Codegen for bitmask enums

Author: rovo89

codegen/templates/ServiceInterfaceTemplate.hpp

@@ -19,6 +19,10 @@ cog.outl(f"#define {service['interface_class_name'].upper()}_HPP")
 #include <xbot-service-interface/ServiceInterfaceBase.hpp>
 #include <xbot-service-interface/XbotServiceInterface.hpp>
 
+/*[[[cog
+xbot_codegen.generateEnums(service)
+]]]*/
+//[[[end]]]
 /*[[[cog
 cog.outl(f"class {service['interface_class_name']} : public xbot::serviceif::ServiceInterfaceBase {{")
 ]]]*/
@@ -31,10 +35,6 @@ class ServiceTemplateInterfaceBase : public xbot::serviceif::ServiceInterfaceBas
     explicit ServiceTemplateInterfaceBase(uint16_t service_id, xbot::serviceif::Context ctx) : ServiceInterfaceBase(service_id, "ServiceTemplate", 1, ctx) {}
     //[[[end]]]
 
-    /*[[[cog
-    xbot_codegen.generateEnums(service)
-    ]]]*/
-    //[[[end]]]
     /*[[[cog
     # Generate send functions for each input.
     for input in service["inputs"]:

codegen/templates/ServiceTemplate.hpp

@@ -18,6 +18,10 @@ cog.outl(f"#define {service['class_name'].upper()}_HPP")
 
 #include <xbot-service/Service.hpp>
 
+/*[[[cog
+xbot_codegen.generateEnums(service)
+]]]*/
+//[[[end]]]
 /*[[[cog
 cog.outl(f"class {service['class_name']} : public xbot::service::Service {{")
 ]]]*/
@@ -99,10 +103,6 @@ class ServiceTemplateBase : public xbot::service::Service {
     };
     //[[[end]]]
 
-    /*[[[cog
-    xbot_codegen.generateEnums(service)
-    ]]]*/
-    //[[[end]]]
 private:
     uint32_t sd_sequence_ = 0;
     bool reboot = true;

codegen/xbot_codegen/xbot_codegen.py

@@ -115,7 +115,8 @@ def loadService(path: str) -> dict:
         service["enums"].append({
             "id": enum["id"],
             "base_type": enum["base_type"],
-            "values": enum["values"]
+            "values": enum["values"],
+            "bitmask": enum.get("bitmask", False),
         })
 
     # Transform the input definitions
@@ -146,7 +147,15 @@ def loadService(path: str) -> dict:
 
 def generateEnums(service):
     for enum in service["enums"]:
-        cog.outl(f"enum class {enum['id']} : {enum['base_type']} {{")
-        for id, value in enum["values"].items():
-            cog.outl(f"  {id} = {value},")
-        cog.outl("};\n")
+        if enum['bitmask']:
+            cog.outl(f"namespace {enum['id']} {{")
+            cog.outl(f"  enum Value : {enum['base_type']} {{")
+            for id, value in enum["values"].items():
+                cog.outl(f"    {id} = 1 << {value},")
+            cog.outl("  };")
+            cog.outl("};\n")
+        else:
+            cog.outl(f"enum class {enum['id']} : {enum['base_type']} {{")
+            for id, value in enum["values"].items():
+                cog.outl(f"  {id} = {value},")
+            cog.outl("};\n")