FASTDDS IDL

FASTDDS IDL

1. IDL为接口定义语言，支持的类型有：

   • Primitive types

     IDL	C++11
     char	char
     octet	uint8_t
     short	int16_t
     unsigned short	uint16_t
     long	int32_t
     unsigned long	uint32_t
     long long	int64_t
     unsigned long long	uint64_t
     float	float
     double	double
     long double	long double
     boolean	bool
     string	std::string

   • Arrays

     支持一维和多维数组。

     IDL	C++11
     char a[5]	std::array<char,5> a
     octet a[5]	std::array<uint8_t,5> a
     short a[5]	std::array<int16_t,5> a
     unsigned short a[5]	std::array<uint16_t,5> a
     long a[5]	std::array<int32_t,5> a
     unsigned long a[5]	std::array<uint32_t,5> a
     long long a[5]	std::array<int64_t,5> a
     unsigned long long a[5]	std::array<uint64_t,5> a
     float a[5]	std::array<float,5> a
     double a[5]	std::array<double,5> a

   • Sequences

     支持动态数组，对应C++中的std::vector

     IDL	C++11
     sequence	std::vector<char>
     sequence	std::vector<uint8_t>
     sequence	std::vector<int16_t>
     sequence	std::vector<uint16_t>
     sequence	std::vector<int32_t>
     sequence	std::vector<uint32_t>
     sequence	std::vector<int64_t>
     sequence	std::vector<uint64_t>
     sequence	std::vector<float>
     sequence	std::vector<double>

   • Maps

     支持容器，对应C++中的std::map

     IDL	C++11
     map<char, unsigned long long>	std::map<char, uint64_T>

   • Structures

     将多种类型的变量定义在一个结构体，最后每个结构体将被转换成为一个类，为类中的每个变量定义set和get方法

     struct Structure
     {
         octet octet_value;
         long long_value;
         string string_value;
     };
     

     class Structure
     {
     public:
         Structure();
         ~Structure();
         Structure(const Structure &x);
         Structure(Structure &&x);
         Structure& operator=(const Structure &x);
         Structure& operator=(Structure &&x);
     
         void octet_value(uint8_t _octet_value);
         uint8_t octet_value() const;
         uint8_t& octet_value();
         void long_value(int64_t _long_value);
         int64_t long_value() const;
         int64_t& long_value();
         void string_value(const std::string
             &_string_value);
         void string_value(std::string &&_string_value);
         const std::string& string_value() const;
         std::string& string_value();
     
     private:
         uint8_t m_octet_value;
         int64_t m_long_value;
         std::string m_string_value;
     };
     

     结构体可以继承

     struct ParentStruct
     {
         octet parent_member;
     };
     
     struct ChildStruct : ParentStruct
     {
         long child_member;
     };
     

   • Unions

     union Union switch(long)
     {
        case 1:
         octet octet_value;
       case 2:
         long long_value;
       case 3:
         string string_value;
     };
     

   • Bitsets

     bitset MyBitset
     {
         bitfield<3> a;
         bitfield<10> b;
         bitfield<12, long> c;
     };
     

     共25bits（3+10+12）

   • Enumerations

     enum Enumeration
     {
         RED,
         GREEN,
         BLUE
     };
     

   • Bitmasks

     @bit_bound(8)
     bitmask MyBitMask
     {
         @position(0) flag0,
         @position(1) flag1,
         @position(4) flag4,
         @position(6) flag6,
         flag7
     };
     

     转换后

     enum MyBitMask : uint8_t
     {
         flag0 = 0x01 << 0,
         flag1 = 0x01 << 1,
         flag4 = 0x01 << 4,
         flag6 = 0x01 << 6,
         flag7 = 0x01 << 7
     };
     

     bit_bound设置范围1-64，不设置默认为32bits，使用position定义flag，如果不定义，position将从最后一次flag自动递增，从0开始。

   • Data types with a key

     struct MyType
     {
         @Key long id;
         @Key string type;
         long positionX;
         long positionY;
     };
     

   IDL可以包含别的IDL文件

   #include "OtherFile.idl"
   #include <AnotherFile.idl>