uORB generate message print functions

msg/tools/px_generate_uorb_topic_helper.py

@@ -68,6 +68,20 @@ msgtype_size_map = {
     'char': 1,
 }
 
+type_printf_map = {
+    'int8': '%d',
+    'int16': '%d',
+    'int32': '%" PRId32 "',
+    'int64': '%" PRId64 "',
+    'uint8': '%u',
+    'uint16': '%u',
+    'uint32': '%" PRIu32 "',
+    'uint64': '%" PRIu64 "',
+    'float32': '%.3f',
+    'float64': '%.3f',
+    'bool': '%u',
+    'char': '%c',
+}
 
 def bare_name(msg_type):
     """
@@ -165,6 +179,70 @@ def convert_type(spec_type):
     return c_type
 
 
+def px4_printf(field):
+    """
+    Echo printf line
+    """
+
+    # skip padding
+    if ("_padding" in field.name):
+        return
+
+    bare_type = field.type
+    if '/' in field.type:
+        # removing prefix
+        bare_type = (bare_type.split('/'))[1]
+
+    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
+
+    field_name = ""
+
+    if is_array:
+        c_type = "["
+
+        if msg_type in type_map:
+            p_type = type_printf_map[msg_type]
+
+        else:
+            for i in range(array_length):
+                print("printf(\"   " + field.type + " " + field.name + "[" + str(i) + "]\");")
+                print(" print_message(message." + field.name + "[" + str(i) + "]);")
+            return
+
+        for i in range(array_length):
+
+            if i > 0:
+                c_type += ", "
+                field_name += ", "
+
+            if "float32" in field.type:
+                field_name += "(double)message." + field.name + "[" + str(i) + "]"
+            else:
+                field_name += "message." + field.name + "[" + str(i) + "]"
+
+            c_type += str(p_type)
+
+        c_type += "]"
+
+    else:
+        c_type = msg_type
+        if msg_type in type_map:
+            c_type = type_printf_map[msg_type]
+
+            field_name = "message." + field.name
+
+            # cast double
+            if field.type == "float32":
+                field_name = "(double)" + field_name
+
+        else:
+            print("printf(\"  " + field.name + "\");")
+            print("\tprint_message(message."+ field.name + ");")
+            return
+
+    print("printf(\"\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
+
+
 def print_field_def(field):
     """
     Print the C type from a field