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PX4 ROS2 msg conformity and explicit topics

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- .msg files are PascalCase
 - topics are still either per msg or explicitly listed in TOPICS
 - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
This commit is contained in:
Daniel Agar
2022-03-07 10:36:27 -05:00
parent 5affa693f2
commit 9ee8fa21cd
481 changed files with 5491 additions and 8399 deletions
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msg/templates/uorb/msg.cpp.em
-92
View File
@@ -1,92 +0,0 @@
@###############################################
@#
@# 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
@# - search_path (dict) search paths for genmsg
@# - topics (List of String) multi-topic names
@# - constrained_flash set to true if flash is constrained
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2021 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
from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
}@
#include <inttypes.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/defines.h>
#include <uORB/topics/@(topic_name).h>
#include <uORB/topics/uORBTopics.hpp>
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/mathlib/mathlib.h>
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
@# This is used for the logger
constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
@[for multi_topic in topics]@
ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
@[end for]
void print_message(const orb_metadata *meta, const @uorb_struct& message)
{
if (sizeof(message) != meta->o_size) {
printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
return;
}
orb_print_message_internal(meta, &message, true);
}
msg/templates/uorb/msg.h.em
+78 -9
View File
@@ -13,7 +13,7 @@
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - search_path (dict) search paths for genmsg
@# - topics (List of String) multi-topic names
@# - topics (List of String) topic names
@###############################################
/****************************************************************************
*
@@ -52,12 +52,17 @@
@{
import genmsg.msgs
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%spec.short_name
uorb_struct_upper = spec.short_name.upper()
topic_name = spec.short_name
px4_struct = '%s'%name_snake_case
uorb_struct = '%s_s'%name_snake_case
uorb_struct_upper = name_snake_case.upper()
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
}@
#pragma once
@@ -67,6 +72,7 @@ topic_name = spec.short_name
@##############################
#include <uORB/uORB.h>
#include <stdio.h>
@##############################
@# Includes for dependencies
@@ -77,9 +83,16 @@ for field in spec.parsed_fields():
if (not field.is_header):
(package, name) = genmsg.names.package_resource_name(field.base_type)
package = package or spec.package # convert '' to package
name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
print('#include <uORB/topics/%s.h>'%(name))
}@
#ifdef __PX4_ROS2
namespace px4_embedded {
#endif // __PX4_ROS2
@# Constants c style
#ifndef __cplusplus
@[for constant in spec.constants]@
@@ -124,14 +137,70 @@ for constant in spec.constants:
print('\tstatic constexpr %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
static constexpr char FIELDS[] = "@( ";".join(topic_fields) );";
static constexpr size_t SIZE_NO_PADDING = @(struct_size-padding_end_size);
#endif
};
/* register this as object request broker structure */
@[for multi_topic in topics]@
ORB_DECLARE(@multi_topic);
@[end for]
#if defined(__PX4_ROS2)
} // namespace px4_embedded
#include "px4/msg/@(px4_struct).hpp"
using @(uorb_struct) = px4::msg::@(spec.short_name);
inline px4::msg::@(spec.short_name) px4_embedded_to_ros2(const px4_embedded::@(uorb_struct)& msg_in)
{
px4::msg::@(spec.short_name) msg_out;
@{
for field in spec.parsed_fields():
#print(field, field.is_builtin, field.base_type, field.is_array, field.array_len)
if field.is_builtin and not field.is_array:
print(" msg_out.%s = msg_in.%s;" % (field.name, field.name))
elif field.is_builtin and field.is_array:
print(" std::copy(std::begin(msg_in.%s), std::end(msg_in.%s), msg_out.%s.begin());" % (field.name, field.name, field.name))
elif not field.is_builtin:
#print(" msg_out.%s = px4_embedded_to_ros2(msg_in.%s);" % (field.name, field.name))
print(" // %s.%s not printed" % (name_snake_case, field.name))
else:
print(" #error %s.%s not printed" % (name_snake_case, field.name))
}@
return msg_out;
}
#else
# ifdef __cplusplus
namespace px4 {
namespace msg {
using @(spec.short_name) = @(uorb_struct);
} // namespace msg
} // namespace px4
namespace px4_embedded {
using @(uorb_struct) = @(uorb_struct);
}
# endif
#endif // PX4_ROS2
#ifdef __cplusplus
void print_message(const orb_metadata *meta, const @uorb_struct& message);
inline void print_message(const orb_metadata *meta, const @uorb_struct& message)
{
if (sizeof(message) != meta->o_size) {
printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
return;
}
orb_print_message_internal(meta, &message, true);
}
#endif
msg/templates/uorb/uORBTopics.cpp.em
+15 -27
View File
@@ -1,18 +1,6 @@
@###############################################
@#
@# 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) 2013-2021 PX4 Development Team. All rights reserved.
