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Use std::byte in cpp files for bytes #881

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cf4b778
Use std::byte
InvincibleRMC Jul 29, 2025
4c29a44
Add includes
InvincibleRMC Jul 29, 2025
8f347c6
move include
InvincibleRMC Jul 29, 2025
88d85f1
First stab at DeprecatedHelperByte
InvincibleRMC Aug 9, 2025
40548be
got base byte working, still workin on containers
InvincibleRMC Aug 12, 2025
082208f
Merge branch 'rolling' into rosidl_generator_cpp_byte
InvincibleRMC Aug 12, 2025
0ea5065
Tests passing with new ByteRef
InvincibleRMC Aug 13, 2025
c20adf1
Move ByteRef into detail namespace
InvincibleRMC Aug 13, 2025
f6d3877
resolve deprecation warnings in traits
InvincibleRMC Aug 13, 2025
9814457
add test to cmake
InvincibleRMC Aug 14, 2025
a968d43
remaing std::array api
InvincibleRMC Aug 14, 2025
e4462d0
hide private methods
InvincibleRMC Aug 14, 2025
96c1693
Narrow comparison functions
InvincibleRMC Aug 17, 2025
42e3b3d
Narrow comparison functions
InvincibleRMC Aug 17, 2025
2b93c0a
merge
InvincibleRMC Aug 21, 2025
dfc567a
Split Mixin out of array to be reused for vectors
InvincibleRMC Aug 22, 2025
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4 changes: 3 additions & 1 deletion rosidl_generator_cpp/resource/msg__struct.hpp.em
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Expand Up @@ -281,13 +281,15 @@ non_defaulted_zero_initialized_members = [
@[ else]@
static constexpr @(MSG_TYPE_TO_CPP[constant.type.typename]) @(constant.name) =
@[ if isinstance(constant.type, BasicType)]@
@[ if constant.type.typename in (*INTEGER_TYPES, *CHARACTER_TYPES, BOOLEAN_TYPE, OCTET_TYPE)]@
@[ if constant.type.typename in (*INTEGER_TYPES, *CHARACTER_TYPES, BOOLEAN_TYPE)]@
@(int(constant.value))@
@[ if constant.type.typename in UNSIGNED_INTEGER_TYPES]@
u@
@[ end if]@
@[ elif constant.type.typename == 'float']@
@(constant.value)f@
@[ elif constant.type.typename == OCTET_TYPE]@
std::byte{@(constant.value)}@
@[ else]@
@(constant.value)@
@[ end if];
Expand Down
8 changes: 4 additions & 4 deletions rosidl_generator_cpp/resource/msg__traits.hpp.em
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Expand Up @@ -93,7 +93,7 @@ inline void to_flow_style_yaml(
{
@[ if isinstance(member.type, BasicType)]@
out << "@(member.name): ";
@[ if member.type.typename in ('octet', 'char', 'wchar')]@
@[ if member.type.typename in ('char', 'wchar')]@
rosidl_generator_traits::character_value_to_yaml(msg.@(member.name), out);
@[ else]@
rosidl_generator_traits::value_to_yaml(msg.@(member.name), out);
Expand All @@ -112,7 +112,7 @@ inline void to_flow_style_yaml(
size_t pending_items = msg.@(member.name).size();
for (auto item : msg.@(member.name)) {
@[ if isinstance(member.type.value_type, BasicType)]@
@[ if member.type.value_type.typename in ('octet', 'char', 'wchar')]@
@[ if member.type.value_type.typename in ('char', 'wchar')]@
rosidl_generator_traits::character_value_to_yaml(item, out);
@[ else]@
rosidl_generator_traits::value_to_yaml(item, out);
Expand Down Expand Up @@ -158,7 +158,7 @@ inline void to_block_style_yaml(
}
@[ if isinstance(member.type, BasicType)]@
out << "@(member.name): ";
@[ if member.type.typename in ('octet', 'char', 'wchar')]@
@[ if member.type.typename in ('char', 'wchar')]@
rosidl_generator_traits::character_value_to_yaml(msg.@(member.name), out);
@[ else]@
rosidl_generator_traits::value_to_yaml(msg.@(member.name), out);
Expand All @@ -182,7 +182,7 @@ inline void to_block_style_yaml(
}
@[ if isinstance(member.type.value_type, BasicType)]@
out << "- ";
@[ if member.type.value_type.typename in ('octet', 'char', 'wchar')]@
@[ if member.type.value_type.typename in ('char', 'wchar')]@
rosidl_generator_traits::character_value_to_yaml(item, out);
@[ else]@
rosidl_generator_traits::value_to_yaml(item, out);
Expand Down
6 changes: 4 additions & 2 deletions rosidl_generator_cpp/rosidl_generator_cpp/__init__.py
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Expand Up @@ -55,7 +55,7 @@ def prefix_with_bom_if_necessary(content: str) -> str:

