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src/struct_pb/protoc-plugin/CMakeLists.txt

@@ -7,6 +7,7 @@ project(protoc-gen-struct_pb)
 
 
 
+
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/bin)
 find_package(Protobuf QUIET)
 if (Protobuf_FOUND)

src/struct_pb/protoc-plugin/FileGenerator.cpp

@@ -54,6 +54,36 @@ void FileGenerator::generate_shared_header_code(
 }
 
 
+void FileGenerator::generate_pcl_helper(google::protobuf::io2::Printer *p)
+{
+  if (!file_->options().GetExtension(write_pcl_helper)) {
+    return;
+  }
+  p->PrintRaw(
+R"(namespace pcl {
+template <bool Is_writing_escape, typename Stream>
+inline void to_json_impl(Stream& s, const pcl::PointXYZI& t) {
+iguana::to_json<Is_writing_escape>(*(float(*)[8]) & t, s);
+}
+
+template <typename It, typename Stream>
+IGUANA_INLINE void from_json_impl(pcl::PointXYZI& value, It&& it, It&& end) {
+iguana::from_json(*(float(*)[8]) & value, it, end);
+}
+
+template <bool Is_writing_escape, typename Stream>
+inline void to_json_impl(Stream& s, const pcl::PointCloud<pcl::PointXYZI>& t) {
+// iguana::to_json<Is_writing_escape>(*(_Scalar(*)[_Row * _Col]) & t, s);
+}
+
+template <typename It, typename Stream>
+IGUANA_INLINE void from_json_impl(pcl::PointCloud<pcl::PointXYZI>& value, It&& it, It&& end) {
+// iguana::from_json(*(_Scalar(*)[_Row * _Col]) & value, it, end);
+}
+
+})");
+
+}
 void FileGenerator::generate_eigen_helper(google::protobuf::io2::Printer *p)
 {
   if (!file_->options().GetExtension(write_eigen_helper)) {
@@ -109,6 +139,7 @@ void FileGenerator::generate_enum_helper(google::protobuf::io2::Printer *p) {
 
 void FileGenerator::generate_header(google::protobuf::io2::Printer *p) {
   auto basename = strip_proto(file_->name());
+  Formatter format(p);
   p->Print(
       {{"filename", file_->name()},
        {"pb_header_file", basename + ".pb.h"}
@@ -132,6 +163,15 @@ void FileGenerator::generate_header(google::protobuf::io2::Printer *p) {
 #include "$pb_header_file$"
 )");
 
+  if(file_->options().GetExtension(write_pcl_helper))
+  {
+    p->PrintRaw(
+R"(#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+)");
+  }
+
+
   generate_dependency_includes(p);  // 包含的其他头文件
   generate_ns_open(p);              // 写命名空间
   generate_shared_header_code(p);
@@ -146,6 +186,8 @@ void FileGenerator::generate_header(google::protobuf::io2::Printer *p) {
 
   generate_eigen_helper(p);
   generate_enum_helper(p);
+  generate_pcl_helper(p);
+
   p->Print("// clang-format on\n");
 }
 
@@ -154,11 +196,15 @@ void FileGenerator::generate_fwd_decls(google::protobuf::io2::Printer *p) {
   for (int i = 0; i < file_->message_type_count(); ++i) {
     auto m = file_->message_type(i);
     auto eigen_name = m->options().GetExtension(eigen_typename);
-    if (eigen_name.empty()) {
-      format("struct $1$;\n", resolve_keyword(m->name()));
+    auto pcl_name = m->options().GetExtension(pcl_typename);
+    if (!eigen_name.empty()) {
+      format("using $1$ = $2$;\n", resolve_keyword(m->name()), eigen_name);
+    }
+    else if (!pcl_name.empty()) {
+      format("using $1$ = $2$;\n", resolve_keyword(m->name()), pcl_name);
     }
     else {
-      format("using $1$ = $2$;\n", resolve_keyword(m->name()), eigen_name);
+      format("struct $1$;\n", resolve_keyword(m->name()));
     }
     // std::cerr << " i= " << i << ", name = " << m->name() << "\n";
   }

