Implement growing message sequences for [] syntax

eprosima-idl-parser/src/main/java/com/eprosima/idl/context/Context.java

@@ -391,7 +391,7 @@ public String lookForComments(TokenStream tokenStream, Token token, int lookback
             String comments = tokenStream.get(tokenIndex).getText().trim();
             if (!comments.isEmpty())
             {
-                comments = comments.replaceAll("(\n|\r\n|\r) {1,5}\\*", "\n *");
+                comments = comments.replaceAll("\\R +", "\n").stripIndent();
                 return comments;
             }
         }

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/MapTypeCode.java

@@ -59,9 +59,6 @@ public String getIdlTypename()
 
     public String getMaxsize()
     {
-        if(m_maxsize == null)
-            return "100";
-
         return m_maxsize;
     }
 

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/MemberedTypeCode.java

@@ -85,6 +85,20 @@ public boolean addMember(Member member)
         return false;
     }
 
+    @Override
+    public boolean getUnbounded()
+    {
+        for (Member member : getMembers())
+        {
+            // TODO: there may be more type codes that are sequence-like
+            if (member.getTypecode() instanceof SequenceTypeCode || member.getTypecode() instanceof MapTypeCode)
+                if (member.getTypecode().getUnbounded())
+                    return true;
+        }
+
+        return false;
+    }
+
     public List<ConstDeclaration> getConstants()
     {
         return m_consts;

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/PrimitiveTypeCode.java

@@ -90,7 +90,13 @@ public int getMaxSerializedSizeWithoutAlignment(int currentSize)
     {
         return currentSize + getSize();
     }*/
-
+
+    @Override
+    public String getMaxsize()
+    {
+        return getSize();
+    }
+
     @Override
     public String getSize()
     {

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/SequenceTypeCode.java

@@ -59,9 +59,6 @@ public String getIdlTypename()
 
     public String getMaxsize()
     {
-        if(m_maxsize == null)
-            return "100";
-
         return m_maxsize;
     }
 

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/SetTypeCode.java

@@ -56,9 +56,6 @@ public String getIdlTypename()
 
     public String getMaxsize()
     {
-        if(m_maxsize == null)
-            return "100";
-
         return m_maxsize;
     }
 

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/StringTypeCode.java

@@ -53,9 +53,6 @@ public String getInitialValue()
 
     public String getMaxsize()
     {
-        if(m_maxsize == null)
-            return "255";
-
         return m_maxsize;
     }
 

eprosima-idl-parser/src/main/java/com/eprosima/idl/parser/typecode/TypeCode.java

@@ -193,6 +193,11 @@ public String getMaxsize()
     {
         return null;
     }
+
+    public boolean getUnbounded()
+    {
+        return getMaxsize() == null;
+    }
 
     /*!
      * @brief This function returns the size of the datatype. By default is null string.

ihmc-pub-sub-generator/src/main/templates/us/ihmc/idl/templates/FastCdrCommon.stg

@@ -30,17 +30,21 @@ $if(params)$$separatorInicial$$endif$$params : {param | /*$param.comment$*/ $par
 
 object_serialization(ctx, object, arg, element) ::= <<
 $if(object.typecode.maxsize)$
+$if(!object.typecode.primitive)$
 if($element$get$object.javaName$($arg$).$sizeFunction.(object.typecode.stType)$ <= $object.typecode.maxsize$)
 
+$endif$
 $endif$
 $if(object.typecode.isType_c)$cdr.write_$object.typecode.stType$($element$get$object.javaName$($arg$).ordinal());
 $elseif(object.typecode.isType_f)$$array_serialize(ctx=ctx, typecodeArr=object.typecode, data=[element, "get", object.javaName, "(", arg, ")"], loopvar=ctx.newLoopVarName, dimensions=object.typecode.dimensions)$
 $elseif(object.typecode.isType_a)$$object.typecode.pubsubTypename$.write($element$get$object.javaName$($arg$), cdr);
 $else$cdr.write_$object.typecode.stType$($element$get$object.javaName$($arg$));
 $endif$
 $if(object.typecode.maxsize)$
-else
-    throw new RuntimeException("$object.name$ field exceeds the maximum length");
+$if(!object.typecode.primitive)$
+$\n$else
+   throw new RuntimeException("$object.name$ field exceeds the maximum length");
+$endif$
 $endif$
 >>
 

ihmc-pub-sub-generator/src/main/templates/us/ihmc/idl/templates/JavaPubSubType.stg

