std::byte take 2

rosidl_generator_cpp/resource/idl__struct.hpp.em

@@ -33,6 +33,7 @@ include_directives = set()
 #include <string>
 #include <vector>
 
+#include "rosidl_runtime_cpp/byte_helpers.hpp"
 #include "rosidl_runtime_cpp/bounded_vector.hpp"
 #include "rosidl_runtime_cpp/message_initialization.hpp"
 

rosidl_generator_cpp/resource/msg__struct.hpp.em

@@ -4,7 +4,7 @@ from rosidl_generator_cpp import create_init_alloc_and_member_lists
 from rosidl_generator_cpp import escape_string
 from rosidl_generator_cpp import escape_wstring
 from rosidl_generator_cpp import msg_type_to_cpp
-from rosidl_generator_cpp import MSG_TYPE_TO_CPP
+from rosidl_generator_cpp import MSG_TYPE_TO_CPP_CONVERSION
 from rosidl_generator_cpp import generate_zero_string
 from rosidl_generator_cpp import generate_default_string
 from rosidl_parser.definition import AbstractNestedType
@@ -235,17 +235,19 @@ non_defaulted_zero_initialized_members = [
 #endif
 @[ end if]@
 @[ if isinstance(constant.type, AbstractString)]@
-  static const @(MSG_TYPE_TO_CPP['string']) @(constant.name);
+  static const @(MSG_TYPE_TO_CPP_CONVERSION['string']) @(constant.name);
 @[ elif isinstance(constant.type, AbstractWString)]@
-  static const @(MSG_TYPE_TO_CPP['wstring']) @(constant.name);
+  static const @(MSG_TYPE_TO_CPP_CONVERSION['wstring']) @(constant.name);
 @[ else]@
-  static constexpr @(MSG_TYPE_TO_CPP[constant.type.typename]) @(constant.name) =
+  static constexpr @(MSG_TYPE_TO_CPP_CONVERSION[constant.type.typename]) @(constant.name) =
 @[  if isinstance(constant.type, BasicType)]@
-@[   if constant.type.typename in (*INTEGER_TYPES, *CHARACTER_TYPES, BOOLEAN_TYPE, OCTET_TYPE)]@
+@[   if constant.type.typename in (*INTEGER_TYPES, *CHARACTER_TYPES, BOOLEAN_TYPE)]@
     @(int(constant.value))@
 @[    if constant.type.typename in UNSIGNED_INTEGER_TYPES]@
 u@
 @[    end if]@
+@[   elif constant.type.typename == OCTET_TYPE]@
+    std::byte{@(constant.value)}@
 @[   elif constant.type.typename == 'float']@
     @(constant.value)f@
 @[   else]@
@@ -336,17 +338,17 @@ using @(message.structure.namespaced_type.name) =
 @[ end if]@
 @[ if isinstance(c.type, AbstractString)]@
 template<typename ContainerAllocator>
-const @(MSG_TYPE_TO_CPP['string'])
+const @(MSG_TYPE_TO_CPP_CONVERSION['string'])
 @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(c.name) = "@(escape_string(c.value))";
 @[ elif isinstance(c.type, AbstractWString)]@
 template<typename ContainerAllocator>
-const @(MSG_TYPE_TO_CPP['wstring'])
+const @(MSG_TYPE_TO_CPP_CONVERSION['wstring'])
 @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(c.name) = u"@(escape_wstring(c.value))";
 @[ else ]@
 #if __cplusplus < 201703L
 // static constexpr member variable definitions are only needed in C++14 and below, deprecated in C++17
 template<typename ContainerAllocator>
-constexpr @(MSG_TYPE_TO_CPP[c.type.typename]) @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(c.name);
+constexpr @(MSG_TYPE_TO_CPP_CONVERSION[c.type.typename]) @(message.structure.namespaced_type.name)_<ContainerAllocator>::@(c.name);
 #endif  // __cplusplus < 201703L
 @[ end if]@
 @[ if c.name in msvc_common_macros]@