src/struct_pb/protoc-plugin/FileGenerator.h

@@ -41,6 +41,7 @@ class FileGenerator : public GeneratorBase {
   void generate_message_class2struct_source(google::protobuf::io2::Printer *p);
   void generate_message_tostring_source(google::protobuf::io2::Printer *p);
   void generate_eigen_helper(google::protobuf::io2::Printer *p);
+  void generate_pcl_helper(google::protobuf::io2::Printer *p);
   void generate_enum_helper(google::protobuf::io2::Printer *p);
 
  private:

src/struct_pb/protoc-plugin/MessageGenerator.cpp

@@ -56,12 +56,16 @@ void MessageGenerator::generate_struct_definition(
   if (!d_->options().GetExtension(eigen_typename).empty()) {
     return;
   }
+  // added 跳过pcl类型的定义
+  if (!d_->options().GetExtension(pcl_typename).empty()) {
+    return;
+  }
 
   std::string parent = "";
   for (int i = 0; i < d_->field_count(); ++i) {
     auto fd = d_->field(i);
     if (fd->options().GetExtension(inherits_from)) {
-      parent = std::string(": public ") + fg_map_.get(fd).cpp_type_name();
+      parent += (i == 0 ? ":" : ",") + std::string("public ") + fg_map_.get(fd).cpp_type_name();
     }
   }
 
@@ -240,23 +244,22 @@ void MessageGenerator::generate_struct_to_class_to(google::protobuf::io2::Printe
 
   if (std::string eigen_name = d_->options().GetExtension(eigen_typename);
       !eigen_name.empty()) {
-    if (eigen_name == "Eigen::MatrixXd") {
+    if (eigen_name.find("Eigen::Matrix") != std::string::npos) {
       format("result.mutable_data()->CopyFrom({in.data(),in.data()+in.size()});""\n");
       format("result.set_col(in.cols());\n");
       format("result.set_row(in.rows());\n");
     }
-    else if (eigen_name == "Eigen::Vector3d" ||
-             eigen_name == "Eigen::Vector2d" ||
-             eigen_name == "Eigen::Vector4d") {
+    else if (eigen_name.find("Eigen::Vector") != std::string::npos || eigen_name.find("Eigen::Quaternion") != std::string::npos) {
       for (int i = 0; i < d_->field_count(); ++i) {
         auto f = d_->field(i);
-        format("result.set_$1$(in[$2$]);\n", f->name(), std::to_string(i));
+        format("result.set_$1$(in.$1$());\n", f->name());
+
       }
     }
-    else if (eigen_name == "Eigen::Quaterniond") {
+    else if (eigen_name.find("pcl::") != std::string::npos) {
       for (int i = 0; i < d_->field_count(); ++i) {
         auto f = d_->field(i);
-        format("result.set_$1$(in.$1$());\n", f->name());
+        // format("result.set_$1$(in.$1$());\n", f->name());
       }
     }
     else {
@@ -286,21 +289,20 @@ void MessageGenerator::generate_class_to_struct_to(google::protobuf::io2::Printe
 
   if (std::string eigen_name = d_->options().GetExtension(eigen_typename);
       !eigen_name.empty()) {
-    if (eigen_name == "Eigen::MatrixXd") {
+    if (eigen_name.find("Eigen::Matrix") != std::string::npos) {
       format("result = Eigen::Map<Eigen::MatrixXd const>(in.data().begin(), in.row(),in.col());\n");
     }
-    else if (eigen_name == "Eigen::Vector3d" ||
-             eigen_name == "Eigen::Vector2d" ||
-             eigen_name == "Eigen::Vector4d") {
+    else if (eigen_name.find("Eigen::Vector") != std::string::npos || eigen_name.find("Eigen::Quaternion") != std::string::npos) {
       for (int i = 0; i < d_->field_count(); ++i) {
         auto f = d_->field(i);
-        format("result[$1$] = in.$2$();\n", std::to_string(i), f->name());
+        // format("result[$1$] = in.$2$();\n", std::to_string(i), f->name());
+        format("result.$1$() = in.$1$();\n", f->name());
       }
     }
-    else if (eigen_name == "Eigen::Quaterniond") {
+    else if (eigen_name.find("pcl::") != std::string::npos) {
       for (int i = 0; i < d_->field_count(); ++i) {
         auto f = d_->field(i);
-        format("result.$1$() = in.$1$();\n", f->name());
+        // format("result.$1$() = in.$1$();\n", f->name());
       }
     }
     else {

