msg: introduce message versioning

msg/CMakeLists.txt

@@ -40,19 +40,14 @@ set(msg_files
 	ActionRequest.msg
 	ActuatorArmed.msg
 	ActuatorControlsStatus.msg
-	ActuatorMotors.msg
 	ActuatorOutputs.msg
-	ActuatorServos.msg
 	ActuatorServosTrim.msg
 	ActuatorTest.msg
 	AdcReport.msg
 	Airspeed.msg
 	AirspeedValidated.msg
 	AirspeedWind.msg
-	ArmingCheckReply.msg
-	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
-	BatteryStatus.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
@@ -61,7 +56,7 @@ set(msg_files
 	CanInterfaceStatus.msg
 	CellularStatus.msg
 	CollisionConstraints.msg
-	ConfigOverrides.msg
+	CollisionReport.msg
 	ControlAllocatorStatus.msg
 	Cpuload.msg
 	DatamanRequest.msg
@@ -109,7 +104,6 @@ set(msg_files
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
-	GotoSetpoint.msg
 	GpioConfig.msg
 	GpioIn.msg
 	GpioOut.msg
@@ -119,7 +113,6 @@ set(msg_files
 	Gripper.msg
 	HealthReport.msg
 	HeaterStatus.msg
-	HomePosition.msg
 	HoverThrustEstimate.msg
 	InputRc.msg
 	InternalCombustionEngineStatus.msg
@@ -135,7 +128,6 @@ set(msg_files
 	LogMessage.msg
 	MagnetometerBiasEstimate.msg
 	MagWorkerData.msg
-	ManualControlSetpoint.msg
 	ManualControlSwitches.msg
 	MavlinkLog.msg
 	MavlinkTunnel.msg
@@ -144,7 +136,6 @@ set(msg_files
 	Mission.msg
 	MissionResult.msg
 	MountOrientation.msg
-	ModeCompleted.msg
 	NavigatorMissionItem.msg
 	NavigatorStatus.msg
 	NormalizedUnsignedSetpoint.msg
@@ -181,8 +172,6 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RegisterExtComponentReply.msg
-	RegisterExtComponentRequest.msg
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannSetpoint.msg
 	RoverAckermannStatus.msg
@@ -223,7 +212,6 @@ set(msg_files
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
 	TrajectoryBezier.msg
-	TrajectorySetpoint.msg
 	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
@@ -231,39 +219,52 @@ set(msg_files
 	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
-	UnregisterExtComponent.msg
 	VehicleAcceleration.msg
 	VehicleAirData.msg
 	VehicleAngularAccelerationSetpoint.msg
-	VehicleAngularVelocity.msg
-	VehicleAttitude.msg
-	VehicleAttitudeSetpoint.msg
-	VehicleCommand.msg
-	VehicleCommandAck.msg
 	VehicleConstraints.msg
-	VehicleControlMode.msg
-	VehicleGlobalPosition.msg
 	VehicleImu.msg
 	VehicleImuStatus.msg
-	VehicleLandDetected.msg
-	VehicleLocalPosition.msg
 	VehicleLocalPositionSetpoint.msg
 	VehicleMagnetometer.msg
-	VehicleOdometry.msg
 	VehicleOpticalFlow.msg
 	VehicleOpticalFlowVel.msg
-	VehicleRatesSetpoint.msg
 	VehicleRoi.msg
-	VehicleStatus.msg
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
 	VehicleTrajectoryBezier.msg
 	VehicleTrajectoryWaypoint.msg
 	VelocityLimits.msg
-	VtolVehicleStatus.msg
 	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
+	versioned/ActuatorMotors.msg
+	versioned/ActuatorServos.msg
+	versioned/ArmingCheckReply.msg
+	versioned/ArmingCheckRequest.msg
+	versioned/BatteryStatus.msg
+	versioned/ConfigOverrides.msg
+	versioned/GotoSetpoint.msg
+	versioned/HomePosition.msg
+	versioned/ManualControlSetpoint.msg
+	versioned/ModeCompleted.msg
+	versioned/RegisterExtComponentReply.msg
+	versioned/RegisterExtComponentRequest.msg
+	versioned/TrajectorySetpoint.msg
+	versioned/UnregisterExtComponent.msg
+	versioned/VehicleAngularVelocity.msg
+	versioned/VehicleAttitude.msg
+	versioned/VehicleAttitudeSetpoint.msg
+	versioned/VehicleCommandAck.msg
+	versioned/VehicleCommand.msg
+	versioned/VehicleControlMode.msg
+	versioned/VehicleGlobalPosition.msg
+	versioned/VehicleLandDetected.msg
+	versioned/VehicleLocalPosition.msg
+	versioned/VehicleOdometry.msg
+	versioned/VehicleRatesSetpoint.msg
+	versioned/VehicleStatus.msg
+	versioned/VtolVehicleStatus.msg
 )
 list(SORT msg_files)
 
