type.type === 'wstring'}}
317-
this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
318-
this._{{=field.name}}Intialized = true;
319-
{{??}}
320-
this._refObject.{{=field.name}} = {{=field.default_value}};
321-
this._{{=field.name}}Intialized = true;
322-
{{?}}
323-
{{?}}
306+
{{/* Set the flag of initialization. */}}
307+
{{? it.spec.isEmpty}}
308+
this._{{=field.name}}Intialized = true;
309+
{{?? field.type.isPrimitiveType && !field.type.isArray && field.default_value}}
310+
this._{{=field.name}}Intialized = true;
311+
{{? field.type.type === 'string' || field.type.type === 'wstring'}}
312+
this._refObject.{{=field.name}} = "{{=field.default_value.replace(/"/g, '\\"')}}";
313+
{{??}}
314+
this._refObject.{{=field.name}} = {{=field.default_value}};
315+
{{?}}
316+
{{?? field.type.isPrimitiveType && !isTypedArrayType(field.type) && field.default_value}}
317+
this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
318+
{{?? field.type.isPrimitiveType && isTypedArrayType(field.type) && field.default_value}}
319+
this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
320+
{{??}}
321+
this._{{=field.name}}Intialized = false;
322+
{{?}}
323+
{{~}}
324+
}
324325

325-
{{? field.type.isArray}}
326-
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
327-
{{? field.default_value !== null && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
328-
this._{{=field.name}}Array = {{=JSON.stringify(field.default_value)}};
329-
{{?}}
330-
{{? field.default_value !== null && field.type.isPrimitiveType && isTypedArrayType(field.type)}}
331-
this._wrapperFields.{{=field.name}}.fill({{=getTypedArrayName(field.type)}}.from({{=JSON.stringify(field.default_value)}}));
332-
{{?}}
333-
{{? field.type.type === 'string' && field.type.isFixedSizeArray}}
334-
for (let i = 0; i < {{=field.type.arraySize}}; i++) {
335-
primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
336-
}
337-
{{?}}
338-
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
339-
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
340-
{{?? it.spec.msgName === 'String'}}
341-
primitiveTypes.initString(this._refObject);
342-
{{?}}
343-
{{?}}
326+
_initMembers(willCheckConsistency) {
327+
this._willCheckConsistency = willCheckConsistency;
328+
this._wrapperFields = {};
329+
this._refObject = new {{=refObjectType}}();
330+
331+
{{~ it.spec.fields :field}}
332+
{{? field.type.isArray}}
333+
this._wrapperFields.{{=field.name}} = {{=getWrapperNameByType(field.type)}}.createArray();
334+
{{? field.type.type === 'string' && field.type.isFixedSizeArray}}
335+
for (let i = 0; i < {{=field.type.arraySize}}; i++) {
336+
primitiveTypes.initString(this._refObject.{{=field.name}}[i]);
337+
}
338+
{{?}}
339+
{{? field.type.isArray && field.type.isPrimitiveType && !isTypedArrayType(field.type)}}
340+
this._{{=field.name}}Array = [];
341+
{{?}}
342+
{{?? !field.type.isPrimitiveType || (field.type.type === 'string' && it.spec.msgName !== 'String')}}
343+
this._wrapperFields.{{=field.name}} = new {{=getWrapperNameByType(field.type)}}();
344+
{{?? it.spec.msgName === 'String'}}
345+
primitiveTypes.initString(this._refObject);
346+
{{?}}
344347
{{~}}
345348
}
346349

@@ -371,6 +374,7 @@ class {{=objectWrapper}} {
371374
return this._refObject.ref();
372375
}
373376

377+
{{ /*Allocate the memory following the struct of the message*/ }}
374378
freeze(own = false, checkConsistency = false) {
375379
{{~ it.spec.fields :field}}
376380
{{? field.type.isPrimitiveType && !field.type.isArray}}
@@ -395,7 +399,7 @@ class {{=objectWrapper}} {
395399
}
396400
}
397401
}
398-
// For non-typed array like int64/uint64/bool.
402+
{{/* For non-typed array like int64/uint64/bool. */}}
399403
{{?? true}}
400404
this._refObject.{{=field.name}} = this._{{=field.name}}Array;
401405
{{?}}
@@ -459,7 +463,7 @@ class {{=objectWrapper}} {
459463
for (let index = 0; index < {{=field.type.arraySize}}; index++) {
460464
this._{{=field.name}}Array[index] = refObject.{{=field.name}}[index].data;
461465
}
462-
// For non-typed array like int64/uint64/bool.
466+
{{/* For non-typed array like int64/uint64/bool. */}}
463467
{{?? true}}
464468
this._{{=field.name}}Array = refObject.{{=field.name}}.toArray();
465469
{{?}}
@@ -494,7 +498,7 @@ class {{=objectWrapper}} {
494498
if (refObject.{{=field.name}}.size != 0) {
495499
{{=getWrapperNameByType(field.type)}}.ArrayType.freeArray(refObject.{{=field.name}});
496500
if ({{=getWrapperNameByType(field.type)}}.ArrayType.useTypedArray) {
497-
// Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array.
501+
{{/* Do nothing, the v8 will take the ownership of the ArrayBuffer used by the typed array. */}}
498502
} else {
499503
deallocator.freeStructMember(refObject.{{=field.name}}, {{=getWrapperNameByType(field.type)}}.refObjectArrayType, 'data');
500504
}
@@ -657,7 +661,7 @@ class {{=objectWrapper}} {
657661
}
658662
}
659663

