mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-12 02:07:34 +08:00
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
Executable
+103
@@ -0,0 +1,103 @@
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#!/usr/bin/env python3
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"""
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Generate docs from .msg files
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"""
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import os
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import argparse
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import sys
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def get_msgs_list(msgdir):
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"""
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Makes list of msg files in the given directory
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"""
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return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Generate docs from .msg files')
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parser.add_argument('-d', dest='dir', help='output directory', required=True)
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args = parser.parse_args()
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output_dir = args.dir
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if not os.path.isdir(output_dir):
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os.mkdir(output_dir)
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msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
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msg_files = get_msgs_list(msg_path)
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msg_files.sort()
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filelist_in_markdown=''
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for msg_file in msg_files:
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msg_name = os.path.splitext(msg_file)[0]
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output_file = os.path.join(output_dir, msg_name+'.md')
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msg_filename = os.path.join(msg_path, msg_file)
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print("{:} -> {:}".format(msg_filename, output_file))
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#Format msg url
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msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
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msg_description = ""
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summary_description = ""
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#Get msg description (first non-empty comment line from top of msg)
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with open(msg_filename, 'r') as lineparser:
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line = lineparser.readline()
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while line.startswith('#') or (line.strip() == ''):
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print('DEBUG: line: %s' % line)
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line=line[1:].strip()+'\n'
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stripped_line=line.strip()
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if msg_description and not summary_description and stripped_line=='':
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summary_description = msg_description.strip()
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msg_description+=line
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line = lineparser.readline()
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msg_description=msg_description.strip()
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if not summary_description and msg_description:
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summary_description = msg_description
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print('msg_description: Z%sZ' % msg_description)
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print('summary_description: Z%sZ' % summary_description)
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summary_description
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msg_contents = ""
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#Get msg contents (read the file)
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with open(msg_filename, 'r') as source_file:
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msg_contents = source_file.read()
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#Format markdown using msg name, comment, url, contents.
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markdown_output="""# %s (UORB message)
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%s
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%s
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```c
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%s
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```
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""" % (msg_name, msg_description, msg_url, msg_contents)
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with open(output_file, 'w') as content_file:
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content_file.write(markdown_output)
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readme_markdown_file_link='- [%s](%s.md)' % (msg_name,msg_name)
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if summary_description:
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readme_markdown_file_link+=" — %s" % summary_description
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filelist_in_markdown+=readme_markdown_file_link+"\n"
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# Write out the README.md file
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readme_text="""# uORB Message Reference
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:::note
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This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
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:::
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This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)).
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Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).
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%s
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""" % (filelist_in_markdown)
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readme_file = os.path.join(output_dir, 'README.md')
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with open(readme_file, 'w') as content_file:
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content_file.write(readme_text)
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Executable
+253
@@ -0,0 +1,253 @@
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#!/usr/bin/env python3
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#############################################################################
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#
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# Copyright (C) 2013-2022 PX4 Pro Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#############################################################################
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"""
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px_generate_uorb_topic_files.py
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Generates c/cpp header/source files for uorb topics from .msg
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message files
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"""
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import os
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import argparse
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import re
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import sys
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try:
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import em
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except ImportError as e:
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print("Failed to import em: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user empy")
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print("")
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sys.exit(1)
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try:
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import genmsg.template_tools
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except ImportError as e:
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print("Failed to import genmsg: " + str(e))
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print("")
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print("You may need to install it using:")
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print(" pip3 install --user pyros-genmsg")
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print("")
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sys.exit(1)
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__author__ = "Sergey Belash, Thomas Gubler, Beat Kueng"
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__copyright__ = "Copyright (C) 2013-2022 PX4 Development Team."
