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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/uORBTopics.hpp.em
+34 -1
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@@ -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;
}