@@ -315,7 +316,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -336,7 +337,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_source_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -374,7 +375,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${ucdr_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
@@ -396,7 +397,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_source_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -447,7 +448,13 @@ if(CONFIG_LIB_CDRSTREAM)
 	# Copy .msg files
 	foreach(msg_file ${msg_files})
 		get_filename_component(msg ${msg_file} NAME_WE)
-		configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		get_filename_component(msg_directory ${msg_file} DIRECTORY)
+		get_filename_component(msg_directory ${msg_directory} NAME)
+		if(msg_directory STREQUAL "versioned")
+			configure_file(${PX4_SOURCE_DIR}/msg/${msg_directory}/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		else()
+			configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		endif()
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
@@ -492,7 +499,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
-			-i ${CMAKE_CURRENT_SOURCE_DIR}
+			-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 			-o ${idl_uorb_path}
 			-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
 		DEPENDS

msg/versioned/ActuatorMotors.msg

@@ -1,4 +1,7 @@
 # Motor control message
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 

msg/versioned/ActuatorServos.msg

@@ -1,4 +1,7 @@
 # Servo control message
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 

msg/versioned/ArmingCheckReply.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint8 request_id

msg/versioned/ArmingCheckRequest.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 # broadcast message to request all registered arming checks to be reported

msg/versioned/BatteryStatus.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp				# time since system start (microseconds)
 bool connected					# Whether or not a battery is connected, based on a voltage threshold
 float32 voltage_v				# Battery voltage in volts, 0 if unknown

msg/versioned/ConfigOverrides.msg

@@ -1,4 +1,7 @@
 # Configurable overrides by (external) modes or mode executors
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 
 bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)

msg/versioned/GotoSetpoint.msg

@@ -5,6 +5,8 @@
 # Unset optional setpoints are not controlled
 # Unset optional constraints default to vehicle specifications
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 # setpoints

msg/versioned/HomePosition.msg

@@ -1,5 +1,7 @@
 # GPS home position in WGS84 coordinates.
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 
 float64 lat				# Latitude in degrees

msg/versioned/ManualControlSetpoint.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp                        # time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
 

msg/versioned/ModeCompleted.msg

@@ -2,6 +2,9 @@
 # The possible values of nav_state are defined in the VehicleStatus msg.
 # Note that this is not always published (e.g. when a user switches modes or on
 # failsafe activation)
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp				 # time since system start (microseconds)
 
 

msg/versioned/RegisterExtComponentReply.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint64 request_id          # ID from the request

msg/versioned/RegisterExtComponentRequest.msg

@@ -1,4 +1,7 @@
 # Request to register an external component
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint64 request_id                  # ID, set this to a random value

msg/versioned/TrajectorySetpoint.msg

@@ -3,6 +3,8 @@
 # Needs to be kinematically consistent and feasible for smooth flight.
 # setting a value to NaN means the state should not be controlled
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 # NED local world frame

msg/versioned/UnregisterExtComponent.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 char[25] name                      # either the mode name, or component name

msg/versioned/VehicleAngularVelocity.msg

@@ -1,3 +1,4 @@
+uint32 MESSAGE_VERSION = 0
 
 uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample   # timestamp of the data sample on which this message is based (microseconds)

msg/versioned/VehicleAttitude.msg

@@ -1,6 +1,8 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
 # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp                # time since system start (microseconds)
 
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

msg/versioned/VehicleAttitudeSetpoint.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 
 float32 yaw_sp_move_rate	# rad/s (commanded by user)

msg/versioned/VehicleCommand.msg

@@ -1,6 +1,8 @@
 # Vehicle Command uORB message. Used for commanding a mission / action / etc.
 # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp					# time since system start (microseconds)
 
 uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command

msg/versioned/VehicleCommandAck.msg

@@ -2,6 +2,8 @@
 # Used for acknowledging the vehicle command being received.
 # Follows the MAVLink COMMAND_ACK message definition
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 
 # Result cases. This follows the MAVLink MAV_RESULT enum definition

msg/versioned/VehicleControlMode.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 bool flag_armed			# synonym for actuator_armed.armed
 

msg/versioned/VehicleGlobalPosition.msg

@@ -5,6 +5,8 @@
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
 

msg/versioned/VehicleLandDetected.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp	# time since system start (microseconds)
 
 bool freefall		# true if vehicle is currently in free-fall

msg/versioned/VehicleLocalPosition.msg

@@ -1,6 +1,8 @@
 # Fused local position in NED.
 # The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
 

msg/versioned/VehicleOdometry.msg

@@ -1,4 +1,7 @@
 # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_sample
 

msg/versioned/VehicleRatesSetpoint.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp	# time since system start (microseconds)
 
 # body angular rates in FRD frame

msg/versioned/VehicleStatus.msg

@@ -1,5 +1,7 @@
 # Encodes the system state of the vehicle published by commander
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint64 armed_time # Arming timestamp (microseconds)

msg/versioned/VtolVehicleStatus.msg

@@ -1,4 +1,7 @@
 # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
+
+uint32 MESSAGE_VERSION = 0
+
 uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2