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Fixes to the ModalAI muorb implementation

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This commit is contained in:
Eric Katzfey
2024-02-27 19:56:17 -08:00
parent b405d75553
commit 76352765b6
3 changed files with 52 additions and 26 deletions
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Tools/msg/templates/uorb/msg.cpp.em
+8 -1
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@@ -73,9 +73,16 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
#include <lib/matrix/matrix/math.hpp>
#include <lib/mathlib/mathlib.h>
@{
queue_length = 1
for constant in spec.constants:
if constant.name == 'ORB_QUEUE_LENGTH':
queue_length = constant.val
}@
@[for topic in topics]@
static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
@[end for]
void print_message(const orb_metadata *meta, const @uorb_struct& message)