mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 01:21:35 +08:00
RTPS and micro-CDR build system cleanup (#8084)
This commit is contained in:
Daniel Agar
@@ -64,9 +64,6 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
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}@
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#include <px4_config.h>
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#include <drivers/drv_orb_dev.h>
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#include <microcdr/microCdr.h>
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#include <uORB/topics/@(topic_name).h>
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@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
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@@ -76,99 +73,3 @@ constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
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@[for multi_topic in topics]@
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ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields);
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@[end for]
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@#################################################
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@# Searching for serialize function per each field
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@#################################################
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@{
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def print_info(field):
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print("type: ", field.type, "name: ", field.name, "base_type: ", \
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field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
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"is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
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def print_level_info(fields):
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for field in fields:
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print_info(field)
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if (not field.is_builtin):
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print("\n")
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children_fields = get_children_fields(field.base_type, search_path)
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print_level_info(children_fields)
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print("\n")
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def walk_through_parsed_fields():
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print_level_info(spec.parsed_fields())
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def get_serialization_type_name(type_name):
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if type_name in type_serialize_map:
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return type_serialize_map[type_name]
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else:
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raise Exception("Type {0} not supported, add to type_serialize_map!".format(type_name))
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def add_serialize_functions(fields, scope_name):
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for field in fields:
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if (not field.is_header):
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if (field.is_builtin):
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if (not field.is_array):
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print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
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else:
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print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
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else:
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name = field.name
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children_fields = get_children_fields(field.base_type, search_path)
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if (scope_name): name = scope_name + name
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if (not field.is_array):
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add_serialize_functions(children_fields, name + '.')
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else:
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for i in range(field.array_len):
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add_serialize_functions(children_fields, name + ('[%d].' %i))
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def add_deserialize_functions(fields, scope_name):
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for field in fields:
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if (not field.is_header):
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if (field.is_builtin):
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if (not field.is_array):
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print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
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else:
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for i in range(field.array_len):
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print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
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else:
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name = field.name
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children_fields = get_children_fields(field.base_type, search_path)
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if (scope_name): name = scope_name + name
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if (not field.is_array):
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add_deserialize_functions(children_fields, name + '.')
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else:
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for i in range(field.array_len):
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add_deserialize_functions(children_fields, name + ('[%d].' %i))
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def add_code_to_serialize():
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# sort fields (using a stable sort) as in the declaration of the type
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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add_serialize_functions(sorted_fields, "")
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def add_code_to_deserialize():
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# sort fields (using a stable sort) as in the declaration of the type
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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add_deserialize_functions(sorted_fields, "")
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}@
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void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter)
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{
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if (nullptr == input || nullptr == output || nullptr == length || nullptr == microCDRWriter) return;
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resetStaticMicroCDRForSerialize(microCDRWriter);
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@add_code_to_serialize()
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(*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
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}
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void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader)
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{
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if (nullptr == output || nullptr == input || nullptr == microCDRReader) return;
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resetStaticMicroCDRForDeserialize(microCDRReader);
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@add_code_to_deserialize()
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}
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@@ -65,12 +65,6 @@ topic_name = spec.short_name
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@##############################
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@# Generic Includes
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@##############################
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#include <stdint.h>
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#ifdef __cplusplus
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#include <cstring>
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#else
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#include <string.h>
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#endif
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#include <uORB/uORB.h>
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@@ -108,8 +102,6 @@ def print_parsed_fields():
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print_field_def(field)
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}@
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struct microCDR;
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#ifdef __cplusplus
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@#class @(uorb_struct) {
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struct __EXPORT @(uorb_struct) {
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@@ -137,10 +129,6 @@ for constant in spec.constants:
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#endif
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};
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void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter);
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void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader);
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/* register this as object request broker structure */
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@[for multi_topic in topics]@
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ORB_DECLARE(@multi_topic);
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+1
@@ -67,6 +67,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
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@[for topic in list(set(topic_names))]@
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#include <uORB/topics/@(topic).h>
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#include <uORB_microcdr/topics/@(topic).h>
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@[end for]@
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void* send(void *data);
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@@ -0,0 +1,166 @@
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@###############################################