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__license__ = "BSD"
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__email__ = "thomasgubler@gmail.com"
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TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
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TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
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OUTPUT_FILE_EXT = ['.h', '.cpp']
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INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
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PACKAGE = 'px4'
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TOPICS_TOKEN = '# TOPICS '
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def get_topics(filename):
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"""
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Get TOPICS names from a "# TOPICS" line
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"""
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ofile = open(filename, 'r')
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text = ofile.read()
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result = []
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for each_line in text.split('\n'):
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if each_line.startswith(TOPICS_TOKEN):
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topic_names_str = each_line.strip()
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topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
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topic_names_list = topic_names_str.split(" ")
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for topic in topic_names_list:
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# topic name PascalCase (file name) to snake_case (topic name)
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topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', topic).lower()
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result.append(topic_name)
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ofile.close()
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if len(result) == 0:
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# topic name PascalCase (file name) to snake_case (topic name)
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file_base_name = os.path.basename(filename).replace(".msg", "")
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topic_name = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
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result.append(topic_name)
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return result
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def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
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"""
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Converts a single .msg file to an uorb header/source file
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"""
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msg_context = genmsg.msg_loader.MsgContext.create_default()
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full_type_name = genmsg.gentools.compute_full_type_name(package, os.path.basename(filename))
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file_base_name = os.path.basename(filename).replace(".msg", "")
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full_type_name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', file_base_name).lower()
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spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
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field_name_and_type = {}
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for field in spec.parsed_fields():
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field_name_and_type.update({field.name: field.type})
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# assert if the timestamp field exists
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try:
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assert 'timestamp' in field_name_and_type
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
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spec.short_name + " msg definition!")
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exit(1)
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# assert if the timestamp field is of type uint64
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try:
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assert field_name_and_type.get('timestamp') == 'uint64'
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
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" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
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exit(1)
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topics = get_topics(filename)
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if includepath:
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search_path = genmsg.command_line.includepath_to_dict(includepath)
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else:
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search_path = {}
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genmsg.msg_loader.load_depends(msg_context, spec, search_path)
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em_globals = {
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"name_snake_case": full_type_name_snake,
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"file_name_in": filename,
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"search_path": search_path,
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"msg_context": msg_context,
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"spec": spec,
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"topics": topics,
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}
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# Make sure output directory exists:
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if not os.path.isdir(outputdir):
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
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output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
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return generate_by_template(output_file, template_file, em_globals)
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def generate_by_template(output_file, template_file, em_globals):
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"""
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Invokes empy intepreter to geneate output_file by the
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given template_file and predefined em_globals dict
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"""
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# check if folder exists:
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folder_name = os.path.dirname(output_file)
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if not os.path.exists(folder_name):
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os.makedirs(folder_name)
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ofile = open(output_file, 'w')
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# todo, reuse interpreter
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interpreter = em.Interpreter(output=ofile, globals=em_globals, options={
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em.RAW_OPT: True, em.BUFFERED_OPT: True})
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try:
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interpreter.file(open(template_file))
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except OSError as e:
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ofile.close()
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os.remove(output_file)
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raise
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interpreter.shutdown()
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ofile.close()
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return True
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def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
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# generate cpp file with topics list
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filenames = []
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for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
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filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
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topics = []
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for msg_filename in files:
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topics.extend(get_topics(msg_filename))
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tl_globals = {"msgs": filenames, "topics": topics}
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tl_template_file = os.path.join(templatedir, template_filename)
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tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
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generate_by_template(tl_out_file, tl_template_file, tl_globals)
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def append_to_include_path(path_to_append, curr_include, package):
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for p in path_to_append:
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curr_include.append('%s:%s' % (package, p))
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
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parser.add_argument('--headers', help='Generate header files', action='store_true')
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parser.add_argument('--sources', help='Generate source files', action='store_true')
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parser.add_argument('-f', dest='file',
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help="files to convert (use only without -d)",
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nargs="+")
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parser.add_argument('-i', dest="include_paths",
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help='Additional Include Paths', nargs="*",
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default=None)
|
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parser.add_argument('-e', dest='templatedir',
|
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help='directory with template files',)
|
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parser.add_argument('-k', dest='package', default=PACKAGE,
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help='package name')
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parser.add_argument('-o', dest='outputdir',
|
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help='output directory for header files')
|
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parser.add_argument('-p', dest='prefix', default='',
|
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help='string added as prefix to the output file '
|
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' name when converting directories')
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args = parser.parse_args()
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if args.include_paths:
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append_to_include_path(args.include_paths, INCL_DEFAULT, args.package)
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if args.headers:
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generate_idx = 0
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elif args.sources:
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generate_idx = 1
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else:
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print('Error: either --headers or --sources must be specified')
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exit(-1)
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if args.file is not None:
|
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for f in args.file:
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generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
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# Generate topics list header and source file
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if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
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generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
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@@ -0,0 +1,288 @@
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#!/usr/bin/env python3
|
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#############################################################################