MSG_TYPE_TO_CPP = {
'boolean': 'bool',
'octet': 'unsigned char', # TODO change to std::byte with C++17
'octet': 'std::byte',
'char': 'unsigned char',
'wchar': 'char16_t',
'float': 'float',
Expand Down Expand Up @@ -196,11 +196,13 @@ def primitive_value_to_cpp(type_, value):
if type_.typename == 'boolean':
return 'true' if value else 'false'

if type_.typename == 'octet':
return f'std::byte{{{value}}}'

if type_.typename in [
'short', 'unsigned short',
'char', 'wchar',
'double', 'long double',
'octet',
'int8', 'uint8',
'int16', 'uint16',
]:
Expand Down
31 changes: 31 additions & 0 deletions rosidl_generator_tests/test/rosidl_generator_cpp/test_array_generator.hpp
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Expand Up @@ -44,6 +44,37 @@ void test_vector_fill(
}
}

/**
* Helper function to generate a test pattern for byte type.
* Minimum and maximum values for the type and distributed values in the middle.
* @param C Container (vector, array, etc) to be filled
* @param size How many elements to fill in. Must size<=container_size
* @param min Minimum value in the range to fill.
* @param max Maximum value in the range to fill.
*/
template<
typename C,
typename std::enable_if<
std::is_same<typename C::value_type, std::byte>::value
>::type * = nullptr
>
void test_vector_fill(
C * container, size_t size,
typename C::value_type min, typename C::value_type max)
{
if (size > 0 && min < max) {
int step = (std::to_integer<int>(max) - std::to_integer<int>(min)) / static_cast<int>(size);

(*container)[0] = min;
for (size_t i = 1; i < size - 1; i++) {
int val = std::to_integer<int>(min) + i * step;
(*container)[i] = static_cast<std::byte>(val);
}
(*container)[size - 1] = max;
}
}


