From a272cbbd08600dbef576d847ec50754e06b1b74a Mon Sep 17 00:00:00 2001
From: Vicente Monge <vicentemonge@eprosima.com>
Date: Fri, 9 Feb 2018 11:11:10 +0100
Subject: [PATCH] Included field timestamp for micrortps bridge messages.

---
 msg/templates/uorb_microcdr/msg.cpp.template | 14 ++++++--------
 msg/templates/urtps/msg.idl.template         | 11 +++--------
 2 files changed, 9 insertions(+), 16 deletions(-)

diff --git a/msg/templates/uorb_microcdr/msg.cpp.template b/msg/templates/uorb_microcdr/msg.cpp.template
index fce0516597..6b43203726 100644
--- a/msg/templates/uorb_microcdr/msg.cpp.template
+++ b/msg/templates/uorb_microcdr/msg.cpp.template
@@ -58,10 +58,6 @@ 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 = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
 }@
 
 #include <px4_config.h>
@@ -102,9 +98,9 @@ def add_serialize_functions(fields, scope_name):
         if (not field.is_header):
             if (field.is_builtin):
                 if (not field.is_array):
-                    print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
+                    print("    serialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
                 else:
-                    print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
+                    print("    serialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
             else:
                 name = field.name
                 children_fields = get_children_fields(field.base_type, search_path)
@@ -120,10 +116,10 @@ def add_deserialize_functions(fields, scope_name):
         if (not field.is_header):
             if (field.is_builtin):
                 if (not field.is_array):
-                    print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
+                    print("    deserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
                 else:
                     for i in range(field.array_len):
-                        print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
+                        print("    deserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
             else:
                 name = field.name
                 children_fields = get_children_fields(field.base_type, search_path)
@@ -151,6 +147,7 @@ void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, u
 
     resetStaticMicroCDRForSerialize(microCDRWriter);
 
+    serializeUnsignedLong(input->timestamp, microCDRWriter);
 @add_code_to_serialize()
 
     (*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
@@ -162,5 +159,6 @@ void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struc
 
     resetStaticMicroCDRForDeserialize(microCDRReader);
 
+    deserializeUnsignedLong(&output->timestamp, microCDRReader);
 @add_code_to_deserialize()
 }
\ No newline at end of file
diff --git a/msg/templates/urtps/msg.idl.template b/msg/templates/urtps/msg.idl.template
index f27cec0667..8e30eaebc7 100644
--- a/msg/templates/urtps/msg.idl.template
+++ b/msg/templates/urtps/msg.idl.template
@@ -39,12 +39,6 @@
 import genmsg.msgs
 import gencpp
 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)
 }@
 @#################################################
 @# Searching for serialize function per each field
@@ -61,9 +55,9 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if (not field.is_array):
-            print('\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
+            print("    " + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
         else:
-            print('\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
+            print("    " + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
 
 def add_msg_fields():
     # sort fields (using a stable sort) as in the declaration of the type
@@ -76,5 +70,6 @@ def add_msg_fields():
 @
 struct @(spec.short_name)_
 {
+    unsigned long long timestamp;
 @add_msg_fields()
 }; // struct @(spec.short_name)_