@@ -230,13 +230,16 @@ $else$
 
    public static int getMaxCdrSerializedSize(int current_alignment)
    {
-      int initial_alignment = current_alignment;
-
+$if(struct.Unbounded)$
+      return 0; // One or more members of the message is unbounded$\n$
+$else$
+int initial_alignment = current_alignment;
 $struct.members : { member |
+      // $member.javaName$$if(member.typecode.Unbounded)$ (unbounded)$endif$
       $max_serialized_size(ctx=ctx, typecode=member.typecode, var="current_alignment")$
 }; separator="\n"$
-
       return current_alignment - initial_alignment;
+$endif$
    }
 
    public final static int getCdrSerializedSize($struct.javaTypename$ data)
@@ -249,6 +252,7 @@ $struct.members : { member |
       int initial_alignment = current_alignment;
 
 $struct.members : { member |
+      // $member.javaName$$if(member.typecode.Unbounded)$ (unbounded)$endif$
       $serialized_size(ctx=ctx, object=member, data=["data.get", member.javaName, "()"], var="current_alignment")$
 }; separator="\n"$
 
@@ -258,13 +262,15 @@ $struct.members : { member |
    public static void write($struct.javaTypename$ data, us.ihmc.idl.CDR cdr)
    {
 $struct.members : { member |
+      // $member.javaName$$if(member.typecode.Unbounded)$ (unbounded)$endif$
       $object_serialization(ctx=ctx, object=member, arg="", element="data.")$
 }; separator="\n"$
    }
 
    public static void read($struct.javaTypename$ data, us.ihmc.idl.CDR cdr)
    {
 $struct.members : { member |
+      // $member.javaName$$if(member.typecode.Unbounded)$ (unbounded)$endif$
       $object_deserialization(ctx=ctx, object=member, arg="", argsep="", element="data.")$
 }; separator=""$
    }
@@ -273,6 +279,7 @@ $struct.members : { member |
    public final void serialize($struct.javaTypename$ data, us.ihmc.idl.InterchangeSerializer ser)
    {
 $struct.members : { member |
+      // $member.javaName$$if(member.typecode.Unbounded)$ (unbounded)$endif$
 $if(member.typecode.isType_a)$
       ser.write_$member.typecode.stType$("$member.name$", new $member.typecode.pubsubTypename$(), data.get$member.javaName$());
 $elseif(member.typecode.isType_f)$
@@ -291,6 +298,7 @@ $endif$
    public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, $struct.javaTypename$ data)
    {
 $struct.members : { member |
+      // $member.javaName$$if(member.typecode.Unbounded)$ (unbounded)$endif$
 $if(member.typecode.isType_c)$
       data.set$member.javaName$(($member.typecode.javaTypename$)ser.read_$member.typecode.stType$("$member.name$", $member.typecode.javaTypename$.class));
 $elseif(member.typecode.isType_a)$

