rename empy templates (*.template) to proper file extension (.em)

2026-05-22 01:57:35 +08:00 · 2019-06-10 12:36:16 -04:00
parent bef7a9ba8e
commit 32a89a1834
26 changed files with 25 additions and 23 deletions
@@ -0,0 +1,159 @@
+@###############################################
+@#
+@# PX4 ROS compatible message source code
+@# generation for C++
+@#
+@# EmPy template for generating <msg>.h files
+@# Based on the original template for ROS
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - file_name_in (String) Source file
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@#  - md5sum (String) MD5Sum of the .msg specification
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) multi-topic names
+@#  - ids (List) list of all RTPS msg ids
+@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* Auto-generated by genmsg_cpp from file @file_name_in */
+
+@{
+import genmsg.msgs
+import gencpp
+from px_generate_uorb_topic_helper import * # this is in Tools/
+
+uorb_struct = '%s_s'%spec.short_name
+topic_name = spec.short_name
+}@
+
+#include <px4_config.h>
+#include <ucdr/microcdr.h>
+#include <uORB/topics/@(topic_name).h>
+#include <uORB_microcdr/topics/@(topic_name).h>
+
+@#################################################
+@# Searching for serialize function per each field
+@#################################################
+@{
+
+def print_info(field):
+    print("type: ", field.type, "name: ", field.name, "base_type: ", \
+          field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
+          "is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
+
+def print_level_info(fields):
+    for field in fields:
+        print_info(field)
+        if (not field.is_builtin):
+            print("\n")
+            children_fields = get_children_fields(field.base_type, search_path)
+            print_level_info(children_fields)
+            print("\n")
+
+def walk_through_parsed_fields():
+    print_level_info(spec.parsed_fields())
+
+def get_serialization_type_name(type_name):
+    if type_name in type_serialize_map:
+        return type_serialize_map[type_name]
+    else:
+        raise Exception("Type {0} not supported, add to type_serialize_map!".format(type_name))
+
+def add_serialize_functions(fields, scope_name):
+    for field in fields:
+        if (not field.is_header):
+            if (field.is_builtin):
+                if (not field.is_array):
+                    print("    ucdr_serialize_" + str(get_serialization_type_name(field.type)) + "(writer, input->" + scope_name+str(field.name) + ");")
+                else:
+                    print("    ucdr_serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(writer, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
+            else:
+                name = field.name
+                children_fields = get_children_fields(field.base_type, search_path)
+                if (scope_name):  name = scope_name + name
+                if (not field.is_array):
+                    add_serialize_functions(children_fields, name + '.')
+                else:
+                    for i in range(field.array_len):
+                        add_serialize_functions(children_fields, name + ('[%d].' %i))
+
+def add_deserialize_functions(fields, scope_name):
+    for field in fields:
+        if (not field.is_header):
+            if (field.is_builtin):
+                if (not field.is_array):
+                    print("    ucdr_deserialize_" + str(get_serialization_type_name(field.type)) + "(reader, &output->" + scope_name+str(field.name) + ");")
+                else:
+                    print("    ucdr_deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(reader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
+            else:
+                name = field.name
+                children_fields = get_children_fields(field.base_type, search_path)
+                if (scope_name):  name = scope_name + name
+                if (not field.is_array):
+                    add_deserialize_functions(children_fields, name + '.')
+                else:
+                    for i in range(field.array_len):
+                        add_deserialize_functions(children_fields, name + ('[%d].' %i))
+
+def add_code_to_serialize():
+    add_serialize_functions(spec.parsed_fields(), "")
+
+def add_code_to_deserialize():
+    add_deserialize_functions(spec.parsed_fields(), "")
+}@
+
+void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length)
+{
+    if (nullptr == writer || nullptr == input || nullptr == output || nullptr == length)
+	return;
+
+    ucdr_reset_buffer(writer);
+
+@add_code_to_serialize()
+    (*length) = ucdr_buffer_length(writer);
+}
+
+void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input)
+{
+    if (nullptr == reader || nullptr == output || nullptr == input)
+	return;
+
+    ucdr_reset_buffer(reader);
+
+@add_code_to_deserialize()
+}