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uorb: add message format compatibility check

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This can be used by DDS/ROS 2 to check for matching message definitions.
This commit is contained in:
Beat Küng
2023-11-15 13:18:58 +01:00
parent 0dcecf0666
commit 22acb08406
9 changed files with 162 additions and 2 deletions
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Tools/msg/templates/uorb/msg.cpp.em
+2 -1
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@@ -58,6 +58,7 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%name_snake_case
message_hash = get_message_hash(spec.parsed_fields(), search_path)
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
}@
@@ -74,7 +75,7 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
@[for topic in topics]@
static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), static_cast<orb_id_size_t>(ORB_ID::@topic));
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
@[end for]
void print_message(const orb_metadata *meta, const @uorb_struct& message)