|
||||
#
|
||||
# Copyright (C) 2013-2022 PX4 Pro 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.
|
||||
#
|
||||
#############################################################################
|
||||
|
||||
'''
|
||||
Helper methods & common code for the uorb message templates msg.{cpp,h}.em
|
||||
|
||||
Another positive effect of having the code here, is that this file will get
|
||||
precompiled and thus message generation will be much faster
|
||||
'''
|
||||
|
||||
import os
|
||||
import errno
|
||||
import re
|
||||
|
||||
import genmsg.msgs
|
||||
|
||||
|
||||
type_map = {
|
||||
'int8': 'int8_t',
|
||||
'int16': 'int16_t',
|
||||
'int32': 'int32_t',
|
||||
'int64': 'int64_t',
|
||||
'uint8': 'uint8_t',
|
||||
'uint16': 'uint16_t',
|
||||
'uint32': 'uint32_t',
|
||||
'uint64': 'uint64_t',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'bool',
|
||||
'char': 'char',
|
||||
}
|
||||
|
||||
type_map_short = {
|
||||
# We use some range outside of alpha-numeric and special characters.
|
||||
# This needs to match with orb_get_c_type()
|
||||
'int8': '\\x82',
|
||||
'int16': '\\x83',
|
||||
'int32': '\\x84',
|
||||
'int64': '\\x85',
|
||||
'uint8': '\\x86',
|
||||
'uint16': '\\x87',
|
||||
'uint32': '\\x88',
|
||||
'uint64': '\\x89',
|
||||
'float32': '\\x8a',
|
||||
'float64': '\\x8b',
|
||||
'bool': '\\x8c',
|
||||
'char': '\\x8d',
|
||||
}
|
||||
|
||||
type_serialize_map = {
|
||||
'int8': 'int8_t',
|
||||
'int16': 'int16_t',
|
||||
'int32': 'int32_t',
|
||||
'int64': 'int64_t',
|
||||
'uint8': 'uint8_t',
|
||||
'uint16': 'uint16_t',
|
||||
'uint32': 'uint32_t',
|
||||
'uint64': 'uint64_t',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'bool',
|
||||
'char': 'char',
|
||||
}
|
||||
|
||||
type_idl_map = {
|
||||
'bool': 'boolean',
|
||||
'byte': 'octet',
|
||||
'char': 'char',
|
||||
'int8': 'octet',
|
||||
'uint8': 'octet',
|
||||
'int16': 'short',
|
||||
'uint16': 'unsigned short',
|
||||
'int32': 'long',
|
||||
'uint32': 'unsigned long',
|
||||
'int64': 'long long',
|
||||
'uint64': 'unsigned long long',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'string': 'string',
|
||||
}
|
||||
|
||||
msgtype_size_map = {
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
'int32': 4,
|
||||
'int64': 8,
|
||||
'uint8': 1,
|
||||
'uint16': 2,
|
||||
'uint32': 4,
|
||||
'uint64': 8,
|
||||
'float32': 4,
|
||||
'float64': 8,
|
||||
'bool': 1,
|
||||
'char': 1,
|
||||
}
|
||||
|
||||
type_printf_map = {
|
||||
'int8': '%d',
|
||||
'int16': '%d',
|
||||
'int32': '%" PRId32 "',
|
||||
'int64': '%" PRId64 "',
|
||||
'uint8': '%u',
|
||||
'uint16': '%u',
|
||||
'uint32': '%" PRIu32 "',
|
||||
'uint64': '%" PRIu64 "',
|
||||
'float32': '%.4f',
|
||||
'float64': '%.6f',
|
||||
'bool': '%u',
|
||||
'char': '%c',
|
||||
}
|
||||
|
||||
|
||||
def bare_name(msg_type):
|
||||
"""
|
||||
Get bare_name from <dir>/<bare_name>[x] format
|
||||
"""
|
||||
bare = msg_type
|
||||
if '/' in msg_type:
|
||||
# removing prefix
|
||||
bare = (msg_type.split('/'))[1]
|
||||
# removing suffix
|
||||
return bare.split('[')[0]
|
||||
|
||||
|
||||
def sizeof_field_type(field):
|
||||
"""
|
||||
Get size of a field, used for sorting
|
||||
"""
|
||||
bare_name_str = bare_name(field.type)
|
||||
if bare_name_str in msgtype_size_map:
|
||||
return msgtype_size_map[bare_name_str]
|
||||
return 0 # this is for non-builtin types: sort them at the end
|
||||
|
||||
|
||||
def get_children_fields(base_type, search_path):
|
||||
(package, name) = genmsg.names.package_resource_name(base_type)
|
||||
tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
|
||||
spec_temp = genmsg.msg_loader.load_msg_by_type(
|
||||
tmp_msg_context, '%s/%s' % (package, name), search_path)
|
||||
return spec_temp.parsed_fields()
|
||||
|
||||
|
||||
def add_padding_bytes(fields, search_path):
|
||||
"""
|
||||
Add padding fields before the embedded types, at the end and calculate the
|
||||
struct size
|
||||
returns a tuple with the struct size and padding at the end
|
||||
"""
|
||||
struct_size = 0
|
||||
align_to = 8 # this is always 8, because of the 64bit timestamp
|
||||
