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
2026-11-15 19:41:35 +08:00 · 2022-03-07 10:36:27 -05:00
parent 5affa693f2
commit 9ee8fa21cd
481 changed files with 5491 additions and 8399 deletions
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sem.h
+ *
+ * Synchronization primitive: Semaphore
+ */
+
+#pragma once
+
+#include <semaphore.h>
+
+#if !defined(__PX4_NUTTX)
+/* Values for protocol attribute */
+
+#define SEM_PRIO_NONE             0
+#define SEM_PRIO_INHERIT          1
+#define SEM_PRIO_PROTECT          2
+#define sem_setprotocol(s,p)
+#endif
+
+#if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX) || defined(__PX4_ROS2)) && !defined(__PX4_QURT)
+
+__BEGIN_DECLS
+
+typedef struct {
+	pthread_mutex_t lock;
+	pthread_cond_t wait;
+	int value;
+} px4_sem_t;
+
+__EXPORT int		px4_sem_init(px4_sem_t *s, int pshared, unsigned value);
+__EXPORT int		px4_sem_setprotocol(px4_sem_t *s, int protocol);
+__EXPORT int		px4_sem_wait(px4_sem_t *s);
+__EXPORT int		px4_sem_trywait(px4_sem_t *sem);
+__EXPORT int		px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
+__EXPORT int		px4_sem_post(px4_sem_t *s);
+__EXPORT int		px4_sem_getvalue(px4_sem_t *s, int *sval);
+__EXPORT int		px4_sem_destroy(px4_sem_t *s);
+
+__END_DECLS
+
+//#elif defined(__PX4_QURT)
+
+//typedef sem_t px4_sem_t;
+
+//#define px4_sem_init		sem_init
+//#define px4_sem_setprotocol sem_setprotocol
+//#define px4_sem_wait		sem_wait
+//#define px4_sem_trywait	sem_trywait
+//#define px4_sem_post		sem_post
+//#define px4_sem_getvalue	sem_getvalue
+//#define px4_sem_destroy		sem_destroy
+
+#else
+
+typedef sem_t px4_sem_t;
+
+__BEGIN_DECLS
+
+#define px4_sem_init		sem_init
+#define px4_sem_setprotocol	sem_setprotocol
+#define px4_sem_wait		sem_wait
+#define px4_sem_trywait		sem_trywait
+#define px4_sem_post		sem_post
+#define px4_sem_getvalue	sem_getvalue
+#define px4_sem_destroy		sem_destroy
+
+#if defined(__PX4_QURT)
+__EXPORT int		px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
+#else
+#define px4_sem_timedwait	sem_timedwait
+#endif
+
+__END_DECLS
+
+#endif