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@#
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@# PX4 ROS compatible message source code
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@# generation for C++
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@#
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@# EmPy template for generating <msg>.h files
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@# Based on the original template for ROS
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - file_name_in (String) Source file
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@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
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@# - md5sum (String) MD5Sum of the .msg specification
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@# - search_path (dict) search paths for genmsg
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@# - topics (List of String) multi-topic names
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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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||||
*
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* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* Auto-generated by genmsg_cpp from file @file_name_in */
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@{
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import genmsg.msgs
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import gencpp
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from px_generate_uorb_topic_helper import * # this is in Tools/
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uorb_struct = '%s_s'%spec.short_name
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topic_name = spec.short_name
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
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}@
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#include <px4_config.h>
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#include <microcdr/microCdr.h>
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#include <uORB/topics/@(topic_name).h>
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#include <uORB_microcdr/topics/@(topic_name).h>
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@#################################################
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@# Searching for serialize function per each field
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@#################################################
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@{
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def print_info(field):
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print("type: ", field.type, "name: ", field.name, "base_type: ", \
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field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
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"is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
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def print_level_info(fields):
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for field in fields:
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print_info(field)
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if (not field.is_builtin):
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print("\n")
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children_fields = get_children_fields(field.base_type, search_path)
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print_level_info(children_fields)
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print("\n")
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def walk_through_parsed_fields():
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print_level_info(spec.parsed_fields())
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def get_serialization_type_name(type_name):
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if type_name in type_serialize_map:
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return type_serialize_map[type_name]
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else:
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raise Exception("Type {0} not supported, add to type_serialize_map!".format(type_name))
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def add_serialize_functions(fields, scope_name):
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for field in fields:
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if (not field.is_header):
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if (field.is_builtin):
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if (not field.is_array):
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print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
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else:
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print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
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else:
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name = field.name
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children_fields = get_children_fields(field.base_type, search_path)
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if (scope_name): name = scope_name + name
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if (not field.is_array):
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add_serialize_functions(children_fields, name + '.')
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else:
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for i in range(field.array_len):
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add_serialize_functions(children_fields, name + ('[%d].' %i))
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def add_deserialize_functions(fields, scope_name):
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for field in fields:
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if (not field.is_header):
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if (field.is_builtin):
|
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if (not field.is_array):
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print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
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else:
|
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for i in range(field.array_len):
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print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
|
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else:
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name = field.name
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children_fields = get_children_fields(field.base_type, search_path)
|
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if (scope_name): name = scope_name + name
|
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if (not field.is_array):
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add_deserialize_functions(children_fields, name + '.')
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else:
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for i in range(field.array_len):
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add_deserialize_functions(children_fields, name + ('[%d].' %i))
|
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def add_code_to_serialize():
|
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# sort fields (using a stable sort) as in the declaration of the type
|
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
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add_serialize_functions(sorted_fields, "")
|
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|
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def add_code_to_deserialize():
|
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# sort fields (using a stable sort) as in the declaration of the type
|
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
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add_deserialize_functions(sorted_fields, "")
|
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}@
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|
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void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter)
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{
|
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if (nullptr == input || nullptr == output || nullptr == length || nullptr == microCDRWriter) return;
|
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|
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resetStaticMicroCDRForSerialize(microCDRWriter);
|
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@add_code_to_serialize()
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(*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
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}
|
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|
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void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader)
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{
|
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if (nullptr == output || nullptr == input || nullptr == microCDRReader) return;
|
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|
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resetStaticMicroCDRForDeserialize(microCDRReader);
|
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|
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@add_code_to_deserialize()
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}
|
||||
@@ -0,0 +1,75 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# 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
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013-2016 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
|
||||
}@
|
||||
|
||||
#pragma once
|
||||
|
||||
@##############################
|
||||
@# Generic Includes
|
||||
@##############################
|
||||
#include <uORB/topics/@(topic_name).h>
|
||||
#include <uORB_microcdr/topics/@(topic_name).h>
|
||||
|
||||
struct microCDR;
|
||||
|
||||
|
||||
void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter);
|
||||
void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader);
|
||||
@@ -0,0 +1,46 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# EmPy template for generating uORBTopics.cpp file
|
||||
@# for logging purposes
|
||||
@#
|
||||
@###############################################
|
||||
@# Start of Template
|
||||
@#
|
||||
@# Context:
|
||||
@# - msgs (List) list of all msg files
|
||||
@# - multi_topics (List) list of all multi-topic names
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013-2015 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
Reference in New Issue
Block a user