i = 0
|
||||
padding_idx = 0
|
||||
while i < len(fields):
|
||||
field = fields[i]
|
||||
if not field.is_header:
|
||||
a_pos = field.type.find('[')
|
||||
array_size = 1
|
||||
if field.is_array:
|
||||
array_size = field.array_len
|
||||
if field.is_builtin:
|
||||
field.sizeof_field_type = sizeof_field_type(field)
|
||||
else:
|
||||
# embedded type: may need to add padding
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes != align_to:
|
||||
padding_field = genmsg.Field('_padding' + str(padding_idx),
|
||||
'uint8[' + str(num_padding_bytes) + ']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.insert(i, padding_field)
|
||||
i += 1
|
||||
children_fields = get_children_fields(
|
||||
field.base_type, search_path)
|
||||
field.sizeof_field_type, unused = add_padding_bytes(children_fields,
|
||||
search_path)
|
||||
struct_size += field.sizeof_field_type * array_size
|
||||
i += 1
|
||||
|
||||
# add padding at the end (necessary for embedded types)
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes == align_to:
|
||||
num_padding_bytes = 0
|
||||
else:
|
||||
padding_field = genmsg.Field('_padding' + str(padding_idx),
|
||||
'uint8[' + str(num_padding_bytes) + ']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.append(padding_field)
|
||||
return (struct_size, num_padding_bytes)
|
||||
|
||||
|
||||
def convert_type(spec_type, use_short_type=False):
|
||||
"""
|
||||
Convert from msg type to C type
|
||||
"""
|
||||
bare_type = spec_type
|
||||
if '/' in spec_type:
|
||||
# removing prefix
|
||||
bare_type = (spec_type.split('/'))[1]
|
||||
|
||||
msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
|
||||
c_type = msg_type
|
||||
if use_short_type and msg_type in type_map_short:
|
||||
c_type = type_map_short[msg_type]
|
||||
elif msg_type in type_map:
|
||||
c_type = type_map[msg_type]
|
||||
else:
|
||||
c_type = re.sub(r'(?<!^)(?=[A-Z])', '_', c_type).lower() # PascalCase to snake_case
|
||||
|
||||
if is_array:
|
||||
return c_type + "[" + str(array_length) + "]"
|
||||
|
||||
return c_type
|
||||
|
||||
|
||||
def print_field_def(field):
|
||||
"""
|
||||
Print the C type from a field
|
||||
"""
|
||||
|
||||
# check if there are any upper case letters in the field name
|
||||
assert not any(a.isupper()
|
||||
for a in field.name), "%r field contains uppercase letters" % field.name
|
||||
|
||||
type_name = field.type
|
||||
# detect embedded types
|
||||
sl_pos = type_name.find('/')
|
||||
type_appendix = ''
|
||||
type_prefix = ''
|
||||
if (sl_pos >= 0):
|
||||
type_name = type_name[sl_pos + 1:]
|
||||
type_name = re.sub(r'(?<!^)(?=[A-Z])', '_', type_name).lower() # PascalCase to snake_case
|
||||
type_prefix = 'struct '
|
||||
type_appendix = '_s'
|
||||
|
||||
# detect arrays
|
||||
a_pos = type_name.find('[')
|
||||
array_size = ''
|
||||
if (a_pos >= 0):
|
||||
# field is array
|
||||
array_size = type_name[a_pos:]
|
||||
type_name = type_name[:a_pos]
|
||||
|
||||
if type_name in type_map:
|
||||
# need to add _t: int8 --> int8_t
|
||||
type_px4 = type_map[type_name]
|
||||
else:
|
||||
type_px4 = type_name
|
||||
|
||||
comment = ''
|
||||
if field.name.startswith('_padding'):
|
||||
comment = ' // required for logger'
|
||||
|
||||
print(('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
|
||||
array_size, comment)))
|
||||
@@ -0,0 +1,174 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# EmPy template
|
||||
@#
|
||||
@###############################################
|
||||
@# generates CDR serialization & deserialization methods
|
||||
@#
|
||||
@# Context:
|
||||
@# - file_name_in (String) Source file
|
||||
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
|
||||
@# - search_path (dict) search paths for genmsg
|
||||
@# - topics (List of String) topic names
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013-2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
@{
|
||||
import genmsg.msgs
|
||||
import re
|
||||
from px_generate_uorb_topic_helper import * # this is in Tools/
|
||||
|
||||
topic = name_snake_case
|
||||
uorb_struct = '%s_s'%name_snake_case
|
||||
|
||||
