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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
generate_listener.py: generate one function per topic to fit function sizelimit
This commit is contained in:
Julien Lecoeur
Beat Küng
parent
8f2759ba79
commit
4e7bd576cb
@ -147,6 +147,13 @@ print("""
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#define PRId64 "lld"
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#endif
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""")
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for m in set(messages):
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print("#include <uORB/topics/%s.h>" % m)
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print("""
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extern "C" __EXPORT int listener_main(int argc, char *argv[]);
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static bool check_timeout(const hrt_abstime& time) {
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if (hrt_elapsed_time(&time) > 2*1000*1000) {
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printf("Waited for 2 seconds without a message. Giving up.\\n");
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@ -154,18 +161,13 @@ static bool check_timeout(const hrt_abstime& time) {
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}
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return false;
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}
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""")
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for m in set(messages):
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print("#include <uORB/topics/%s.h>" % m)
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for index, (m, t) in enumerate(zip(messages, topics)):
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print("void listen_%s(unsigned num_msgs, unsigned topic_instance);" % t)
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print("""
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extern "C" __EXPORT int listener_main(int argc, char *argv[]);
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int listener_main(int argc, char *argv[]) {
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int sub = -1;
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orb_id_t ID;
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print ("""
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\nint listener_main(int argc, char *argv[]) {
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if(argc < 2) {
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printf("need at least two arguments: topic name. [optional number of messages to print] [optional instance]\\n");
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return 1;
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@ -178,91 +180,96 @@ for index, (m, t) in enumerate(zip(messages, topics)):
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print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % t)
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else:
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print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % t)
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print("\t\tsub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % t)
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print("\t\tID = ORB_ID(%s);" % t)
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print("\t\tstruct %s_s container;" % m)
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print("\t\tmemset(&container, 0, sizeof(container));")
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print("\t\tbool updated;")
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print("\t\tunsigned i = 0;")
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print("\t\thrt_abstime start_time = hrt_absolute_time();")
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print("\t\twhile(i < num_msgs) {")
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print("\t\t\torb_check(sub,&updated);")
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print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
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print("\t\t\tif (updated) {")
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print("\t\t\tstart_time = hrt_absolute_time();")
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print("\t\t\ti++;")
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print("\t\t\tprintf(\"\\nTOPIC: %s instance %%d #%%d\\n\", topic_instance, i);" % t)
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print("\t\t\torb_copy(ID,sub,&container);")
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print("\t\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
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for item in message_elements[index]:
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if item[0] == "float":
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print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "float_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "double":
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print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "double_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "uint64":
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print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint64_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "uint16_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%u \",container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "int32_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "int16_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "int64":
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print("\t\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "int32":
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print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint32":
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print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "int16":
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print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
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elif item[0] == "uint16":
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print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
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elif item[0] == "int8":
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print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
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elif item[0] == "uint8":
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print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
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elif item[0] == "bool":
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print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
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print("\t\t\t} else {")
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print("\t\t\t\tif (check_timeout(start_time)) {")
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print("\t\t\t\t\tbreak;")
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print("\t\t\t\t}")
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print("\t\t\t}")
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print("\t\t}")
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print("\t\tlisten_%s(num_msgs, topic_instance);" % t)
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print("\t} else {")
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print("\t\t printf(\" Topic did not match any known topics\\n\");")
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print("\t}")
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print("\t\torb_unsubscribe(sub);")
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print("\t return 0;")
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print("}\n")
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print("}")
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for index, (m, t) in enumerate(zip(messages, topics)):
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print("void listen_%s(unsigned num_msgs, unsigned topic_instance) {" % t)
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print("\tint sub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % t)
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print("\torb_id_t ID = ORB_ID(%s);" % t)
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print("\tstruct %s_s container;" % m)
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print("\tmemset(&container, 0, sizeof(container));")
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print("\tbool updated;")
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print("\tunsigned i = 0;")
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print("\thrt_abstime start_time = hrt_absolute_time();")
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print("\twhile(i < num_msgs) {")
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print("\t\torb_check(sub,&updated);")
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print("\t\tif (i == 0) { updated = true; } else { usleep(500); }")
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print("\t\tif (updated) {")
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print("\t\tstart_time = hrt_absolute_time();")
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print("\t\ti++;")
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print("\t\tprintf(\"\\nTOPIC: %s instance %%d #%%d\\n\", topic_instance, i);" % t)
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print("\t\torb_copy(ID,sub,&container);")
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print("\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
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for item in message_elements[index]:
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if item[0] == "float":
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print("\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "float_array":
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print("\t\tprintf(\"%s: \");" % item[1])
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print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
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print("\t\t}")
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print("\t\tprintf(\"\\n\");")
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elif item[0] == "double":
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print("\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "double_array":
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print("\t\tprintf(\"%s: \");" % item[1])
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print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
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print("\t\t}")
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print("\t\tprintf(\"\\n\");")
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elif item[0] == "uint64":
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print("\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint64_array":
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print("\t\tprintf(\"%s: \");" % item[1])
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print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
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print("\t\t}")
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print("\t\tprintf(\"\\n\");")
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elif item[0] == "uint16_array":
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print("\t\tprintf(\"%s: \");" % item[1])
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print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\tprintf(\"%%u \",container.%s[j]);" % item[1])
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print("\t\t}")
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print("\t\tprintf(\"\\n\");")
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elif item[0] == "int32_array":
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print("\t\tprintf(\"%s: \");" % item[1])
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print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
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print("\t\t}")
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print("\t\tprintf(\"\\n\");")
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elif item[0] == "int16_array":
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print("\t\tprintf(\"%s: \");" % item[1])
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print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
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print("\t\t}")
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print("\t\tprintf(\"\\n\");")
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elif item[0] == "int64":
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print("\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "int32":
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print("\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint32":
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print("\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "int16":
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print("\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
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elif item[0] == "uint16":
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print("\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
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elif item[0] == "int8":
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print("\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
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elif item[0] == "uint8":
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print("\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
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elif item[0] == "bool":
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print("\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
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print("\t\t} else {")
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print("\t\t\tif (check_timeout(start_time)) {")
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print("\t\t\t\tbreak;")
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print("\t\t\t}")
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print("\t\t}")
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print("\t}")
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print("\torb_unsubscribe(sub);")
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print("}\n")
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