rclex

#include <erl_nif.h>

#include <rosidl_runtime_c/message_type_support_struct.h>
#define __STRING__ASSIGN rosidl_runtime_c__String__assign
#define __U16STRING__ASSIGN rosidl_runtime_c__U16String__assign_from_char

#include <<%= file_name %>.h>
#include "pkgs/<%= file_name %>_nif.h"
#include "total_nif.h"

ERL_NIF_TERM nif_get_typesupport_<%= function_name %>(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 0) {
    return enif_make_badarg(env);
  }
  void* res;
  rosidl_message_type_support_t** res_ts;
  ERL_NIF_TERM ret;

  res = enif_alloc_resource(rt_void,sizeof(rosidl_message_type_support_t*));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);

  res_ts = (rosidl_message_type_support_t**) res;
  *res_ts = ROSIDL_GET_MSG_TYPE_SUPPORT(<%= rosidl_get_msg_type_support %>);
  return ret;
}

ERL_NIF_TERM nif_create_empty_msg_<%= function_name %>(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 0) {
    return enif_make_badarg(env);
  }
  void* res;
  ERL_NIF_TERM ret;

  res = enif_alloc_resource(rt_void,sizeof(<%= struct_name %>));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);

  return ret;
}

ERL_NIF_TERM nif_init_msg_<%= function_name %>(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 1) {
    return enif_make_badarg(env);
  }
  void* res;
  ERL_NIF_TERM ret;

  if(!enif_get_resource(env,argv[0],rt_void,(void**)&res)) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);

  <%= struct_name %>__init((<%= struct_name %>*) res);
  return ret;

}

ERL_NIF_TERM nif_setdata_<%= function_name %>(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 2) {
    return enif_make_badarg(env);
  }
  void* res_tmp;
  <%= struct_name %>* res;
  if(!enif_get_resource(env,argv[0],rt_void,(void**)&res_tmp)) {
    return enif_make_badarg(env);
  }
  res = (<%= struct_name %>*) res_tmp;
<%= setdata_statements %>
  return enif_make_atom(env,"ok");
}

ERL_NIF_TERM nif_readdata_<%= function_name %>(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 1) {
    return enif_make_badarg(env);
  }
  void* res_tmp;
  <%= struct_name %>* res;

  if(!enif_get_resource(env,argv[0],rt_void,(void**)&res_tmp)) {
    return enif_make_badarg(env);
  }
  res = (<%= struct_name %>*) res_tmp;
  return <%= readdata_statements %>;
}