# get fields, struct size and paddings
|
||||
def add_fields(msg_fields, name_prefix='', offset=0):
|
||||
fields = []
|
||||
for field in msg_fields:
|
||||
if not field.is_header:
|
||||
field_size = sizeof_field_type(field)
|
||||
|
||||
type_name = field.type
|
||||
# detect embedded types
|
||||
sl_pos = type_name.find('/')
|
||||
if (sl_pos >= 0):
|
||||
package = type_name[:sl_pos]
|
||||
type_name = type_name[sl_pos + 1:]
|
||||
|
||||
# detect arrays
|
||||
a_pos = type_name.find('[')
|
||||
array_size = 1
|
||||
if (a_pos >= 0):
|
||||
# field is array
|
||||
array_size = int(type_name[a_pos+1:-1])
|
||||
type_name = type_name[:a_pos]
|
||||
|
||||
if sl_pos >= 0: # nested type
|
||||
|
||||
children_fields = get_children_fields(field.base_type, search_path)
|
||||
|
||||
for i in range(array_size):
|
||||
sub_name_prefix = name_prefix+field.name
|
||||
if array_size > 1:
|
||||
sub_name_prefix += '['+str(i)+']'
|
||||
sub_fields, offset = add_fields(children_fields, sub_name_prefix+'.', offset)
|
||||
fields.extend(sub_fields)
|
||||
else:
|
||||
assert field_size > 0
|
||||
|
||||
# note: the maximum alignment for XCDR is 8 and for XCDR2 it is 4
|
||||
padding = (field_size - (offset % field_size)) & (field_size - 1)
|
||||
|
||||
fields.append((type_name, name_prefix+field.name, field_size * array_size, padding))
|
||||
offset += array_size * field_size + padding
|
||||
return fields, offset
|
||||
|
||||
fields, struct_size = add_fields(spec.parsed_fields())
|
||||
|
||||
}@
|
||||
|
||||
// auto-generated file
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <ucdr/microcdr.h>
|
||||
#include <string.h>
|
||||
#include <uORB/topics/@(topic).h>
|
||||
|
||||
@##############################
|
||||
@# Includes for dependencies
|
||||
@##############################
|
||||
@{
|
||||
for field in spec.parsed_fields():
|
||||
if (not field.is_builtin):
|
||||
if not field.is_header:
|
||||
(package, name) = genmsg.names.package_resource_name(field.base_type)
|
||||
package = package or spec.package # convert '' to package
|
||||
name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
|
||||
print('#include <uORB/ucdr/%s.h>'%(name_snake))
|
||||
}@
|
||||
|
||||
static inline constexpr int ucdr_topic_size_@(topic)()
|
||||
{
|
||||
return @(struct_size);
|
||||
}
|
||||
|
||||
bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
|
||||
{
|
||||
@{
|
||||
for field_type, field_name, field_size, padding in fields:
|
||||
if padding > 0:
|
||||
print('\tbuf.iterator += {:}; // padding'.format(padding))
|
||||
print('\tbuf.offset += {:}; // padding'.format(padding))
|
||||
|
||||
print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
|
||||
|
||||
if field_type == 'uint64' and field_name == 'timestamp':
|
||||
print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
|
||||
print('\tmemcpy(buf.iterator, ×tamp_adjusted, sizeof(topic.{0}));'.format(field_name))
|
||||
|
||||
elif field_type == 'uint64' and field_name == 'timestamp_sample':
|
||||
print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
|
||||
print('\tmemcpy(buf.iterator, ×tamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
|
||||
|
||||
else:
|
||||
print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
|
||||
|
||||
print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
|
||||
print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
|
||||
|
||||
}@
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
|
||||
{
|
||||
@{
|
||||
for field_type, field_name, field_size, padding in fields:
|
||||
if padding > 0:
|
||||
print('\tbuf.iterator += {:}; // padding'.format(padding))
|
||||
print('\tbuf.offset += {:}; // padding'.format(padding))
|
||||
|
||||
print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
|
||||
print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
|
||||
|
||||
if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
|
||||
print('\ttopic.{0} -= time_offset;'.format(field_name))
|
||||
|
||||
print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
|
||||
print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
|
||||
|
||||
}@
|
||||
