From 4b34d0c297b2953eff7af65e0e71e351fdadffda Mon Sep 17 00:00:00 2001
From: tumbili <bapstr@ethz.ch>
Date: Sun, 3 May 2015 23:30:18 +0200
Subject: [PATCH] improved topic listener

---
 Tools/generate_listener.py | 45 +++++++++++++++++++++++++++++++++-----
 1 file changed, 39 insertions(+), 6 deletions(-)

diff --git a/Tools/generate_listener.py b/Tools/generate_listener.py
index 805b390901..50fc17267c 100755
--- a/Tools/generate_listener.py
+++ b/Tools/generate_listener.py
@@ -9,19 +9,33 @@ import sys
 
 raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
 messages = []
-message_floats = []
+message_elements = []
 
 
 for index,m in enumerate(raw_messages):
-	temp_list = []
+	temp_list_floats = []
+	temp_list_uint64 = []
+	temp_list_bool = []
 	if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
+		temp_list = []
 		f = open(m,'r')
 		for line in f.readlines():
 			if(line.split(' ')[0] == "float32"):
-				temp_list.append(line.split(' ')[1].split('\t')[0].split('\n')[0])
+				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif(line.split(' ')[0] == "uint64"):
+				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "bool"):
+				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
+				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
+			elif ('float32[' in line.split(' ')[0]):
+				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
+				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
+
 		f.close()
 		messages.append(m.split('/')[-1].split('.')[0])
-		message_floats.append(temp_list)
+		message_elements.append(temp_list)
+
 num_messages = len(messages);
 
 print
@@ -76,6 +90,7 @@ print """
 #include <cstring>
 #include <uORB/uORB.h>
 #include <string.h>
+#include <stdint.h>
 """
 for m in messages:
 	print "#include <uORB/topics/%s.h>" % m
@@ -104,10 +119,28 @@ for index,m in enumerate(messages[1:]):
 	print "\t\tID = ORB_ID(%s);" % m
 	print "\t\tstruct %s_s container;" % m
 	print "\t\tmemset(&container, 0, sizeof(container));"
+	print "\t\tbool updated;"
 	print "\t\tfor(uint32_t i = 0;i<num_msgs;i++) {"
+	print "\t\t\torb_check(sub,&updated);"
+	print "\t\t\tupdated = true;"
+	print "\t\t\tif(updated) {"
 	print "\t\t\torb_copy(ID,sub,&container);"
-	for item in message_floats[index+1]:
-		print "\t\t\tprintf(\"%s: %%f\\n \",container.%s);" % (item, item)
+	for item in message_elements[index+1]:
+		if item[0] == "float":
+			print "\t\t\tprintf(\"%s: %%f\\n \",container.%s);" % (item[1], item[1])
+		elif item[0] == "float_array":
+			print "\t\t\tprintf(\"%s:\");" % item[1]
+			print "\t\t\tfor (int j=0;j<%d;j++) {" % item[2]
+			print "\t\t\t\tprintf(\"%%f \",container.%s[j]);" % item[1]
+			print "\t\t\t}"
+			print "\t\t\tprintf(\"\\n\");"
+		elif item[0] == "uint64":
+			print "\t\t\tprintf(\"%s: %%f\\n \",(float)container.%s);" % (item[1], item[1])
+		elif item[0] == "uint8":
+			print "\t\t\tprintf(\"%s: %%f\\n \",(float)container.%s);" % (item[1], item[1])
+		elif item[0] == "bool":
+			print "\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1])
+	print "\t\t\t}"
 	print "\t\t}"
 print "\t} else {"
 print "\t\t printf(\" Topic did not match any known topics\\n\");"