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Attempting to fix style
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@rishiso
rishiso committed Nov 6, 2023
1 parent b48684d commit e6afa67
Showing 1 changed file with 102 additions and 25 deletions.
127 changes: 102 additions & 25 deletions soccer/src/soccer/strategy/agent/communication/communication_gen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,11 @@ def map_message_type_to_cpp_type(msg_type):

def convert_individual_hpp(msg, path, msg_type):
msgName = msg[:-4] # Stripping .msg from the end
hpp = "#pragma once \n\n#include <mutex>\n#include <string>\n#include <variant>\n#include <vector>\n\n#include <rj_common/time.hpp>\n#include <rj_convert/ros_convert.hpp>\n"
hpp = (
"#pragma once \n\n#include <mutex>\n#include <string>\n#include"
" <variant>\n#include <vector>\n\n#include <rj_common/time.hpp>\n#include"
" <rj_convert/ros_convert.hpp>\n"
)
hpp += convert_msg_to_hpp_include(msg)
hpp += "\n\n"
hpp += "namespace strategy::communication {\n\n"
Expand Down Expand Up @@ -110,7 +114,10 @@ def convert_cpp(requests, responses, hpp_names):
cpp += "}\n\n"

cpp += "bool operator==(const AgentResponse& a, const AgentResponse& b) {\n"
cpp += "\treturn (a.associated_request == b.associated_request) && (a.response == b.response);\n"
cpp += (
"\treturn (a.associated_request == b.associated_request) && (a.response =="
" b.response);\n"
)
cpp += "}\n\n"

for request in requests:
Expand Down Expand Up @@ -161,7 +168,11 @@ def create_hpp_files(requests, requestPath, responses, responsePath):


def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp = "#pragma once\n\n#include <mutex>\n#include <string>\n#include <variant>\n#include <vector>\n\n#include <rj_common/time.hpp>\n#include <rj_convert/ros_convert.hpp>\n\n"
hpp = (
"#pragma once\n\n#include <mutex>\n#include <string>\n#include"
" <variant>\n#include <vector>\n\n#include <rj_common/time.hpp>\n#include"
" <rj_convert/ros_convert.hpp>\n\n"
)
hpp += '#include "rj_msgs/msg/agent_request.hpp"\n'
hpp += '#include "rj_msgs/msg/agent_response.hpp"\n'
hpp += '#include "rj_msgs/msg/agent_response_variant.hpp"\n'
Expand Down Expand Up @@ -190,7 +201,10 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp = hpp[:-2] + ">;\n\n"

hpp += "/**\n"
hpp += "* @brief response message that is sent from the receiver of the request to the\n"
hpp += (
"* @brief response message that is sent from the receiver of the request to"
" the\n"
)
hpp += "* sender of the request with an accompanying response.\n"
hpp += "*\n"
hpp += (
Expand All @@ -207,10 +221,16 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "bool operator==(const AgentResponse& a, const AgentResponse& b);\n\n"

hpp += "/**\n"
hpp += "* @brief Wraps a communication request by giving the intended destination of the\n"
hpp += (
"* @brief Wraps a communication request by giving the intended destination of"
" the\n"
)
hpp += "* communication.\n"
hpp += "*\n"
hpp += "* positions will create this and send it to their agent action client which will\n"
hpp += (
"* positions will create this and send it to their agent action client which"
" will\n"
)
hpp += "* send out the request according to their specifications.\n"
hpp += "*\n"
hpp += "*/\n"
Expand All @@ -223,11 +243,20 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "};\n\n"

hpp += "/**\n"
hpp += "* @brief Wraps a communication response to ensure symmetry for agent-to-agent\n"
hpp += (
"* @brief Wraps a communication response to ensure symmetry for"
" agent-to-agent\n"
)
hpp += "* communication.\n"
hpp += "*\n"
hpp += "* this wrapper is placed on agent responses to promote symmetry across the request\n"
hpp += "* response system to make understanding easier. All this struct does is make explicit\n"
hpp += (
"* this wrapper is placed on agent responses to promote symmetry across the"
" request\n"
)
hpp += (
"* response system to make understanding easier. All this struct does is make"
" explicit\n"
)
hpp += "* that this response is going from the position to the agent.\n"
hpp += "*\n"
hpp += "*/\n"
Expand All @@ -241,9 +270,18 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
)
hpp += "* communication.\n"
hpp += "*\n"
hpp += "* Like the PosAgentResponseWrapper, this struct does nothing other than make the request\n"
hpp += "* response system more symmetrical and (hopefully) more easy to understand. All this struct\n"
hpp += "* does is make it explicit that this request is being passed from the agent to the agent to\n"
hpp += (
"* Like the PosAgentResponseWrapper, this struct does nothing other than make"
" the request\n"
)
hpp += (
"* response system more symmetrical and (hopefully) more easy to understand. "
" All this struct\n"
)
hpp += (
"* does is make it explicit that this request is being passed from the agent to"
" the agent to\n"
)
hpp += "* the position.\n"
hpp += "*\n"
hpp += "*/\n"
Expand All @@ -252,11 +290,23 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "};\n\n"

