Changes have been pushed for the repository "fawkesrobotics/fawkes".
Clone: https://github.com/fawkesrobotics/fawkes.git Gitweb: https://github.com/fawkesrobotics/fawkes The branch, common/protoboard has been updated to f96dc8eec62307b721fe542a70cd2ee5689f8ad0 (commit) from 964be2fb4f38cf19e0e3a0cc0c0063070c9a7d12 (commit) https://github.com/fawkesrobotics/fawkes/tree/common/protoboard Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit f96dc8eec62307b721fe542a70cd2ee5689f8ad0 Author: Victor Mataré <mat...@fh-aachen.de> AuthorDate: Mon Oct 14 04:25:49 2019 +0200 Commit: Victor Mataré <mat...@fh-aachen.de> CommitDate: Mon Oct 14 04:26:55 2019 +0200 protoboard: use strings as sequence elem IDs Gives more flexibility and is well suited for naming blackboard interfaces, anyways. https://github.com/fawkesrobotics/fawkes/commit/f96dc8eec - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/libs/protoboard/protobuf_to_bb.cpp | 2 +- src/libs/protoboard/protobuf_to_bb.h | 52 +++++++++++++++++++++------------- 2 files changed, 33 insertions(+), 21 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* f96dc8eec62307b721fe542a70cd2ee5689f8ad0 - - - - - - - - - - Author: Victor Mataré <mat...@fh-aachen.de> Date: Mon Oct 14 04:25:49 2019 +0200 Subject: protoboard: use strings as sequence elem IDs src/libs/protoboard/protobuf_to_bb.cpp | 2 +- src/libs/protoboard/protobuf_to_bb.h | 52 +++++++++++++++++++++------------- 2 files changed, 33 insertions(+), 21 deletions(-) _Diff for modified files_: diff --git a/src/libs/protoboard/protobuf_to_bb.cpp b/src/libs/protoboard/protobuf_to_bb.cpp index 63e02d4f6..17280cec3 100644 --- a/src/libs/protoboard/protobuf_to_bb.cpp +++ b/src/libs/protoboard/protobuf_to_bb.cpp @@ -34,7 +34,7 @@ pb_convert::~pb_convert() } void -pb_convert::init(fawkes::BlackBoard *blackboard, fawkes::Logger *logger, size_t) +pb_convert::init(fawkes::BlackBoard *blackboard, fawkes::Logger *logger, const std::string &) { blackboard_ = blackboard; logger_ = logger; diff --git a/src/libs/protoboard/protobuf_to_bb.h b/src/libs/protoboard/protobuf_to_bb.h index 088eb432c..91fbeea9b 100644 --- a/src/libs/protoboard/protobuf_to_bb.h +++ b/src/libs/protoboard/protobuf_to_bb.h @@ -49,7 +49,8 @@ public: virtual ~pb_convert(); - virtual void init(fawkes::BlackBoard *blackboard, fawkes::Logger *logger, size_t = 0); + virtual void + init(fawkes::BlackBoard *blackboard, fawkes::Logger *logger, const std::string & = ""); virtual void handle(std::shared_ptr<google::protobuf::Message> msg); @@ -67,7 +68,8 @@ public: typedef ProtoT input_type; typedef IfaceT output_type; - pb_converter() : pb_convert(), interface_(nullptr) + pb_converter() + : pb_convert(), interface_(nullptr), name_(boost::core::demangle(typeid(*this).name())) { } @@ -77,7 +79,9 @@ public: // Only move! pb_converter(pb_converter<ProtoT, IfaceT> &&o) - : pb_convert(o), interface_(std::move(o.interface_)) + : pb_convert(o), + interface_(std::move(o.interface_)), + name_(boost::core::demangle(typeid(*this).name())) { o.interface_ = nullptr; } @@ -88,6 +92,7 @@ public: pb_convert::operator=(o); this->interface_ = o.interface_; o.interface_ = nullptr; + name_ = boost::core::demangle(typeid(*this).name()); return *this; } @@ -97,19 +102,19 @@ public: } virtual void - init(fawkes::BlackBoard *blackboard, fawkes::Logger *logger, size_t id = 0) override + init(fawkes::BlackBoard *blackboard, fawkes::Logger *logger, const std::string &id = "") override { pb_convert::init(blackboard, logger); std::string iface_id = iface_id_for_type<IfaceT>(); - if (iface_id.back() != '/') - iface_id += '/'; - iface_id += std::to_string(id); + if (id.length()) { + if (iface_id.back() != '/') + iface_id += '/'; + iface_id += id; + } interface_ = blackboard_->open_for_writing<IfaceT>(iface_id.c_str()); - logger->log_info(boost::core::demangle(typeid(*this).name()).c_str(), - "Initialized %s.", - iface_id.c_str()); + logger->log_info(name(), "Initialized %s.", iface_id.c_str()); } virtual void @@ -146,17 +151,24 @@ public: return interface_; } - static size_t - get_sequence_index(const ProtoT &) + static std::string + get_sequence_id(const ProtoT &) + { + return ""; + } + + const char * + name() { - return 0; + return name_.c_str(); } protected: virtual void handle(const ProtoT &msg, IfaceT *iface); private: - IfaceT *interface_; + IfaceT * interface_; + std::string name_; }; template <class ProtoT, class OutputT> @@ -180,15 +192,15 @@ public: typename sequence_type::const_iterator field_it = fields.begin(); for (; field_it != fields.end(); ++field_it) { - size_t seq_idx = OutputT::get_sequence_index(*field_it); - auto map_it = sub_converters_.find(seq_idx); + std::string seq_id = OutputT::get_sequence_id(*field_it); + auto map_it = sub_converters_.find(seq_id); if (map_it == sub_converters_.end()) { - sub_converters_.insert({seq_idx, OutputT()}); - map_it = sub_converters_.find(seq_idx); + sub_converters_.insert({seq_id, OutputT()}); + map_it = sub_converters_.find(seq_id); } if (!map_it->second.is_open()) - map_it->second.init(blackboard_, logger_, seq_idx); + map_it->second.init(blackboard_, logger_, seq_id); map_it->second.handle(*field_it); } } @@ -196,7 +208,7 @@ public: virtual const sequence_type &extract_sequence(const ProtoT &msg); private: - std::unordered_map<size_t, OutputT> sub_converters_; + std::unordered_map<std::string, OutputT> sub_converters_; }; } // namespace protoboard
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