mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 23:33:34 +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
@@ -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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@#
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@# EmPy template for generating <msg>.h files
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@# Based on the original template for ROS
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - file_name_in (String) Source file
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@# - 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.
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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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/* 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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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 @@
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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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@#
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@# EmPy template for generating <msg>.h files
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@# Based on the original template for ROS
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - file_name_in (String) Source file
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@# - 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.
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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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/* 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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import re
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from px_generate_uorb_topic_helper import * # this is in Tools/
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uorb_struct = '%s_s'%name_snake_case
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uorb_struct_upper = name_snake_case.upper()
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}@
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#pragma once
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@##############################
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@# Generic Includes
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@##############################
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#include <uORB/uORB.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 = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
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print('#include <uORB/topics/%s.h>'%(name))
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}@
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@# Constants c style
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#ifndef __cplusplus
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@[for constant in spec.constants]@
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#define @(uorb_struct_upper)_@(constant.name) @(int(constant.val))
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@[end for]
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#endif
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@##############################
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@# Main struct of message
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@##############################
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@{
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def print_parsed_fields():
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# sort fields (using a stable sort)
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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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# loop over all fields and print the type and name
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for field in sorted_fields:
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if (not field.is_header):
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print_field_def(field)
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}@
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#ifdef __cplusplus
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@#class @(uorb_struct) {
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struct __EXPORT @(uorb_struct) {
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@#public:
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#else
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struct @(uorb_struct) {
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#endif
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@print_parsed_fields()
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#ifdef __cplusplus
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@# Constants again c++-ified
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@{
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for constant in spec.constants:
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type_name = constant.type
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if type_name in type_map:
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# need to add _t: int8 --> int8_t
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type_px4 = type_map[type_name]
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else:
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raise Exception("Type {0} not supported, add to to template file!".format(type_name))
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print('\tstatic constexpr %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
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}
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#endif
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};
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#ifdef __cplusplus
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namespace px4 {
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namespace msg {
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using @(spec.short_name) = @(uorb_struct);
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} // namespace msg
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} // namespace px4
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#endif
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/* register this as object request broker structure */
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@[for topic in topics]@
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ORB_DECLARE(@topic);
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@[end for]
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#ifdef __cplusplus
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void print_message(const orb_metadata *meta, const @uorb_struct& message);
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#endif
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@@ -0,0 +1,80 @@
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@###############################################
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@#
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@# EmPy template for generating uORBTopics.cpp file
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@# for logging purposes
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - msgs (List) list of all msg files
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@# - multi_topics (List) list of all multi-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.
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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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#include <uORB/topics/uORBTopics.hpp>
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#include <uORB/uORB.h>
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@{
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msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters duplicates
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msg_names.sort()
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msgs_count = len(msg_names)
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topic_names = list(set(topics)) # set() filters duplicates
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topic_names.sort()
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topics_count = len(topics)
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}@
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@[for msg_name in msg_names]@
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#include <uORB/topics/@(msg_name).h>
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@[end for]
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const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
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@[for idx, topic_name in enumerate(topic_names, 1)]@
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ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
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@[end for]
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};
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const struct orb_metadata *const *orb_get_topics()
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{
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return uorb_topics_list;
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}
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const struct orb_metadata *get_orb_meta(ORB_ID id)
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{
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if (id == ORB_ID::INVALID) {
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return nullptr;
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}
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return uorb_topics_list[static_cast<uint8_t>(id)];
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}
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@@ -0,0 +1,72 @@
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@###############################################
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@#
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@# EmPy template for generating uORBTopics.hpp file
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@# for logging purposes
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - topics (List) list of all topic names
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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
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*
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* 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.
|
||||
*
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||||
* 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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topics_count = len(topics)
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topic_names_all = list(set(topics)) # set() filters duplicates
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topic_names_all.sort()
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}@
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#pragma once
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#include <stddef.h>
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#include <uORB/uORB.h>
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static constexpr size_t ORB_TOPICS_COUNT{@(topics_count)};
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static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
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/*
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* Returns array of topics metadata
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*/
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extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
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enum class ORB_ID : uint8_t {
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@[for idx, topic_name in enumerate(topic_names_all)]@
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@(topic_name) = @(idx),
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@[end for]
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INVALID
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};
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const struct orb_metadata *get_orb_meta(ORB_ID id);
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Block a user