rosidl_generator_cpp/resource/msg__traits.hpp.em

@@ -93,8 +93,10 @@ inline void to_flow_style_yaml(
   {
 @[    if isinstance(member.type, BasicType)]@
     out << "@(member.name): ";
-@[      if member.type.typename in ('octet', 'char', 'wchar')]@
+@[      if member.type.typename in ('char', 'wchar')]@
     rosidl_generator_traits::character_value_to_yaml(msg.@(member.name), out);
+@[      elif member.type.typename == 'octet']@
+    rosidl_generator_traits::value_to_yaml(static_cast<std::byte>(msg.@(member.name)), out);
 @[      else]@
     rosidl_generator_traits::value_to_yaml(msg.@(member.name), out);
 @[      end if]@
@@ -112,8 +114,10 @@ inline void to_flow_style_yaml(
       size_t pending_items = msg.@(member.name).size();
       for (auto item : msg.@(member.name)) {
 @[      if isinstance(member.type.value_type, BasicType)]@
-@[        if member.type.value_type.typename in ('octet', 'char', 'wchar')]@
+@[        if member.type.value_type.typename in ('char', 'wchar')]@
         rosidl_generator_traits::character_value_to_yaml(item, out);
+@[        elif member.type.value_type.typename == 'octet']@
+        rosidl_generator_traits::value_to_yaml(static_cast<std::byte>(item), out);
 @[        else]@
         rosidl_generator_traits::value_to_yaml(item, out);
 @[        end if]@
@@ -158,8 +162,10 @@ inline void to_block_style_yaml(
     }
 @[    if isinstance(member.type, BasicType)]@
     out << "@(member.name): ";
-@[      if member.type.typename in ('octet', 'char', 'wchar')]@
+@[      if member.type.typename in ('char', 'wchar')]@
     rosidl_generator_traits::character_value_to_yaml(msg.@(member.name), out);
+@[      elif member.type.typename == 'octet']@
+    rosidl_generator_traits::value_to_yaml(static_cast<std::byte>(msg.@(member.name)), out);
 @[      else]@
     rosidl_generator_traits::value_to_yaml(msg.@(member.name), out);
 @[      end if]@
@@ -182,8 +188,10 @@ inline void to_block_style_yaml(
         }
 @[      if isinstance(member.type.value_type, BasicType)]@
         out << "- ";
-@[        if member.type.value_type.typename in ('octet', 'char', 'wchar')]@
+@[        if member.type.value_type.typename in ('char', 'wchar')]@
         rosidl_generator_traits::character_value_to_yaml(item, out);
+@[        elif member.type.value_type.typename == 'octet']@
+        rosidl_generator_traits::value_to_yaml(static_cast<std::byte>(item), out);
 @[        else]@
         rosidl_generator_traits::value_to_yaml(item, out);
 @[        end if]@

rosidl_generator_cpp/rosidl_generator_cpp/__init__.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from ast import literal_eval
+from copy import copy
 from typing import List
 
 from rosidl_parser.definition import AbstractGenericString
@@ -55,7 +56,7 @@ def prefix_with_bom_if_necessary(content: str) -> str:
 
 MSG_TYPE_TO_CPP = {
     'boolean': 'bool',
-    'octet': 'unsigned char',  # TODO change to std::byte with C++17
+    'octet': 'std::byte',
     'char': 'unsigned char',  # TODO change to char8_t with C++20
     'wchar': 'char16_t',
     'float': 'float',
@@ -75,6 +76,9 @@ def prefix_with_bom_if_necessary(content: str) -> str:
                'std::allocator_traits<ContainerAllocator>::template rebind_alloc<char16_t>>',
 }
 
+MSG_TYPE_TO_CPP_CONVERSION = copy(MSG_TYPE_TO_CPP)
+MSG_TYPE_TO_CPP_CONVERSION['octet'] = 'rosidl_runtime_cpp::ByteConverter'
+
 