660-
// Define the wrapper of array class.
664+
{{/* Define the wrapper class for the message array. */}}
661665
class {{=arrayWrapper}} {
662666
constructor(size = 0) {
663667
this._resize(size);
@@ -670,13 +674,13 @@ class {{=arrayWrapper}} {
670674
fill(values) {
671675
{{? usePlainTypedArray}}
672676
if (Array.isArray(values)) {
673-
// Convert JavaScript array
677+
{{/* Convert JavaScript array. */}}
674678
this._wrappers = new {{=currentTypedArray}}(values);
675679
} else {
676680
this._wrappers = values;
677681
}
678682
{{?? isPrimitivePackage(it.spec.baseType)}}
679-
// Now for primitive arrays, only string/bool/int64/uint64 array drops here.
683+
{{/* For primitive arrays, only string/bool/int64/uint64 array drops here. */}}
680684
const length = values.length;
681685
this._resize(length);
682686
for (let i = 0; i < length; ++i) {
@@ -697,10 +701,10 @@ class {{=arrayWrapper}} {
697701
{{?}}
698702
}
699703

700-
// Put all data currently stored in `this._wrappers` into `this._refObject`
704+
{{/* Put all data currently stored in `this._wrappers` into `this._refObject`. */}}
701705
freeze(own) {
702706
{{? usePlainTypedArray}}
703-
// When it's a TypedArray: no need to copy to `this._refArray`
707+
{{/* When it's a TypedArray: no need to copy to `this._refArray`. */}}
704708
{{?? true}}
705709
this._wrappers.forEach((wrapper, index) => {
706710
wrapper.freeze(own);
@@ -783,13 +787,13 @@ class {{=arrayWrapper}} {
783787
{{?}}
784788
}
785789

786-
// Copy all data from `this._refObject` into `this._wrappers`
790+
{{/* Copy all data from `this._refObject` into `this._wrappers`. */}}
787791
copyRefObject(refObject) {
788792
this._refObject = refObject;
789793

790794
{{? usePlainTypedArray}}
791795
const byteLen = refObject.size * ref.types.{{=currentTypedArrayElementType}}.size;
792-
// An ArrayBuffer object that doesn't hold the ownership of the address
796+
{{/* An ArrayBuffer object doesn't hold the ownership of memory block starting from address. */}}
793797
const arrayBuffer = refObject.data.length !== 0 ?
794798
rclnodejs.createArrayBufferFromAddress(refObject.data.hexAddress(), byteLen) :
795799
Buffer.alloc(0);
@@ -814,7 +818,7 @@ class {{=arrayWrapper}} {
814818
{{? usePlainTypedArray}}
815819
this._wrappers = other._wrappers.slice();
816820
{{?? true}}
817-
// Array deep copy
821+
{{/* Array deep copy. */}}
818822
other._wrappers.forEach((wrapper, index) => {
819823
this._wrappers[index].copy(wrapper);
820824
});
@@ -823,7 +827,7 @@ class {{=arrayWrapper}} {
823827

824828
static freeArray(refObject) {
825829
{{? usePlainTypedArray}}
826-
// For TypedArray: .data will be 'free()'-ed in parent struct
830+
{{/* For TypedArray, `.data` will be 'free()'-ed in parent struct. */}}
827831
{{?? true}}
828832
let refObjectArray = refObject.data;
829833
refObjectArray.length = refObject.size;
@@ -851,7 +855,7 @@ class {{=arrayWrapper}} {
851855
}
852856

853857
{{? it.spec.constants != undefined && it.spec.constants.length}}
854-
// Define constants ({{=it.spec.constants.length}} in total)
858+
{{/* Define constants ({{=it.spec.constants.length}} in total). */}}
855859
{{~ it.spec.constants :c}}
856860
{{? c.type === "string"}}
857861
Object.defineProperty({{=objectWrapper}}, "{{=c.name}}", {value: "{{=c.value}}", writable: false, enumerable: true, configurable: true});

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