Add C++ conversion APIs to proto2ros
#118
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Signed-off-by: Michel Hidalgo <[email protected]>
mhidalgo-bdai
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jbarry-bdai and
amessing-bdai
as code owners
mhidalgo-bdai
commented
Sep 13, 2024
| {{ destination }}->Add(static_cast<{{ type_spec.annotations["proto-type"] | as_pb2_cpp_type }}>(item.value)); | ||
| } | ||
| {%- else -%} | ||
| {{ destination | rreplace("mutable", "set", 1) | rreplace("()", "", 1) }}( |
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I'm not super proud of this but the C++ API for Protobuf messages is so inconsistent across types that it hurts.
mhidalgo-bdai
commented
Sep 13, 2024
| {%- set output_item = itemize_cpp_identifier(destination, "output_") -%} | ||
| {%- if type_spec and type_spec.annotations.get("map-entry") -%}{#- Handle map case. -#} | ||
| {{ destination }}->clear(); | ||
| for (const auto& {{ input_item }} : {{ source }}) { |
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Handling map fields was particularly hard. Python APIs for Protobuf messages expose the underlying sequence of key-value messages. C++ APIs hide them, and that forces all this special casing 🤦
mhidalgo-bdai
commented
Sep 13, 2024
mhidalgo-bdai
commented
Sep 13, 2024
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
| ament_export_targets(export_${target}_conversions) |
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Note for myself: this is likely incomplete, and will need a revisit when we try to re-build https://github.com/bdaiinstitute/bosdyn_msgs with this.
Signed-off-by: Michel Hidalgo <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
khughes-bdai
approved these changes
Sep 16, 2024
Signed-off-by: Michel Hidalgo <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
Signed-off-by: Michel Hidalgo <[email protected]>
amessing-bdai
approved these changes
Sep 17, 2024
|
Hmm, something's off with generated Protobuf C++ code. It sometimes fails to preprocess some of it, but only in CI, I cannot reproduce it anywhere else 🤔 |
khughes-bdai
pushed a commit
that referenced
this pull request
Sep 24, 2024
Follow-up to #118. This patch makes `proto2ros` packages' C++ code comply with stricter `clang-tidy` configurations. It liberally disables some opinionated checks where appropriate.
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Precisely what the title says. We are almost there, I'm just missing the C++ test suite but conversion code compiles and looks correct on visual inspection. We can start the review.