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)
2026-10-20 11:43:35 +08:00 · 2022-10-19 19:36:47 -04:00
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2022 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
@@ -37,223 +37,188 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)

 set(msg_files
-	action_request.msg
-	actuator_armed.msg
-	actuator_controls.msg
-	actuator_controls_status.msg
-	actuator_motors.msg
-	actuator_outputs.msg
-	actuator_servos.msg
-	actuator_servos_trim.msg
-	actuator_test.msg
-	adc_report.msg
-	airspeed.msg
-	airspeed_validated.msg
-	airspeed_wind.msg
-	autotune_attitude_control_status.msg
-	battery_status.msg
-	button_event.msg
-	camera_capture.msg
-	camera_status.msg
-	camera_trigger.msg
-	cellular_status.msg
-	collision_constraints.msg
-	collision_report.msg
-	control_allocator_status.msg
-	cpuload.msg
-	differential_pressure.msg
-	distance_sensor.msg
-	ekf2_timestamps.msg
-	esc_report.msg
-	esc_status.msg
-	estimator_aid_source_1d.msg
-	estimator_aid_source_2d.msg
-	estimator_aid_source_3d.msg
-	estimator_bias.msg
-	estimator_event_flags.msg
-	estimator_gps_status.msg
-	estimator_innovations.msg
-	estimator_selector_status.msg
-	estimator_sensor_bias.msg
-	estimator_states.msg
-	estimator_status.msg
-	estimator_status_flags.msg
-	event.msg
-	failure_detector_status.msg
-	failsafe_flags.msg
-	follow_target.msg
-	follow_target_estimator.msg
-	follow_target_status.msg
-	generator_status.msg
-	geofence_result.msg
-	gimbal_device_attitude_status.msg
-	gimbal_device_information.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_information.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
-	gimbal_manager_status.msg
-	gps_dump.msg
-	gps_inject_data.msg
-	health_report.msg
-	gripper.msg
-	heater_status.msg
-	home_position.msg
-	hover_thrust_estimate.msg
-	input_rc.msg
-	internal_combustion_engine_status.msg
-	iridiumsbd_status.msg
-	irlock_report.msg
-	landing_gear.msg
-	landing_target_innovations.msg
-	landing_target_pose.msg
-	led_control.msg
-	log_message.msg
-	logger_status.msg
-	mag_worker_data.msg
-	magnetometer_bias_estimate.msg
-	manual_control_setpoint.msg
-	manual_control_switches.msg
-	mavlink_log.msg
-	mavlink_tunnel.msg
-	mission.msg
-	mission_result.msg
-	mount_orientation.msg
-	navigator_mission_item.msg
-	npfg_status.msg
-	obstacle_distance.msg
-	offboard_control_mode.msg
-	onboard_computer_status.msg
-	orbit_status.msg
-	parameter_update.msg
-	ping.msg
-	position_controller_landing_status.msg
-	position_controller_status.msg
-	position_setpoint.msg
-	position_setpoint_triplet.msg
-	power_button_state.msg
-	power_monitor.msg
-	pps_capture.msg
-	pwm_input.msg
-	px4io_status.msg
-	radio_status.msg
-	rate_ctrl_status.msg
-	rc_channels.msg
-	rc_parameter_map.msg
-	rpm.msg
-	rtl_time_estimate.msg
-	satellite_info.msg
-	sensor_accel.msg
-	sensor_accel_fifo.msg
-	sensor_baro.msg
-	sensor_combined.msg
-	sensor_correction.msg
-	sensor_gnss_relative.msg
-	sensor_gps.msg
-	sensor_gyro.msg
-	sensor_gyro_fft.msg
-	sensor_gyro_fifo.msg
-	sensor_hygrometer.msg
-	sensor_mag.msg
-	sensor_optical_flow.msg
