PX4 ROS2 msg conformity and explicit topics

- .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

platforms/common/uORB/CMakeLists.txt

@@ -34,8 +34,6 @@
 # this includes the generated topics directory
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-set(SRCS)
-
 set(SRCS_COMMON
 	ORBSet.hpp
 	Publication.hpp
@@ -49,22 +47,22 @@ set(SRCS_COMMON
 	uORB.h
 	uORBCommon.hpp
 	uORBCommunicator.hpp
-	uORBManager.hpp
 	uORBUtils.cpp
 	uORBUtils.hpp
-	uORBDeviceMaster.hpp
-	uORBDeviceNode.hpp
-	)
+)
 
 set(SRCS_KERNEL
 	uORBDeviceMaster.cpp
+	uORBDeviceMaster.hpp
 	uORBDeviceNode.cpp
+	uORBDeviceNode.hpp
 	uORBManager.cpp
-	)
+	uORBManager.hpp
+)
 
 set(SRCS_USER
 	uORBManagerUsr.cpp
-	)
+)
 
 if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
 	# Kernel side library in nuttx kernel/protected build

platforms/common/uORB/Publication.hpp

@@ -43,7 +43,7 @@
 
 #include <uORB/uORB.h>
 #include "uORBManager.hpp"
-#include <uORB/topics/uORBTopics.hpp>
+#include <uORBTopics.hpp>
 
 namespace uORB
 {

platforms/common/uORB/Subscription.hpp

@@ -39,7 +39,7 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include <uORB/topics/uORBTopics.hpp>
+#include <uORBTopics.hpp>
 
 #include <px4_platform_common/defines.h>
 #include <lib/mathlib/mathlib.h>
@@ -181,6 +181,10 @@ public:
 	unsigned get_last_generation() const { return _last_generation; }
 	orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
 
+	ORB_ID get_topic_enum() const { return _orb_id; }
+
+	size_t get_topic_size() const { return get_orb_meta(_orb_id)->o_size; }
+
 protected:
 
 	friend class SubscriptionCallback;

platforms/common/uORB/SubscriptionInterval.hpp

@@ -140,6 +140,9 @@ public:
 	unsigned	get_last_generation() const { return _subscription.get_last_generation(); }
 	orb_id_t	get_topic() const { return _subscription.get_topic(); }
 
+	ORB_ID get_topic_enum() const { return _subscription.get_topic_enum(); }
+	size_t get_topic_size() const { return _subscription.get_topic_size(); }
+
 	/**
 	 * Set the interval in microseconds
 	 * @param interval The interval in microseconds.

platforms/common/uORB/uORB.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2021 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
@@ -251,10 +251,16 @@ void orb_print_message_internal(const struct orb_metadata *meta, const void *dat
 __END_DECLS
 
 /* Diverse uORB header defines */ //XXX: move to better location
-#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS    ORB_ID(actuator_controls_0)
 typedef uint8_t arming_state_t;
 typedef uint8_t main_state_t;
 typedef uint8_t hil_state_t;
 typedef uint8_t navigation_state_t;
 typedef uint8_t switch_pos_t;
 
+
+
+#ifdef __cplusplus
+
+#include <uORBTopics.hpp>
+
+#endif // __cplusplus

platforms/common/uORB/uORBCommunicator.hpp

@@ -100,8 +100,6 @@ public:
 
 	virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
 
-
-
 	/**
 	 * @brief Interface to notify the remote entity of removal of a subscription
 	 *
@@ -116,13 +114,11 @@ public:
 
 	virtual int16_t remove_subscription(const char *messageName) = 0;
 
-
 	/**
 	 * Register Message Handler.  This is internal for the IChannel implementer*
 	 */
 	virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler) = 0;
 
-
 	//=========================================================================
 	//     INTERFACES FOR Data messages
 	//=========================================================================
@@ -143,7 +139,6 @@ public:
 	 */
 
 	virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data) = 0;
-
 };
 
 /**
@@ -153,7 +148,6 @@ public:
 class uORBCommunicator::IChannelRxHandler
 {
 public:
-
 	/**
 	 * Interface to process a received topic from remote.
 	 * @param topic_name
@@ -184,7 +178,6 @@ public:
 
 	virtual int16_t process_add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
 
-
 	/**
 	 * Interface to process a received control msg to remove subscription
 	 * @param messageName
@@ -198,7 +191,6 @@ public:
 
 	virtual int16_t process_remove_subscription(const char *messageName) = 0;
 
-
 	/**
 	 * Interface to process the received data message.
 	 * @param messageName
@@ -215,7 +207,6 @@ public:
 	 */
 
 	virtual int16_t process_received_message(const char *messageName, int32_t length, uint8_t *data) = 0;
-
 };
 
 #endif /* _uORBCommunicator_hpp_ */

platforms/common/uORB/uORBDeviceMaster.hpp

@@ -36,7 +36,7 @@
 #include <stdint.h>
 
 #include "uORBCommon.hpp"
-#include <uORB/topics/uORBTopics.hpp>
+#include <uORBTopics.hpp>
 
 #include <px4_platform_common/posix.h>
 

platforms/common/uORB/uORBManager.hpp

@@ -38,7 +38,7 @@
 #include "uORBCommon.hpp"
 #include "uORBDeviceMaster.hpp"
 
-#include <uORB/topics/uORBTopics.hpp> // For ORB_ID enum
+#include <uORBTopics.hpp> // For ORB_ID enum
 #include <stdint.h>
 
 #ifdef __PX4_NUTTX

platforms/common/uORB/uORB_tests/CMakeLists.txt

@@ -38,4 +38,13 @@ px4_add_module(
 	SRCS
 		uORB_tests_main.cpp
 		uORBTest_UnitTest.cpp
+	PUBLICATIONS
+		"px4::msg::OrbTest /orb_test"
+		"px4::msg::OrbTest /orb_multitest"
+		"px4::msg::OrbTestMedium /orb_test_medium"
+		"px4::msg::OrbTestMedium /orb_test_medium_multi"
+		"px4::msg::OrbTestMedium /orb_test_medium_queue"
+		"px4::msg::OrbTestMedium /orb_test_medium_queue_poll"
+		"px4::msg::OrbTestMedium /orb_test_medium_wrap_around"
+		"px4::msg::OrbTestLarge /orb_test_large"
 	)