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

@@ -60,7 +60,7 @@ public String getIdlTypename()
     public String getMaxsize()
     {
         if(m_maxsize == null)
-            return "100";
+            return "-1";
 
         return m_maxsize;
     }

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

@@ -60,7 +60,7 @@ public String getIdlTypename()
     public String getMaxsize()
     {
         if(m_maxsize == null)
-            return "100";
+            return "-1";
 
         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 && getMaxsize().equals("-1");
+    }
 
     /*!
      * @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/JavaType.stg

@@ -50,13 +50,13 @@ $endif$
 $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 $member.typecode.ContentTypeCode.JavaTypename$[$member.typecode.Dimensions;separator="]["$];$\n$

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>
 

ihmc-pub-sub/src/main/java/us/ihmc/idl/IDLSequence.java

@@ -45,7 +45,16 @@ public static class Boolean extends TByteArrayList implements IDLSequence
       public static final byte True = 1;
       public static final byte False = 0;
       private final int maxSize;
-
+
+      public Boolean(String typeCode)
+      {
+         if (!typeCode.equals("type_7"))
+         {
+            throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         this.maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Boolean(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -118,6 +127,8 @@ public int capacity()
 
    public static class Byte implements IDLSequence
    {
+      private static final int DEFAULT_MAX_SIZE_BYTES = 4096;
+
       /**
        * The backing buffer as a heap array.
        * We only use the position and capacity. We do not use the limit or mark.
@@ -126,6 +137,15 @@ public static class Byte implements IDLSequence
        */
       private final ByteBuffer buffer;
 
+      public Byte(String typeCode)
+      {
+         if (!typeCode.equals("type_9"))
+         {
+            throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         buffer = ByteBuffer.allocate(DEFAULT_MAX_SIZE_BYTES);
+      }
+
       public Byte(int maxSize, String typeCode)
       {
          if (!typeCode.equals("type_9"))
@@ -271,6 +291,23 @@ public static class Char extends TCharArrayList implements IDLSequence
    {
       private final int type;
       private final int maxSize;
+
+      public Char(String typeCode)
+      {
+         switch (typeCode)
+         {
+            case "type_8":
+               type = 8;
+               break;
+            case "type_14":
+               type = 14;
+               break;
+            default:
+               throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         this.maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Char(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -352,6 +389,16 @@ public int capacity()
    public static class Short extends TShortArrayList implements IDLSequence
    {
       private final int maxSize;
+
+      public Short(String typeCode)
+      {
+         if (!typeCode.equals("type_1"))
+         {
+            throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         this.maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Short(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -412,6 +459,22 @@ public static class Integer extends TIntArrayList implements IDLSequence
       private final int type;
       private final int maxSize;
 
+      public Integer(String typeCode)
+      {
+         switch (typeCode)
+         {
+            case "type_2":
+               type = 2;
+               break;
+            case "type_3":
+               type = 3;
+               break;
+            default:
+               throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         this.maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Integer(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -494,6 +557,26 @@ public static class Long extends TLongArrayList implements IDLSequence
    {
       private final int type;
       private final int maxSize;
+
+      public Long(String typeCode)
+      {
+         switch (typeCode)
+         {
+            case "type_11":
+               type = 11;
+               break;
+            case "type_12":
+               type = 12;
+               break;
+            case "type_4":
+               type = 4;
+               break;
+            default:
+               throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         this.maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Long(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -584,6 +667,16 @@ public int capacity()
    public static class Float extends TFloatArrayList implements IDLSequence
    {
       private final int maxSize;
+
+      public Float(String typeCode)
+      {
+         if (!typeCode.equals("type_5"))
+         {
+            throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         this.maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Float(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -642,6 +735,16 @@ public int capacity()
    public static class Double extends TDoubleArrayList implements IDLSequence
    {
       private final int maxSize;
+
+      public Double(String typeCode)
+      {
+         if (!typeCode.equals("type_6"))
+         {
+            throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+         maxSize = java.lang.Integer.MAX_VALUE;
+      }
+
       public Double(int maxSize, String typeCode)
       {
          super(maxSize);
@@ -701,6 +804,25 @@ public static class StringBuilderHolder extends RecyclingArrayList<StringBuilder
    {
       private final int type;
 
+      /**
+       * @param typeCode Can be "type_d" (idl type string) or "type_15" (idl type wstring)
+       */
+      public StringBuilderHolder(String typeCode)
+      {
+         super(StringBuilder::new);
+         switch (typeCode)
+         {
+            case "type_d":
+               type = 0xd;
+               break;
+            case "type_15":
+               type = 0x15;
+               break;
+            default:
+               throw new NotImplementedException(typeCode + " is not implemented for Sequence");
+         }
+      }
+
       /**
        * @param maxSize Preallocate elements
        * @param typeCode Can be "type_d" (idl type string) or "type_15" (idl type wstring)
@@ -936,15 +1058,12 @@ public static class Object<T> extends RecyclingArrayList<T> implements IDLSequen
       private final TopicDataType<T> topicDataType;
 
       /**
-       * @deprecated Use {@link IDLSequence(int, TopicDataType)} instead.
-       * 
-       * @param maxSize Maximum size of this sequence
-       * @param clazz Class to store
        * @param topicDataType TopicDataType to preallocate data if desired
        */
-      public Object(int maxSize, Class<T> clazz, TopicDataType<T> topicDataType)
+      public Object(TopicDataType<T> topicDataType)
       {
-         this(maxSize, topicDataType);
+         super(topicDataType::createData);
+         this.topicDataType = topicDataType;
       }
 
       /**

ros2-msg-to-pubsub-generator/src/main/java/us/ihmc/ros2/rosidl/ROS2MessageGenerator.java

@@ -25,6 +25,9 @@
 import java.util.ArrayList;
 import java.util.List;
 
+/**
+ * To be used in Gradle scripts to generate ROS 2 messages.
+ */
 public class ROS2MessageGenerator extends DefaultTask
 {
    /**

ros2-msg-to-pubsub-generator/src/test/generated-java/ros_msgs/msg/dds/BigNumSequence.java

@@ -12,7 +12,7 @@ public class BigNumSequence extends Packet<BigNumSequence> implements Settable<B
 
    public BigNumSequence()
    {
-      large_sequence_ = new us.ihmc.idl.IDLSequence.Object<ros_msgs.msg.dds.Num> (10000, new ros_msgs.msg.dds.NumPubSubType());
+      large_sequence_ = new us.ihmc.idl.IDLSequence.Object<ros_msgs.msg.dds.Num> (new ros_msgs.msg.dds.NumPubSubType());
 
    }