/**
* Helper function to generate a test pattern for integer number types.
* The template type parameter must be an integer number type.
Expand Down
18 changes: 9 additions & 9 deletions rosidl_generator_tests/test/rosidl_generator_cpp/test_interfaces.cpp
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Expand Up @@ -168,7 +168,7 @@ void test_message_basic_types(rosidl_generator_tests::msg::BasicTypes message)
#ifdef __linux__
#pragma GCC diagnostic pop
#endif
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, 0, 255)
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, std::byte{0}, std::byte{255})
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, char_value, 0, UINT8_MAX)
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float32_value, FLT_MIN, FLT_MAX)
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float64_value, DBL_MIN, DBL_MAX)
Expand Down Expand Up @@ -211,8 +211,8 @@ void test_message_bounded(rosidl_generator_tests::msg::BoundedSequences message)
message, char_values, unsigned char, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_BOUNDED_SEQUENCE_TYPES(
message, byte_values, uint8_t, SEQUENCE_SIZE, \
0, UINT8_MAX)
message, byte_values, std::byte, SEQUENCE_SIZE, \
std::byte{0}, std::byte{UINT8_MAX})
TEST_BOUNDED_SEQUENCE_TYPES(
message, float32_values, float, SEQUENCE_SIZE, \
FLT_MIN, FLT_MAX)
Expand Down Expand Up @@ -277,8 +277,8 @@ void test_message_unbounded(rosidl_generator_tests::msg::UnboundedSequences mess
message, char_values, unsigned char, SEQUENCE_SIZE, \
0, UINT8_MAX)
TEST_UNBOUNDED_SEQUENCE_TYPES(
message, byte_values, uint8_t, SEQUENCE_SIZE, \
0, UINT8_MAX)
message, byte_values, std::byte, SEQUENCE_SIZE, \
std::byte{0}, std::byte{UINT8_MAX})
TEST_UNBOUNDED_SEQUENCE_TYPES(
message, float32_values, float, SEQUENCE_SIZE, \
FLT_MIN, FLT_MAX)
Expand Down Expand Up @@ -331,8 +331,8 @@ void test_message_arrays(rosidl_generator_tests::msg::Arrays message)
message, char_values, unsigned char, ARRAY_SIZE, \
0, UINT8_MAX)
TEST_ARRAY_TYPES(
message, byte_values, uint8_t, ARRAY_SIZE, \
0, UINT8_MAX)
message, byte_values, std::byte, ARRAY_SIZE, \
std::byte{0}, std::byte{UINT8_MAX})
TEST_ARRAY_TYPES(
message, float32_values, float, ARRAY_SIZE, \
FLT_MIN, FLT_MAX)
Expand Down Expand Up @@ -463,7 +463,7 @@ TEST(Test_messages, unbounded_sequence_unbounded) {
TEST(Test_messages, constants) {
rosidl_generator_tests::msg::Constants message;
ASSERT_EQ(true, message.BOOL_CONST);
ASSERT_EQ(50, message.BYTE_CONST);
ASSERT_EQ(std::byte{50}, message.BYTE_CONST);
ASSERT_EQ(100, message.CHAR_CONST);
ASSERT_EQ(1.125f, message.FLOAT32_CONST);
ASSERT_EQ(1.125, message.FLOAT64_CONST);
Expand All @@ -487,7 +487,7 @@ TEST(Test_messages, constants_assign) {
TEST(Test_messages, defaults) {
rosidl_generator_tests::msg::Defaults message;
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, bool_value, true, false);
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, 50, 255);
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, std::byte{50}, std::byte{255});
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, char_value, 100, UINT8_MAX);
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float32_value, 1.125f, FLT_MAX);
TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float64_value, 1.125, DBL_MAX);
Expand Down
12 changes: 6 additions & 6 deletions rosidl_generator_tests/test/rosidl_generator_cpp/test_msg_builder.cpp
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Expand Up @@ -24,7 +24,7 @@ TEST(Test_msg_initialization, build) {
::rosidl_generator_tests::msg::BasicTypes basic =
::rosidl_generator_tests::build<::rosidl_generator_tests::msg::BasicTypes>()
.bool_value(true)
.byte_value(5)
.byte_value(std::byte{5})
.char_value(10)
.float32_value(0.1125f)
.float64_value(0.01125)
Expand All @@ -38,7 +38,7 @@ TEST(Test_msg_initialization, build) {
.uint64_value(5000000ULL);

ASSERT_TRUE(basic.bool_value);
ASSERT_EQ(5, basic.byte_value);
ASSERT_EQ(std::byte{5}, basic.byte_value);
ASSERT_EQ(10, basic.char_value);
ASSERT_EQ(0.1125f, basic.float32_value);
ASSERT_EQ(0.01125, basic.float64_value);
Expand All @@ -57,7 +57,7 @@ TEST(Test_msg_initialization, build) {
{
rosidl_generator_tests::build<rosidl_generator_tests::msg::BasicTypes>()
.bool_value(false)
.byte_value(10)
.byte_value(std::byte{10})
.char_value(20)
.float32_value(0.225f)
.float64_value(0.0225)
Expand All @@ -71,7 +71,7 @@ TEST(Test_msg_initialization, build) {
.uint64_value(10000000ULL)});

ASSERT_FALSE(nested.basic_types_value.bool_value);
ASSERT_EQ(10, nested.basic_types_value.byte_value);
ASSERT_EQ(std::byte{10}, nested.basic_types_value.byte_value);
ASSERT_EQ(20, nested.basic_types_value.char_value);
ASSERT_EQ(0.225f, nested.basic_types_value.float32_value);
ASSERT_EQ(0.0225, nested.basic_types_value.float64_value);
Expand All @@ -90,7 +90,7 @@ TEST(Test_msg_initialization, build) {
rosidl_generator_tests::msg::Arrays arrays =
rosidl_generator_tests::build<rosidl_generator_tests::msg::Arrays>()
.bool_values({{true, false, true}})
.byte_values({{5, 10, 5}})
.byte_values({{std::byte{5}, std::byte{10}, std::byte{5}}})
.char_values({{10, 20, 10}})
.float32_values({{0.1125f, 0.225f, 0.1125f}})
.float64_values({{0.01125, 0.0225, 0.01125}})
Expand All @@ -107,7 +107,7 @@ TEST(Test_msg_initialization, build) {
.constants_values({{constants, constants, constants}})
.defaults_values({{defaults, defaults, defaults}})
.bool_values_default({{false, true, false}})
.byte_values_default({{10, 5, 10}})
.byte_values_default({{std::byte{10}, std::byte{5}, std::byte{10}}})
.char_values_default({{20, 10, 20}})
.float32_values_default({{0.225f, 0.1125f, 0.225f}})
.float64_values_default({{0.0225, 0.01125, 0.0225}})
Expand Down
16 changes: 8 additions & 8 deletions rosidl_generator_tests/test/rosidl_generator_cpp/test_msg_initialization.cpp
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Expand Up @@ -47,7 +47,7 @@ make_scope_exit(Callable callable)
TEST(Test_msg_initialization, no_arg_constructor) {
rosidl_generator_tests::msg::Defaults def;
ASSERT_TRUE(def.bool_value);
ASSERT_EQ(50, def.byte_value);
ASSERT_EQ(std::byte{50}, def.byte_value);
ASSERT_EQ(100, def.char_value);
ASSERT_EQ(1.125f, def.float32_value);
ASSERT_EQ(1.125, def.float64_value);
Expand All @@ -62,7 +62,7 @@ TEST(Test_msg_initialization, no_arg_constructor) {

