uorb autogeneration

msg/templates/uorb/msg.h.template

@@ -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]