return true;
|
||||
}
|
||||
@@ -0,0 +1,90 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# PX4 ROS compatible message source code
|
||||
@# generation for C++
|
||||
@#
|
||||
@# EmPy template for generating <msg>.h files
|
||||
@# Based on the original template for ROS
|
||||
@#
|
||||
@###############################################
|
||||
@# Start of Template
|
||||
@#
|
||||
@# Context:
|
||||
@# - file_name_in (String) Source file
|
||||
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
|
||||
@# - search_path (dict) search paths for genmsg
|
||||
@# - topics (List of String) topic names
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013-2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* Auto-generated by genmsg_cpp from file @file_name_in */
|
||||
|
||||
@{
|
||||
import genmsg.msgs
|
||||
|
||||
from px_generate_uorb_topic_helper import * # this is in Tools/
|
||||
|
||||
uorb_struct = '%s_s'%name_snake_case
|
||||
|
||||
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 = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
|
||||
}@
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <uORB/topics/@(name_snake_case).h>
|
||||
#include <uORB/topics/uORBTopics.hpp>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <lib/drivers/device/Device.hpp>
|
||||
#include <lib/matrix/matrix/math.hpp>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
|
||||
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
|
||||
@# This is used for the logger
|
||||
constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
|
||||
|
||||
@[for topic in topics]@
|
||||
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
|
||||
@[end for]
|
||||
|
||||
void print_message(const orb_metadata *meta, const @uorb_struct& message)
|
||||
{
|
||||
if (sizeof(message) != meta->o_size) {
|
||||
printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
|
||||
return;
|
||||
}
|
||||
orb_print_message_internal(meta, &message, true);
|
||||
}
|
||||
@@ -0,0 +1,147 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# PX4 ROS compatible message source code
|
||||
@# generation for C++
|
||||
@#
|
||||
@# EmPy template for generating <msg>.h files
|
||||
@# Based on the original template for ROS
|
||||
@#
|
||||
@###############################################
|
||||
@# Start of Template
|
||||
@#
|
||||
@# Context:
|
||||
@# - file_name_in (String) Source file
|
||||
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
|
||||
@# - search_path (dict) search paths for genmsg
|
||||
@# - topics (List of String) topic names
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013-2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* Auto-generated by genmsg_cpp from file @file_name_in */
|
||||
|
||||
@{
|
||||
import genmsg.msgs
|
||||
import re
|
||||
|
||||
from px_generate_uorb_topic_helper import * # this is in Tools/
|
||||
|
||||
uorb_struct = '%s_s'%name_snake_case
|
||||
uorb_struct_upper = name_snake_case.upper()
|
||||
}@
|
||||
|
||||
#pragma once
|
||||
|
||||
@##############################
|
||||
@# Generic Includes
|
||||
@##############################
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
@##############################
|
||||
@# Includes for dependencies
|
||||
@##############################
|
||||
@{
|
||||
for field in spec.parsed_fields():
|
||||
if (not field.is_builtin):
|
||||
if (not field.is_header):
|
||||
(package, name) = genmsg.names.package_resource_name(field.base_type)
|
||||
package = package or spec.package # convert '' to package
|
||||
|
||||
name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
|
||||
print('#include <uORB/topics/%s.h>'%(name))
|
||||
}@
|
||||
|
||||
@# Constants c style
|
||||
#ifndef __cplusplus
|
||||
@[for constant in spec.constants]@
|
||||
#define @(uorb_struct_upper)_@(constant.name) @(int(constant.val))
|
||||
@[end for]
|
||||
#endif
|
||||
|
||||
@##############################
|
||||
@# Main struct of message
|
||||
@##############################
|
||||
@{
|
||||
|
||||
def print_parsed_fields():
|
||||
# sort fields (using a stable sort)
|
||||