rosidl_generator_tests::msg::BasicTypes basic;
ASSERT_FALSE(basic.bool_value);
ASSERT_EQ(0, basic.byte_value);
ASSERT_EQ(std::byte{0}, basic.byte_value);
ASSERT_EQ(0, basic.char_value);
ASSERT_EQ(0.0f, basic.float32_value);
ASSERT_EQ(0.0, basic.float64_value);
Expand All @@ -79,7 +79,7 @@ TEST(Test_msg_initialization, all_constructor) {
rosidl_generator_tests::msg::Defaults def(
rosidl_runtime_cpp::MessageInitialization::ALL);
ASSERT_TRUE(def.bool_value);
ASSERT_EQ(50, def.byte_value);
ASSERT_EQ(std::byte{50}, def.byte_value);
ASSERT_EQ(100, def.char_value);
ASSERT_EQ(1.125f, def.float32_value);
ASSERT_EQ(1.125, def.float64_value);
Expand All @@ -94,7 +94,7 @@ TEST(Test_msg_initialization, all_constructor) {

rosidl_generator_tests::msg::BasicTypes basic;
ASSERT_FALSE(basic.bool_value);
ASSERT_EQ(0, basic.byte_value);
ASSERT_EQ(std::byte{0}, basic.byte_value);
ASSERT_EQ(0, basic.char_value);
ASSERT_EQ(0.0f, basic.float32_value);
ASSERT_EQ(0.0, basic.float64_value);
Expand All @@ -111,7 +111,7 @@ TEST(Test_msg_initialization, zero_constructor) {
rosidl_generator_tests::msg::Defaults def(
rosidl_runtime_cpp::MessageInitialization::ZERO);
ASSERT_FALSE(def.bool_value);
ASSERT_EQ(0, def.byte_value);
ASSERT_EQ(std::byte{0}, def.byte_value);
ASSERT_EQ(0, def.char_value);
ASSERT_EQ(0.0f, def.float32_value);
ASSERT_EQ(0.0, def.float64_value);
Expand All @@ -126,7 +126,7 @@ TEST(Test_msg_initialization, zero_constructor) {

rosidl_generator_tests::msg::BasicTypes basic;
ASSERT_FALSE(basic.bool_value);
ASSERT_EQ(0, basic.byte_value);
ASSERT_EQ(std::byte{0}, basic.byte_value);
ASSERT_EQ(0, basic.char_value);
ASSERT_EQ(0.0f, basic.float32_value);
ASSERT_EQ(0.0, basic.float64_value);
Expand All @@ -143,7 +143,7 @@ TEST(Test_msg_initialization, defaults_only_constructor) {
rosidl_generator_tests::msg::Defaults def(
rosidl_runtime_cpp::MessageInitialization::DEFAULTS_ONLY);
ASSERT_TRUE(def.bool_value);
ASSERT_EQ(50, def.byte_value);
ASSERT_EQ(std::byte{50}, def.byte_value);
ASSERT_EQ(100, def.char_value);
ASSERT_EQ(1.125f, def.float32_value);
ASSERT_EQ(1.125, def.float64_value);
Expand All @@ -158,7 +158,7 @@ TEST(Test_msg_initialization, defaults_only_constructor) {

