fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 01:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

uorb autogeneration

Browse Source
This commit is contained in:
Daniel Agar
2016-05-14 11:27:07 +02:00
committed by Lorenz Meier
parent 3aa2297497
commit 76387b1693
113 changed files with 897 additions and 593 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/uorb/msg.cpp.template
+132
View File
@@ -0,0 +1,132 @@
@###############################################
@#
@# 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
@###############################################
/****************************************************************************
*
* 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.
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
uorb_struct = '%s_s'%spec.short_name
uorb_pack_func = 'pack_%s'%spec.short_name
topic_name = spec.short_name
type_map = {
'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
'uint8': 'uint8_t',
'uint16': 'uint16_t',
'uint32': 'uint32_t',
'uint64': 'uint64_t',
'float32': 'float',
'float64': 'double',
'bool': 'bool',
'char': 'char',
'fence_vertex': 'fence_vertex',
'position_setpoint': 'position_setpoint',
'esc_report': 'esc_report'
}
msgtype_size_map = {
'int8': 8,
'int16': 16,
'int32': 32,
'int64': 64,
'uint8': 8,
'uint16': 16,
'uint32': 32,
'uint64': 64,
'float32': 32,
'float64': 64,
'bool': 1,
'char': 1,
'fence_vertex': 8,
'position_setpoint': 104,
'esc_report': 36
}
def convert_type(spec_type):
bare_type = spec_type
if '/' in spec_type:
# removing prefix
bare_type = (spec_type.split('/'))[1]
msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
c_type = type_map[msg_type]
if is_array:
return c_type + "[" + str(array_length) + "]"
return c_type
def bare_name(msg_type):
bare = msg_type
if '/' in msg_type:
# removing prefix
bare = (msg_type.split('/'))[1]
# removing suffix
return bare.split('[')[0]
def sizeof_field_type(field):
return msgtype_size_map[bare_name(field.type)]
sorted_fields = sorted(spec.parsed_fields(), key = sizeof_field_type, reverse=True)
topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
}@
#include <px4_config.h>
#include <drivers/drv_orb_dev.h>
#include <uORB/topics/@(topic_name).h>
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
const char *__orb_@(topic_name)_fields = "@( topic_name.upper() ):@( ";".join(topic_fields) );";
@[for multi_topic in topics]@
ORB_DEFINE(@multi_topic, struct @uorb_struct, __orb_@(topic_name)_fields);
@[end for]
msg/templates/uorb/msg.h.template
+64 -34
View File
@@ -75,7 +75,6 @@ for field in spec.parsed_fields():
(package, name) = genmsg.names.package_resource_name(field.base_type)
package = package or spec.package # convert '' to package
print('#include <uORB/topics/%s.h>'%(name))
}@
@# Constants c style
@@ -85,17 +84,12 @@ for field in spec.parsed_fields():
@[end for]
#endif
/**
* @@addtogroup topics
* @@{
*/
@##############################
@# Main struct of message
@##############################
@{
type_map = {'int8': 'int8_t',
type_map = {
'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
@@ -109,37 +103,77 @@ type_map = {'int8': 'int8_t',
'char': 'char',
'fence_vertex': 'fence_vertex',
'position_setpoint': 'position_setpoint',
'esc_report': 'esc_report'}
'esc_report': 'esc_report'
}
msgtype_size_map = {
'int8': 8,
'int16': 16,
'int32': 32,
'int64': 64,
'uint8': 8,
'uint16': 16,
'uint32': 32,
'uint64': 64,
'float32': 32,
'float64': 64,
'bool': 1,
'char': 1,
'fence_vertex': 8,
'position_setpoint': 104,
'esc_report': 36
}
def bare_name(msg_type):
bare = msg_type
if '/' in msg_type:
# removing prefix
bare = (msg_type.split('/'))[1]
# removing suffix
return bare.split('[')[0]
def sizeof_field_type(field):
return msgtype_size_map[bare_name(field.type)]
# Function to print a standard ros type
def print_field_def(field):
type = field.type
type_name = field.type
# detect embedded types
sl_pos = type.find('/')
sl_pos = type_name.find('/')
type_appendix = ''
type_prefix = ''
if (sl_pos >= 0):
type = type[sl_pos + 1:]
type_name = type_name[sl_pos + 1:]
type_prefix = 'struct '
type_appendix = '_s'
# detect arrays
a_pos = type.find('[')
a_pos = type_name.find('[')
array_size = ''
if (a_pos >= 0):
# field is array
array_size = type[a_pos:]
type = type[:a_pos]
array_size = type_name[a_pos:]
type_name = type_name[:a_pos]
if type in type_map:
if type_name in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
type_px4 = type_map[type_name]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
}
def print_parsed_fields():
# sort fields
sorted_fields = sorted(spec.parsed_fields(), key = sizeof_field_type, reverse=True)
# loop over all fields and print the type and name
for field in sorted_fields:
if (not field.is_header):
print_field_def(field)
}@
// #pragma pack(push, 1) badly breaks alignment everywhere!
#ifdef __cplusplus
@#class @(uorb_struct) {
struct __EXPORT @(uorb_struct) {
@@ -147,31 +181,27 @@ struct __EXPORT @(uorb_struct) {
#else
struct @(uorb_struct) {
#endif
@{
# loop over all fields and print the type and name
for field in spec.parsed_fields():
if (not field.is_header):
print_field_def(field)
}@
@# timestamp at the beginning of each topic is required for logger
uint64_t timestamp; // required for logger
@print_parsed_fields()
#ifdef __cplusplus
@# Constants again c++-ified
@{
for constant in spec.constants:
type = constant.type
if type in type_map:
type_name = constant.type
if type_name in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
type_px4 = type_map[type_name]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
#endif
};
/**
* @@}
*/
//#pragma pack(pop)
/* register this as object request broker structure */
ORB_DECLARE(@(topic_name));
@[for multi_topic in topics]@
ORB_DECLARE(@multi_topic);
@[end for]
msg/templates/uorb/uORBTopics.cpp.template
+70
View File
@@ -0,0 +1,70 @@
@###############################################
@#
@# EmPy template for generating uORBTopics.cpp file
@# for logging purposes
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - msgs (List) list of all msg files
@###############################################
/****************************************************************************
*
* 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/uORBTopics.h>
#include <uORB/uORB.h>
@{
msgs_count = len(msgs)
msg_names = [mn.replace(".msg", "") for mn in msgs]
}@
@[for msg_name in msg_names]@
#include <uORB/topics/@(msg_name).h>
@[end for]
const size_t _uorb_topics_count = @(msgs_count);
const struct orb_metadata* _uorb_topics_list[_uorb_topics_count] = {
@[for idx, msg_name in enumerate(msg_names, 1)]@
ORB_ID(@(msg_name))@[if idx != msgs_count],@[end if]
@[end for]
};
size_t orb_topics_count()
{
return _uorb_topics_count;
}
const struct orb_metadata **orb_get_topics()
{
return _uorb_topics_list;
}