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
||||
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
|
||||
# loop over all fields and print the type and name
|
||||
for field in sorted_fields:
|
||||
if (not field.is_header):
|
||||
print_field_def(field)
|
||||
}@
|
||||
|
||||
#ifdef __cplusplus
|
||||
@#class @(uorb_struct) {
|
||||
struct __EXPORT @(uorb_struct) {
|
||||
@#public:
|
||||
#else
|
||||
struct @(uorb_struct) {
|
||||
#endif
|
||||
@print_parsed_fields()
|
||||
|
||||
#ifdef __cplusplus
|
||||
@# Constants again c++-ified
|
||||
@{
|
||||
for constant in spec.constants:
|
||||
type_name = constant.type
|
||||
if type_name in type_map:
|
||||
# need to add _t: int8 --> int8_t
|
||||
type_px4 = type_map[type_name]
|
||||
else:
|
||||
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
|
||||
|
||||
print('\tstatic constexpr %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
|
||||
}
|
||||
#endif
|
||||
};
|
||||
|
||||
#ifdef __cplusplus
|
||||
namespace px4 {
|
||||
namespace msg {
|
||||
using @(spec.short_name) = @(uorb_struct);
|
||||
} // namespace msg
|
||||
} // namespace px4
|
||||
#endif
|
||||
|
||||
/* register this as object request broker structure */
|
||||
@[for topic in topics]@
|
||||
ORB_DECLARE(@topic);
|
||||
@[end for]
|
||||
|
||||
#ifdef __cplusplus
|
||||
void print_message(const orb_metadata *meta, const @uorb_struct& message);
|
||||
#endif
|
||||
@@ -0,0 +1,80 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# EmPy template for generating uORBTopics.cpp file
|
||||
@# for logging purposes
|
||||
@#
|
||||
@###############################################
|
||||
@# Start of Template
|
||||
@#
|
||||
@# Context:
|
||||
@# - msgs (List) list of all msg files
|
||||
@# - multi_topics (List) list of all multi-topic names
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013-2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <uORB/topics/uORBTopics.hpp>
|
||||
#include <uORB/uORB.h>
|
||||
@{
|
||||
msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
|
||||
msg_names.sort()
|
||||
msgs_count = len(msg_names)
|
||||
|
||||
topic_names = list(set(topics)) # set() filters duplicates
|
||||
topic_names.sort()
|
||||
topics_count = len(topics)
|
||||
|
||||
}@
|
||||
@[for msg_name in msg_names]@
|
||||
#include <uORB/topics/@(msg_name).h>
|
||||
@[end for]
|
||||
|
||||
const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
|
||||
@[for idx, topic_name in enumerate(topic_names, 1)]@
|
||||
ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
|
||||
@[end for]
|
||||
};
|
||||
|
||||
const struct orb_metadata *const *orb_get_topics()
|
||||
{
|
||||
return uorb_topics_list;
|
||||
}
|
||||
|
||||
const struct orb_metadata *get_orb_meta(ORB_ID id)
|
||||
{
|
||||
if (id == ORB_ID::INVALID) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
return uorb_topics_list[static_cast<uint8_t>(id)];
|
||||
}
|
||||
@@ -0,0 +1,72 @@
|
||||
@###############################################
|
||||
@#
|
||||
@# EmPy template for generating uORBTopics.hpp file
|
||||
@# for logging purposes
|
||||
@#
|
||||
@###############################################
|
||||
@# Start of Template
|
||||
@#
|
||||
@# Context:
|
||||
@# - topics (List) list of all topic names
|
||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021-2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
@{
|
||||
topics_count = len(topics)
|
||||
topic_names_all = list(set(topics)) # set() filters duplicates
|
||||
topic_names_all.sort()
|
||||
}@
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stddef.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
|
||||
static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
|
||||
|
||||
/*
|
||||
* Returns array of topics metadata
|
||||
*/
|
||||
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
|
||||
|
||||
enum class ORB_ID : uint8_t {
|
||||
@[for idx, topic_name in enumerate(topic_names_all)]@
|
||||
@(topic_name) = @(idx),
|
||||
@[end for]
|
||||
INVALID
|
||||
};
|
||||
|
||||
const struct orb_metadata *get_orb_meta(ORB_ID id);
|
||||
Reference in New Issue
Block a user