mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 08:38:53 +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
@@ -0,0 +1,174 @@
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@###############################################
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||||
@#
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@# EmPy template
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||||
@#
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||||
@###############################################
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||||
@# generates CDR serialization & deserialization methods
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||||
@#
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||||
@# Context:
|
||||
@# - file_name_in (String) Source file
|
||||
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
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@# - search_path (dict) search paths for genmsg
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@# - topics (List of String) topic names
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@###############################################
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/****************************************************************************
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||||
*
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||||
* 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.
|
||||
*
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||||
****************************************************************************/
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||||
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@{
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import genmsg.msgs
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import re
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from px_generate_uorb_topic_helper import * # this is in Tools/
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topic = name_snake_case
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uorb_struct = '%s_s'%name_snake_case
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# get fields, struct size and paddings
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def add_fields(msg_fields, name_prefix='', offset=0):
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fields = []
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for field in msg_fields:
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if not field.is_header:
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field_size = sizeof_field_type(field)
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type_name = field.type
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# detect embedded types
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sl_pos = type_name.find('/')
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if (sl_pos >= 0):
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package = type_name[:sl_pos]
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type_name = type_name[sl_pos + 1:]
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# detect arrays
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a_pos = type_name.find('[')
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array_size = 1
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if (a_pos >= 0):
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# field is array
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array_size = int(type_name[a_pos+1:-1])
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type_name = type_name[:a_pos]
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if sl_pos >= 0: # nested type
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children_fields = get_children_fields(field.base_type, search_path)
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for i in range(array_size):
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sub_name_prefix = name_prefix+field.name
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if array_size > 1:
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sub_name_prefix += '['+str(i)+']'
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sub_fields, offset = add_fields(children_fields, sub_name_prefix+'.', offset)
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fields.extend(sub_fields)
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else:
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assert field_size > 0
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# note: the maximum alignment for XCDR is 8 and for XCDR2 it is 4
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padding = (field_size - (offset % field_size)) & (field_size - 1)
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fields.append((type_name, name_prefix+field.name, field_size * array_size, padding))
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offset += array_size * field_size + padding
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return fields, offset
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fields, struct_size = add_fields(spec.parsed_fields())
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}@
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// auto-generated file
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#pragma once
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#include <ucdr/microcdr.h>
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#include <string.h>
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#include <uORB/topics/@(topic).h>
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@##############################
|
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@# Includes for dependencies
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@##############################
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@{
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for field in spec.parsed_fields():
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if (not field.is_builtin):
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if not field.is_header:
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(package, name) = genmsg.names.package_resource_name(field.base_type)
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package = package or spec.package # convert '' to package
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name_snake = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
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print('#include <uORB/ucdr/%s.h>'%(name_snake))
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}@
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static inline constexpr int ucdr_topic_size_@(topic)()
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{
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return @(struct_size);
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}
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bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
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{
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@{
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for field_type, field_name, field_size, padding in fields:
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if padding > 0:
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print('\tbuf.iterator += {:}; // padding'.format(padding))
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print('\tbuf.offset += {:}; // padding'.format(padding))
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print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
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if field_type == 'uint64' and field_name == 'timestamp':
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print('\tconst uint64_t timestamp_adjusted = topic.timestamp + time_offset;')
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print('\tmemcpy(buf.iterator, ×tamp_adjusted, sizeof(topic.{0}));'.format(field_name))
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elif field_type == 'uint64' and field_name == 'timestamp_sample':
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print('\tconst uint64_t timestamp_sample_adjusted = topic.timestamp_sample + time_offset;')
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print('\tmemcpy(buf.iterator, ×tamp_sample_adjusted, sizeof(topic.{0}));'.format(field_name))
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else:
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print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field_name))
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print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
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print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
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}@
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return true;
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}
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||||
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bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
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||||
{
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@{
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for field_type, field_name, field_size, padding in fields:
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if padding > 0:
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print('\tbuf.iterator += {:}; // padding'.format(padding))
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print('\tbuf.offset += {:}; // padding'.format(padding))
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print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field_name, field_size))
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print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
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if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
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print('\ttopic.{0} -= time_offset;'.format(field_name))
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print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
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print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
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}@
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return true;
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}
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@@ -0,0 +1,90 @@
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@###############################################
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@#
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@# PX4 ROS compatible message source code
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@# generation for C++
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||||
@#
|
||||
@# EmPy template for generating <msg>.h files
|
||||
@# Based on the original template for ROS
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||||
@#
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||||
@###############################################
|
||||
@# Start of Template
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||||
@#
|
||||
@# 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
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||||
@###############################################
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 */
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@{
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import genmsg.msgs
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from px_generate_uorb_topic_helper import * # this is in Tools/
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|
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uorb_struct = '%s_s'%name_snake_case
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
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}@
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#include <inttypes.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/defines.h>
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#include <uORB/topics/@(name_snake_case).h>
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#include <uORB/topics/uORBTopics.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/device/Device.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/mathlib/mathlib.h>
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@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
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@# This is used for the logger
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constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
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@[for topic in topics]@
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ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
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@[end for]
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||||
|
||||
void print_message(const orb_metadata *meta, const @uorb_struct& message)
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||||
{
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if (sizeof(message) != meta->o_size) {
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printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
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return;
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}
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orb_print_message_internal(meta, &message, true);
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||||
}
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@@ -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