INTEGER type

Signed-off-by: Tyler Weaver <tyler@picknik.ai>
PickNikRobotics · Aug 18, 2022 · 26de692 · 26de692
1 parent c3181c4
commit 26de692
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Showing 3 changed files with 27 additions and 4 deletions.
diff --git a/example/src/parameters.yaml b/example/src/parameters.yaml
@@ -226,3 +226,21 @@ admittance_controller:
     default_value: false,
     description: "if enabled, the velocity commanded to the admittance controller is added to its calculated admittance velocity"
   }
+  one_number: {
+    type: int,
+    default: 14540,
+    readonly: true,
+    validation: {
+      bounds<>: [ 1024, 65535 ]
+    }
+  }
+  three_numbers: {
+    type: int_array,
+    default: [3,4,5],
+    readonly: true,
+  }
+  three_numbers_of_five: {
+    type: int_array_fixed_5,
+    default: [3,3,3],
+    readonly: true,
+  }
diff --git a/generate_parameter_library_py/generate_parameter_library_py/main.py b/generate_parameter_library_py/generate_parameter_library_py/main.py
@@ -257,15 +257,20 @@ def bool_array_fixed_to_str(values: Optional[list]):
     return "{{" + ", ".join(bool_to_str(x) for x in values) + "}}"
 
 
+@typechecked
+def int_to_integer_str(value: str):
+    return value.replace("int", "integer")
+
+
 class CodeGenVariableBase:
     defined_type_to_cpp_type = {
         "bool": lambda defined_type, templates: "bool",
         "double": lambda defined_type, templates: "double",
-        "int": lambda defined_type, templates: "int",
+        "int": lambda defined_type, templates: "int64_t",
         "string": lambda defined_type, templates: "std::string",
         "bool_array": lambda defined_type, templates: "std::vector<bool>",
         "double_array": lambda defined_type, templates: "std::vector<double>",
-        "int_array": lambda defined_type, templates: "std::vector<int>",
+        "int_array": lambda defined_type, templates: "std::vector<int64_t>",
         "string_array": lambda defined_type, templates: "std::vector<std::string>",
         "double_array_fixed": lambda defined_type, templates: f"parameter_traits::FixedSizeArray<{templates[0]}, {templates[1]}>",
         "int_array_fixed": lambda defined_type, templates: f"parameter_traits::FixedSizeArray<{templates[0]}, {templates[1]}>",
@@ -377,7 +382,7 @@ def process_type(self, defined_type):
         return defined_type, None
 
     def get_parameter_type(self):
-        return self.defined_type.upper()
+        return int_to_integer_str(self.defined_type).upper()
 
 
 class CodeGenFixedVariable(CodeGenVariableBase):
@@ -391,7 +396,7 @@ def process_type(self, defined_type):
         return defined_type, (cpp_base_type, size)
 
     def get_parameter_type(self):
-        return get_fixed_base_type(self.defined_type).upper()
+        return int_to_integer_str(get_fixed_base_type(self.defined_type)).upper()
 
 
 # Each template has a corresponding class with the str filling in the template with jinja

diff --git a/..._parameter_library_py/test/__pycache__/YAML_parse_error_test.cpython-310-pytest-6.2.5.pyc b/..._parameter_library_py/test/__pycache__/YAML_parse_error_test.cpython-310-pytest-6.2.5.pyc