hpp += "/**\n"
hpp += "* @brief Wraps a communication response by giving the robot the communication is from.\n"
hpp += (
"* @brief Wraps a communication response by giving the robot the communication"
" is from.\n"
)
hpp += "*\n"
hpp += "* the AgentPosResponseWrapper is the actual thing being passed from the agent to the position\n"
hpp += "* once either the timeout period was reached or enough responses were received. Ideally, the\n"
hpp += "* contents of this wrapper should contain all of the non-message specific fields that a position\n"
hpp += (
"* the AgentPosResponseWrapper is the actual thing being passed from the agent"
" to the position\n"
)
hpp += (
"* once either the timeout period was reached or enough responses were"
" received. Ideally, the\n"
)
hpp += (
"* contents of this wrapper should contain all of the non-message specific"
" fields that a position\n"
)
hpp += "* will need to handle a response.\n"
hpp += "*\n"
hpp += "*/\n"
Expand All @@ -273,8 +323,14 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):

hpp += "namespace rj_convert {\n\n"
hpp += "template <>\n"
hpp += "struct RosConverter<strategy::communication::AgentRequest, rj_msgs::msg::AgentRequest> {\n"
hpp += "\tstatic rj_msgs::msg::AgentRequest to_ros(const strategy::communication::AgentRequest& from) {\n"
hpp += (
"struct RosConverter<strategy::communication::AgentRequest,"
" rj_msgs::msg::AgentRequest> {\n"
)
hpp += (
"\tstatic rj_msgs::msg::AgentRequest to_ros(const"
" strategy::communication::AgentRequest& from) {\n"
)
hpp += "\t\trj_msgs::msg::AgentRequest result;\n"
hpp += "\t\t"
for request in requests_msgs:
Expand All @@ -300,7 +356,10 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "\t\treturn result;\n"
hpp += "\t}\n\n"

hpp += "\tstatic strategy::communication::AgentRequest from_ros(const rj_msgs::msg::AgentRequest& from) {\n"
hpp += (
"\tstatic strategy::communication::AgentRequest from_ros(const"
" rj_msgs::msg::AgentRequest& from) {\n"
)
hpp += "\t\tstrategy::communication::AgentRequest result;\n\t\t"
for request in requests_msgs:
msgName = convert_msg_to_hpp_include(request)[22:-5]
Expand All @@ -313,11 +372,20 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "\t\treturn result;\n"
hpp += "\t}\n\n"
hpp += "};\n\n"
hpp += "ASSOCIATE_CPP_ROS(strategy::communication::AgentRequest, rj_msgs::msg::AgentRequest);\n\n"
hpp += (
"ASSOCIATE_CPP_ROS(strategy::communication::AgentRequest,"
" rj_msgs::msg::AgentRequest);\n\n"
)

hpp += "template <>\n"
hpp += "struct RosConverter<strategy::communication::AgentResponse, rj_msgs::msg::AgentResponse> {\n"
hpp += "\tstatic rj_msgs::msg::AgentResponse to_ros(const strategy::communication::AgentResponse& from) {\n"
hpp += (
"struct RosConverter<strategy::communication::AgentResponse,"
" rj_msgs::msg::AgentResponse> {\n"
)
hpp += (
"\tstatic rj_msgs::msg::AgentResponse to_ros(const"
" strategy::communication::AgentResponse& from) {\n"
)
hpp += "\t\trj_msgs::msg::AgentResponse result;\n"
hpp += (
"\t\tresult.associated_request = convert_to_ros(from.associated_request);\n\t\t"
Expand Down Expand Up @@ -345,9 +413,15 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "\t\treturn result;\n"
hpp += "\t}\n\n"

hpp += "\tstatic strategy::communication::AgentResponse from_ros(const rj_msgs::msg::AgentResponse& from) {\n"
hpp += (
"\tstatic strategy::communication::AgentResponse from_ros(const"
" rj_msgs::msg::AgentResponse& from) {\n"
)
hpp += "\t\tstrategy::communication::AgentResponse result;\n"
hpp += "\t\tresult.associated_request = convert_from_ros(from.associated_request);\n\t\t"
hpp += (
"\t\tresult.associated_request ="
" convert_from_ros(from.associated_request);\n\t\t"
)
for response in response_msgs:
msgName = convert_msg_to_hpp_include(response)[22:-5]
hpp += "if (!from.response." + msgName + ".empty()) {\n"
Expand All @@ -364,7 +438,10 @@ def convert_main_hpp_file(requests_msgs, response_msgs, hpp_names):
hpp += "\t}\n\n"
hpp += "};\n\n"

hpp += "ASSOCIATE_CPP_ROS(strategy::communication::AgentResponse, rj_msgs::msg::AgentResponse);\n\n"
hpp += (
"ASSOCIATE_CPP_ROS(strategy::communication::AgentResponse,"
" rj_msgs::msg::AgentResponse);\n\n"
)
hpp += "}"
return hpp

Expand Down

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