 def msg_type_only_to_cpp(type_):
     """
@@ -89,11 +93,11 @@ def msg_type_only_to_cpp(type_):
     if isinstance(type_, AbstractNestedType):
         type_ = type_.value_type
     if isinstance(type_, BasicType):
-        cpp_type = MSG_TYPE_TO_CPP[type_.typename]
+        cpp_type = MSG_TYPE_TO_CPP_CONVERSION[type_.typename]
     elif isinstance(type_, AbstractString):
-        cpp_type = MSG_TYPE_TO_CPP['string']
+        cpp_type = MSG_TYPE_TO_CPP_CONVERSION['string']
     elif isinstance(type_, AbstractWString):
-        cpp_type = MSG_TYPE_TO_CPP['wstring']
+        cpp_type = MSG_TYPE_TO_CPP_CONVERSION['wstring']
     elif isinstance(type_, NamespacedType):
         typename = '::'.join(type_.namespaced_name())
         cpp_type = typename + '_<ContainerAllocator>'
@@ -196,11 +200,12 @@ def primitive_value_to_cpp(type_, value):
     if type_.typename == 'boolean':
         return 'true' if value else 'false'
 
-    if type_.typename in [
-        'char', 'octet'
-    ]:
+    if type_.typename == 'char':
         return f'static_cast<unsigned char>({value})'
 
+    if type_.typename == 'octet':
+        return f'std::byte{{{value}}}'
+
     if type_.typename in [
         'short', 'unsigned short',
         'wchar',

rosidl_generator_tests/test/rosidl_generator_cpp/test_interfaces.cpp

@@ -168,7 +168,7 @@ void test_message_basic_types(rosidl_generator_tests::msg::BasicTypes message)
 #ifdef __linux__
 #pragma GCC diagnostic pop
 #endif
-  TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, 0, 255)
+  TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, std::byte{0}, std::byte{255})
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, char_value, 0, UINT8_MAX)
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float32_value, FLT_MIN, FLT_MAX)
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float64_value, DBL_MIN, DBL_MAX)
@@ -487,7 +487,7 @@ TEST(Test_messages, constants_assign) {
 TEST(Test_messages, defaults) {
   rosidl_generator_tests::msg::Defaults message;
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, bool_value, true, false);
-  TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, 50, 255);
+  TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, byte_value, std::byte{50}, std::byte{255});
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, char_value, 100, UINT8_MAX);
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float32_value, 1.125f, FLT_MAX);
   TEST_BASIC_TYPE_FIELD_ASSIGNMENT(message, float64_value, 1.125, DBL_MAX);

rosidl_generator_tests/test/rosidl_generator_cpp/test_msg_builder.cpp

@@ -24,7 +24,7 @@ TEST(Test_msg_initialization, build) {
   ::rosidl_generator_tests::msg::BasicTypes basic =
     ::rosidl_generator_tests::build<::rosidl_generator_tests::msg::BasicTypes>()
     .bool_value(true)
-    .byte_value(5)
+    .byte_value(std::byte{5})
     .char_value(10)
     .float32_value(0.1125f)
     .float64_value(0.01125)
@@ -57,7 +57,7 @@ TEST(Test_msg_initialization, build) {
   {
     rosidl_generator_tests::build<rosidl_generator_tests::msg::BasicTypes>()
     .bool_value(false)
-    .byte_value(10)
+    .byte_value(std::byte{10})
     .char_value(20)
     .float32_value(0.225f)
     .float64_value(0.0225)
@@ -90,7 +90,7 @@ TEST(Test_msg_initialization, build) {
   rosidl_generator_tests::msg::Arrays arrays =
     rosidl_generator_tests::build<rosidl_generator_tests::msg::Arrays>()
     .bool_values({{true, false, true}})
-    .byte_values({{5, 10, 5}})
+    .byte_values({{std::byte{5}, std::byte{10}, std::byte{5}}})
     .char_values({{10, 20, 10}})
     .float32_values({{0.1125f, 0.225f, 0.1125f}})
     .float64_values({{0.01125, 0.0225, 0.01125}})
@@ -107,7 +107,7 @@ TEST(Test_msg_initialization, build) {
     .constants_values({{constants, constants, constants}})
     .defaults_values({{defaults, defaults, defaults}})
     .bool_values_default({{false, true, false}})
-    .byte_values_default({{10, 5, 10}})
+    .byte_values_default({{std::byte{10}, std::byte{5}, std::byte{10}}})
     .char_values_default({{20, 10, 20}})
     .float32_values_default({{0.225f, 0.1125f, 0.225f}})
     .float64_values_default({{0.0225, 0.01125, 0.0225}})