src/struct_pb/protoc-plugin/PrimitiveFieldGenerator.cpp

@@ -449,5 +449,32 @@ void RepeatedPrimitiveFieldGenerator::generate_deserialization_unpacked_only(
   PrimitiveFieldGenerator g(d_, options_);
   g.generate_deserialization_only(p, output);
 }
+
+  // added
+void RepeatedPrimitiveFieldGenerator::generate_struct_to_class(
+    google::protobuf::io2::Printer *p) const {
+        Formatter format(p);
+  auto v_class_name = "result.mutable_" + name() + "()";
+  auto v_struct_name = "in." + name();
+  int size = d_->options().GetExtension(fix_size);
+  std::string size_str = size > 0 ? std::to_string(size) : (v_struct_name + ".size()");
+  p->Print({{"result", v_class_name}, {"in", v_struct_name}, {"cpp_name", cpp_type_name()}, {"size",size_str}},
+R"($result$->Reserve($size$);
+for(int i = 0;i < $size$;++i) { *$result$->Mutable(i) = $in$[i];} 
+)");
+}
+void RepeatedPrimitiveFieldGenerator::generate_class_to_struct(
+    google::protobuf::io2::Printer *p) const {
+  auto v_class_name = "in." + name() + "";
+  auto v_struct_name = "result." + name();
+  int size = d_->options().GetExtension(fix_size);
+  std::string size_str = size > 0 ? std::to_string(size) : (v_class_name + "().size()");
+
+  p->Print({{"in", v_class_name}, {"result", v_struct_name},{"cpp_name", cpp_type_name()},{"size",size_str}}, 
+R"(for(int i = 0;i < $size$;++i) {$result$[i] = $in$(i);}
+)");
+
+}
+
 }  // namespace compiler
 }  // namespace struct_pb

src/struct_pb/protoc-plugin/PrimitiveFieldGenerator.h

@@ -49,7 +49,9 @@ class RepeatedPrimitiveFieldGenerator : public FieldGenerator {
                                             const std::string &max_size) const;
   void generate_deserialization_unpacked_only(google::protobuf::io2::Printer *p,
                                               const std::string &output) const;
-
+  // added
+  void generate_struct_to_class(google::protobuf::io2::Printer *p) const override;
+  void generate_class_to_struct(google::protobuf::io2::Printer *p) const override;
  private:
   bool is_packed() const;
   std::string packed_tag() const;

src/struct_pb/protoc-plugin/example/CMakeLists.txt

@@ -6,6 +6,10 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/examples)
 
 include(../cmake/struct_pb.cmake)
 
+cmake_policy(SET CMP0075 NEW)
+find_package(PCL REQUIRED package common)
+
+
 if (Protobuf_FOUND)
 
     # generate .pb.cc .pb.h
@@ -19,15 +23,17 @@ if (Protobuf_FOUND)
     state.proto
     chasis.proto
     perception.proto
+    # pointcloud.proto
     )
     add_executable(struct_pb_tutorial tutorial.cpp           
       ${PROTO_SRCS}
       ${PROTO_HDRS})
-      target_link_libraries(struct_pb_tutorial protobuf::libprotobuf)
+      target_link_libraries(struct_pb_tutorial protobuf::libprotobuf pcl_common)
 
     target_include_directories(struct_pb_tutorial PUBLIC 
       ${CMAKE_CURRENT_BINARY_DIR}
       ${CMAKE_CURRENT_LIST_DIR}
+      ${PCL_INCLUDE_DIRS}
       )
 
     target_protos_struct_pb(struct_pb_tutorial PRIVATE 
@@ -38,6 +44,7 @@ if (Protobuf_FOUND)
     state.proto
     chasis.proto
     perception.proto
+    # pointcloud.proto
     OPTION "namespace=inner_struct,converter_namespace=converter")
 
 endif()

src/struct_pb/protoc-plugin/example/base.proto

@@ -64,18 +64,27 @@ message ZFrame
      string channel_name = 5;
 }
 
+message Vector4f
+{
+    option(eigen_typename) = "Eigen::Vector4f";
+
+     float x = 1;
+     float y = 2;
+     float z = 3;
+     float w = 4;
+}
 
