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)
2026-10-17 17:53:34 +08:00 · 2022-10-19 19:36:47 -04:00
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
@@ -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