uorb autogeneration

2026-05-22 06:17:34 +08:00 · 2016-04-25 17:36:13 -04:00
parent 3aa2297497
commit 76387b1693
113 changed files with 897 additions and 593 deletions
@@ -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]