ihmc-pub-sub-generator/src/main/templates/us/ihmc/idl/templates/JavaType.stg

@@ -50,21 +50,21 @@ $endif$
 $struct.members : { member |
 $if(member.typecode.isType_e)$
 $if(member.typecode.ContentTypeCode.isType_c)$
-      $member.name$_ = new $member.typecode.javaTypename$($member.typecode.Maxsize$, $member.typecode.ContentTypeCode.javaTypename$.class, $member.typecode.ContentTypeCode.javaTypename$.values);$\n$
+      $member.name$_ = new $member.typecode.javaTypename$($if(!member.typecode.Unbounded)$$member.typecode.Maxsize$, $endif$$member.typecode.ContentTypeCode.javaTypename$.class, $member.typecode.ContentTypeCode.javaTypename$.values);$\n$
 $elseif(member.typecode.ContentTypeCode.primitive)$
-      $member.name$_ = new $member.typecode.javaTypename$($member.typecode.Maxsize$, "$member.typecode.ContentTypeCode.stType$");$\n$
+      $member.name$_ = new $member.typecode.javaTypename$($if(!member.typecode.Unbounded)$$member.typecode.Maxsize$, $endif$"$member.typecode.ContentTypeCode.stType$");$\n$
 $elseif(member.typecode.ContentTypeCode.isType_d)$
-      $member.name$_ = new $member.typecode.javaTypename$($member.typecode.Maxsize$, "$member.typecode.ContentTypeCode.stType$");$\n$
+      $member.name$_ = new $member.typecode.javaTypename$($if(!member.typecode.Unbounded)$$member.typecode.Maxsize$, $endif$"$member.typecode.ContentTypeCode.stType$");$\n$
 $else$
-      $member.name$_ = new $member.typecode.javaTypename$($member.typecode.Maxsize$, new $member.typecode.ContentTypeCode.pubsubTypename$());$\n$
+      $member.name$_ = new $member.typecode.javaTypename$($if(!member.typecode.Unbounded)$$member.typecode.Maxsize$, $endif$new $member.typecode.ContentTypeCode.pubsubTypename$());$\n$
 $endif$
 $elseif(member.typecode.isType_f)$
       $member.name$_ = new $member.typecode.ContentTypeCode.JavaTypename$[$member.typecode.Dimensions;separator="]["$];$\n$
 $if(!member.typecode.ContentTypeCode.primitive)$
       $array_init(ctx=ctx, typecodeArr=member.typecode, data=[member.name, "_"], elemInit=["new ", member.typecode.ContentTypeCode.JavaTypename, "()"], loopvar=ctx.nextLoopVarName, dimensions=member.typecode.dimensions)$$\n$
 $endif$
 $elseif(member.typecode.isType_d)$
-      $member.name$_ = new $member.typecode.javaTypename$($member.typecode.Maxsize$);
+      $member.name$_ = new $member.typecode.javaTypename$($if(!member.typecode.Unbounded)$$member.typecode.Maxsize$$endif$);
 $elseif(!member.typecode.primitive)$
       $member.name$_ = new $member.typecode.javaTypename$();$\n$
 $endif$

ihmc-pub-sub-generator/src/test/java/us/ihmc/pubsub/examples/GenerateTestMessages.java

@@ -12,7 +12,7 @@
 public class GenerateTestMessages
 {
    /**
-    * Must be run from ihmc-pub-sub-group/ihmc-pub-sub-generator/src/test folder.
+    * Must be run from ihmc-ros2-library/ihmc-pub-sub-generator/src/test folder.
     */
    public static void main(String[] args) throws IOException
    {

ihmc-pub-sub/README.md

@@ -148,7 +148,7 @@ The code will not compile until this is run once.
 
 This will also clone the git submodules.
 ```
-ihmc-pub-sub-group $ gradle compositeTask -PtaskName=compileJava
+ihmc-ros2-library $ gradle compositeTask -PtaskName=compileJava
 ```
 
 ### Native compilation

ihmc-pub-sub/package.xml

@@ -8,7 +8,7 @@
   <author email="[email protected]">Jesper Smith</author>
   <maintainer email="[email protected]">Jesper Smith</maintainer>
 
-  <url type="website">https://github.com/ihmcrobotics/ihmc-pub-sub-group</url>
+  <url type="website">https://github.com/ihmcrobotics/ihmc-ros2-library</url>
 
   <license>Apache 2.0</license>