-message Point4D
+message Vector4d
 {
     option(eigen_typename) = "Eigen::Vector4d";
 
      double x = 1;
      double y = 2;
      double z = 3;
-     double i = 4;
+     double w = 4;
 }
 
-message Point3D
+message Vector3d
 {
     option(eigen_typename) = "Eigen::Vector3d";
 
@@ -84,15 +93,15 @@ message Point3D
      double z = 3;
 }
 
-message Point2D
+message Vector2d
 {
     option(eigen_typename) = "Eigen::Vector2d";
 
      double x = 1;
      double y = 2;
 }
 
-message Quaternion {
+message Quaterniond {
     option(eigen_typename) = "Eigen::Quaterniond";
 
      double w = 1;
@@ -101,14 +110,23 @@ message Quaternion {
      double z = 4;
 }
 
+message Quaternionf {
+     option(eigen_typename) = "Eigen::Quaternionf";
+
+      float w = 1;
+      float x = 2;
+      float y = 3;
+      float z = 4;
+ }
+
 message PointLLH {
      double lon = 1;
      double lat = 2;
      double height = 3;
 }
 
 // hard code, never edit
-message Matrix
+message MatrixXd
 {
     option(eigen_typename) = "Eigen::MatrixXd";
 

src/struct_pb/protoc-plugin/example/chasis.proto

@@ -7,8 +7,8 @@ import "proto_to_struct.proto";
 message ZChassis
 {
   ZFrame header = 1 [(inherits_from) = true];
-  Point4D vel = 2;
-  Point4D spd_status = 3;
+  Vector4d vel = 2;
+  Vector4d spd_status = 3;
   double steering_percentage = 4;
   double brake_percentage = 5;
   bool parking_brake = 6;

src/struct_pb/protoc-plugin/example/gnss.proto

@@ -9,17 +9,17 @@ message ZGnss
   ZFrame header = 1 [(inherits_from) = true];;
   int32 msg_type = 2;
   double hdop = 3;
-  Point3D pos = 4;      
+  Vector3d pos = 4;      
   int32 status = 5;               
   int32 sat_num = 6;
   double rtk_age = 7;
-  Point3D std_pos = 8;
-  Point3D vel = 9;
+  Vector3d std_pos = 8;
+  Vector3d vel = 9;
   double azi_track = 10;
   double speed = 11;
-  Point3D std_vel = 12;
-  Point2D dual_antenna_angle =13;
-  Point2D dual_antenna_std = 14;
+  Vector3d std_vel = 12;
+  Vector2d dual_antenna_angle =13;
+  Vector2d dual_antenna_std = 14;
   int32 heading_status = 15;
   int32 heading_sat_num = 16;
 }

src/struct_pb/protoc-plugin/example/imu.proto

@@ -7,8 +7,8 @@ import "proto_to_struct.proto";
 message ZImu
 {
     ZFrame header = 1 [(inherits_from) = true];
-    Point3D acc = 2;                    // 加速度 g
-    Point3D gyr = 3;                    // 角速度 rad/s
+    Vector3d acc = 2;                    // 加速度 g
+    Vector3d gyr = 3;                    // 角速度 rad/s
     double temper = 4;                  // 温度 ℃
 }
 

src/struct_pb/protoc-plugin/example/perception.proto

@@ -9,8 +9,8 @@ message ZPercBase
   int32 track_id = 1;
   string id = 2;  // 需要单帧独立
   float object_confidence = 3;
-  repeated Point3D points = 4;
-  repeated Point3D points_confidence = 5;
+  repeated Vector3d points = 4;
+  repeated Vector3d points_confidence = 5;
 }
 
 message ZPercLine