rosidl_generator_tests::msg::BasicTypes basic;
ASSERT_FALSE(basic.bool_value);
ASSERT_EQ(0, basic.byte_value);
ASSERT_EQ(std::byte{0}, basic.byte_value);
ASSERT_EQ(0, basic.char_value);
ASSERT_EQ(0.0f, basic.float32_value);
ASSERT_EQ(0.0, basic.float64_value);
Expand Down
4 changes: 2 additions & 2 deletions rosidl_generator_tests/test/rosidl_generator_cpp/test_srv_initialization.cpp
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Expand Up @@ -22,7 +22,7 @@ TEST(Test_srv_initialization, no_arg_request_constructor) {

rosidl_generator_tests::srv::BasicTypes::Request basic_types;
EXPECT_EQ(false, basic_types.bool_value);
EXPECT_EQ(0, basic_types.byte_value);
EXPECT_EQ(std::byte{0}, basic_types.byte_value);
EXPECT_EQ(0, basic_types.char_value);
EXPECT_EQ(0.0F, basic_types.float32_value);
EXPECT_EQ(0.0, basic_types.float64_value);
Expand All @@ -42,7 +42,7 @@ TEST(Test_srv_initialization, no_arg_response_constructor) {

rosidl_generator_tests::srv::BasicTypes::Response basic_types;
EXPECT_EQ(false, basic_types.bool_value);
EXPECT_EQ(0, basic_types.byte_value);
EXPECT_EQ(std::byte{0}, basic_types.byte_value);
EXPECT_EQ(0, basic_types.char_value);
EXPECT_EQ(0.0f, basic_types.float32_value);
EXPECT_EQ(0.0, basic_types.float64_value);
Expand Down
8 changes: 8 additions & 0 deletions rosidl_runtime_cpp/include/rosidl_runtime_cpp/traits.hpp
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Expand Up @@ -46,6 +46,14 @@ inline void character_value_to_yaml(char16_t value, std::ostream & out)
out.flags(flags);
}

inline void value_to_yaml(std::byte value, std::ostream & out)
{
auto flags = out.flags();
out << "0x" << std::hex << std::setw(2) << std::setfill('0') << \
std::to_integer<int>(value);
out.flags(flags);
}

inline void value_to_yaml(float value, std::ostream & out)
{
auto flags = out.flags();
Expand Down
8 changes: 4 additions & 4 deletions rosidl_typesupport_introspection_tests/test/introspection_libraries_under_test.hpp
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Expand Up @@ -933,7 +933,7 @@ struct Example<rosidl_typesupport_introspection_tests::msg::BoundedSequences>
auto message =
std::make_unique<rosidl_typesupport_introspection_tests::msg::BoundedSequences>();
message->bool_values.push_back(true);
message->byte_values.push_back(0x1B);
message->byte_values.push_back(std::byte{0x1B});
message->char_values.push_back('z');
message->float32_values.push_back(12.34f);
message->float64_values.push_back(1.234);
Expand Down Expand Up @@ -1027,7 +1027,7 @@ struct Example<rosidl_typesupport_introspection_tests::msg::UnboundedSequences>
auto message =
std::make_unique<rosidl_typesupport_introspection_tests::msg::UnboundedSequences>();
message->bool_values.push_back(true);
message->byte_values.push_back(0x1B);
message->byte_values.push_back(std::byte{0x1B});
message->char_values.push_back('z');
message->float32_values.push_back(12.34f);
message->float64_values.push_back(1.234);
Expand Down Expand Up @@ -1079,7 +1079,7 @@ struct Example<rosidl_typesupport_introspection_tests::srv::Arrays>
using MessageT =
rosidl_typesupport_introspection_tests::srv::Arrays::Response;
auto message = std::make_unique<MessageT>();
message->byte_values[1] = 0xAB;
message->byte_values[1] = std::byte{0xAB};
message->char_values[0] = 'b';
message->int8_values[2] = 123;
return message;
Expand Down Expand Up @@ -1107,7 +1107,7 @@ struct Example<rosidl_typesupport_introspection_tests::srv::BasicTypes>
rosidl_typesupport_introspection_tests::srv::BasicTypes::Response;
auto message = std::make_unique<MessageT>();
message->bool_value = true;
message->byte_value = 0xAB;
message->byte_value = std::byte{0xAB};
message->float64_value = -1.234;
message->string_value = "bar";
return message;
Expand Down