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update micro-CDR version and msg templates to fit the up to date version

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TSC21 2018-11-30 08:46:57 +00:00 committed by Lorenz Meier
parent 3e57067b35
commit c25d122f12
5 changed files with 29 additions and 31 deletions
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21
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
View File

@ -24,7 +24,8 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
}@
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2018 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:
@ -62,7 +63,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <ctime>
#include <pthread.h>
#include <microcdr/microcdr.h>
#include <ucdr/microcdr.h>
#include <px4_time.h>
#include <uORB/uORB.h>
@ -91,10 +92,10 @@ void* send(void* /*unused*/)
orb_set_interval(fds[@(idx)], _options.update_time_ms);
@[end for]@
// MicroBuffer to serialized using the user defined buffer
MicroBuffer MicroBufferWriter;
// ucdrBuffer to serialize using the user defined buffer
ucdrBuffer writer;
header_length=transport_node->get_header_length();
init_micro_buffer(&MicroBufferWriter, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
ucdr_init_buffer(&writer, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
struct timespec begin;
px4_clock_gettime(CLOCK_REALTIME, &begin);
@ -111,7 +112,7 @@ void* send(void* /*unused*/)
// copy raw data into local buffer
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
/* payload is shifted by header length to make room for header*/
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{
@ -165,9 +166,9 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
orb_advert_t @(topic)_pub = nullptr;
@[end for]@
// MicroBuffer to deserialized using the user defined buffer
MicroBuffer MicroBufferReader;
init_micro_buffer(&MicroBufferReader, (uint8_t*)data_buffer, BUFFER_SIZE);
// ucdrBuffer to deserialize using the user defined buffer
ucdrBuffer reader;
ucdr_init_buffer(&reader, (uint8_t*)data_buffer, BUFFER_SIZE);
@[end if]@
px4_clock_gettime(CLOCK_REALTIME, &begin);
@ -191,7 +192,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
case @(rtps_message_id(ids, topic)):
{
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
@(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
} else {

26
msg/templates/uorb_microcdr/msg.cpp.template
View File

@ -19,7 +19,7 @@
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2018 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
@ -62,7 +62,7 @@ topic_name = spec.short_name
}@
#include <px4_config.h>
#include <microcdr/microcdr.h>
#include <ucdr/microcdr.h>
#include <uORB/topics/@(topic_name).h>
#include <uORB_microcdr/topics/@(topic_name).h>
@ -99,9 +99,9 @@ def add_serialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
print(" serialize_" + str(get_serialization_type_name(field.type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ");")
print(" ucdr_serialize_" + str(get_serialization_type_name(field.type)) + "(writer, input->" + scope_name+str(field.name) + ");")
else:
print(" serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
print(" ucdr_serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(writer, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
@ -117,9 +117,9 @@ def add_deserialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
print(" deserialize_" + str(get_serialization_type_name(field.type)) + "(microCDRReader, &output->" + scope_name+str(field.name) + ");")
print(" ucdr_deserialize_" + str(get_serialization_type_name(field.type)) + "(reader, &output->" + scope_name+str(field.name) + ");")
else:
print(" deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRReader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
print(" ucdr_deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(reader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
@ -141,23 +141,23 @@ def add_code_to_deserialize():
add_deserialize_functions(sorted_fields, "")
}@
void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length)
void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length)
{
if (nullptr == microCDRWriter || nullptr == input || nullptr == output || nullptr == length)
if (nullptr == writer || nullptr == input || nullptr == output || nullptr == length)
return;
reset_micro_buffer(microCDRWriter);
ucdr_reset_buffer(writer);
@add_code_to_serialize()
(*length) = micro_buffer_length(microCDRWriter);
(*length) = ucdr_buffer_length(writer);
}
void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input)
void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input)
{
if (nullptr == microCDRReader || nullptr == output || nullptr == input)
if (nullptr == reader || nullptr == output || nullptr == input)
return;
reset_micro_buffer(microCDRReader);
ucdr_reset_buffer(reader);
@add_code_to_deserialize()
}

8
msg/templates/uorb_microcdr/msg.h.template
View File

@ -19,7 +19,7 @@
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2018 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
@ -69,7 +69,5 @@ topic_name = spec.short_name
#include <uORB/topics/@(topic_name).h>
#include <uORB_microcdr/topics/@(topic_name).h>
struct MicroBuffer;
void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length);
void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input);
void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length);
void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input);

2
src/modules/micrortps_bridge/micro-CDR

@ -1 +1 @@
Subproject commit f325c4f7731a5d10c474e1a30f7407c220d97b54
Subproject commit d23eda8772ecf846531ee470a81fb1be37802e7b

3
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
View File

@ -40,7 +40,7 @@
#include <pthread.h>
#include <termios.h>
#include <microcdr/microcdr.h>
#include <ucdr/microcdr.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_posix.h>
@ -92,4 +92,3 @@ struct options {
extern struct options _options;
extern bool _should_exit_task;
extern Transport_node *transport_node;