* Copyright (C) 2021 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
@@ -43,23 +31,23 @@
*
****************************************************************************/
#include <uORB/topics/uORBTopics.hpp>
#include <uORB/uORB.h>
@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msgs_count = len(msg_names)
msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
msg_names_all.sort()
msgs_count_all = len(msg_names_all)
}@
@[for msg_name in msg_names]@
#include <uORB/topics/@(msg_name).h>
@[end for]
#include "uORBTopics.hpp"
// ORB_DEFINE(action_request, px4::msg::ActionRequest, px4_embedded::action_request_s::SIZE_NO_PADDING, px4_embedded::action_request_s::FIELDS, static_cast<uint8_t>(ORB_ID::action_request));
// ORB_DEFINE(actuator_armed, px4::msg::ActuatorArmed, px4_embedded::actuator_armed_s::SIZE_NO_PADDING, px4_embedded::actuator_armed_s::FIELDS, static_cast<uint8_t>(ORB_ID::actuator_armed));
//const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
// ORB_ID(action_request),
// ORB_ID(actuator_armed),
@PX4_ORB_DEFINE_STR@
const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
@[for idx, msg_name in enumerate(msg_names_all, 1)]@
ORB_ID(@(msg_name))@[if idx != msgs_count_all], @[end if]
@[end for]
@PX4_MSG_TOPIC_ORB_ID@
};
const struct orb_metadata *const *orb_get_topics()
msg/templates/uorb/uORBTopics.hpp.em
+34 -1
View File
@@ -57,14 +57,32 @@ msgs_count_all = len(msg_names_all)
#include <uORB/uORB.h>
static constexpr size_t ORB_TOPICS_COUNT{@(msgs_count_all)};
// TODO: ros2 friendly include paths
//#include <uORB/topics/action_request.h>
//#include <uORB/topics/actuator_armed.h>
@PX4_ORB_HEADER_INCLUDE_STR@
static constexpr size_t ORB_TOPICS_COUNT{@PX4_ORB_TOPIC_COUNT@};
static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
// ORB_DECLARE(action_request);
// ORB_DECLARE(actuator_armed);
@PX4_ORB_DECLARE_STR@
/*
* Returns array of topics metadata
*/
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
// enum class ORB_ID : uint8_t {
// action_request,
// actuator_armed,
enum class ORB_ID : uint8_t {
@[for idx, msg_name in enumerate(msg_names_all)]@
@(msg_name) = @(idx),
@@ -73,3 +91,18 @@ enum class ORB_ID : uint8_t {
};
const struct orb_metadata *get_orb_meta(ORB_ID id);
static constexpr const char *get_topic_string(ORB_ID orb_id)
{
switch (orb_id) {
//case ORB_ID::action_request: return "action_request";
//case ORB_ID::actuator_armed: return "actuator_armed";
@[for idx, msg_name in enumerate(msg_names_all)]@
case @(msg_name): return "@(msg_name)";
@[end for]
}
return nullptr;
}