-	sensor_preflight_mag.msg
-	sensor_selection.msg
-	sensors_status.msg
-	sensors_status_imu.msg
-	system_power.msg
-	takeoff_status.msg
-	task_stack_info.msg
-	tecs_status.msg
-	telemetry_status.msg
-	timesync.msg
-	timesync_status.msg
-	trajectory_bezier.msg
-	trajectory_setpoint.msg
-	trajectory_waypoint.msg
-	transponder_report.msg
-	tune_control.msg
-	uavcan_parameter_request.msg
-	uavcan_parameter_value.msg
-	ulog_stream.msg
-	ulog_stream_ack.msg
-	uwb_distance.msg
-	uwb_grid.msg
-	vehicle_acceleration.msg
-	vehicle_air_data.msg
-	vehicle_angular_acceleration.msg
-	vehicle_angular_acceleration_setpoint.msg
-	vehicle_angular_velocity.msg
-	vehicle_attitude.msg
-	vehicle_attitude_setpoint.msg
-	vehicle_command.msg
-	vehicle_command_ack.msg
-	vehicle_constraints.msg
-	vehicle_control_mode.msg
-	vehicle_global_position.msg
-	vehicle_imu.msg
-	vehicle_imu_status.msg
-	vehicle_land_detected.msg
-	vehicle_local_position.msg
-	vehicle_local_position_setpoint.msg
-	vehicle_magnetometer.msg
-	vehicle_odometry.msg
-	vehicle_optical_flow.msg
-	vehicle_optical_flow_vel.msg
-	vehicle_rates_setpoint.msg
-	vehicle_roi.msg
-	vehicle_status.msg
-	vehicle_thrust_setpoint.msg
-	vehicle_torque_setpoint.msg
-	vehicle_trajectory_bezier.msg
-	vehicle_trajectory_waypoint.msg
-	vtol_vehicle_status.msg
-	wheel_encoders.msg
-	wind.msg
-	yaw_estimator_status.msg
+	ActionRequest.msg
+	ActuatorArmed.msg
+	ActuatorControls.msg
+	ActuatorControlsStatus.msg
+	ActuatorMotors.msg
+	ActuatorOutputs.msg
+	ActuatorServos.msg
+	ActuatorServosTrim.msg
+	ActuatorTest.msg
+	AdcReport.msg
+	Airspeed.msg
+	AirspeedValidated.msg
+	AirspeedWind.msg
+	AutotuneAttitudeControlStatus.msg
+	BatteryStatus.msg
+	ButtonEvent.msg
+	CameraCapture.msg
+	CameraStatus.msg
+	CameraTrigger.msg
+	CellularStatus.msg
+	CollisionConstraints.msg
+	CollisionReport.msg
+	ControlAllocatorStatus.msg
+	Cpuload.msg
+	DebugArray.msg
+	DebugKeyValue.msg
+	DebugValue.msg
+	DebugVect.msg
+	DifferentialPressure.msg
+	DistanceSensor.msg
+	Ekf2Timestamps.msg
+	EscReport.msg
+	EscStatus.msg
+	EstimatorAidSource1d.msg
+	EstimatorAidSource2d.msg
+	EstimatorAidSource3d.msg
+	EstimatorBias.msg
+	EstimatorEventFlags.msg
+	EstimatorGpsStatus.msg
+	EstimatorInnovations.msg
+	EstimatorSelectorStatus.msg
+	EstimatorSensorBias.msg
+	EstimatorStates.msg
+	EstimatorStatus.msg
+	EstimatorStatusFlags.msg
+	Event.msg
+	FailsafeFlags.msg
+	FailureDetectorStatus.msg
+	FollowTarget.msg
+	FollowTargetEstimator.msg
+	FollowTargetStatus.msg
+	GeneratorStatus.msg
+	GeofenceResult.msg
+	GimbalDeviceAttitudeStatus.msg
+	GimbalDeviceInformation.msg
+	GimbalDeviceSetAttitude.msg
+	GimbalManagerInformation.msg
+	GimbalManagerSetAttitude.msg
+	GimbalManagerSetManualControl.msg
+	GimbalManagerStatus.msg
+	GpsDump.msg
+	GpsInjectData.msg
+	Gripper.msg
+	HealthReport.msg
+	HeaterStatus.msg
+	HomePosition.msg
+	HoverThrustEstimate.msg
+	InputRc.msg
+	InternalCombustionEngineStatus.msg
+	IridiumsbdStatus.msg
+	IrlockReport.msg
+	LandingGear.msg
+	LandingTargetInnovations.msg
+	LandingTargetPose.msg
+	LedControl.msg
+	LoggerStatus.msg
+	LogMessage.msg
+	MagnetometerBiasEstimate.msg
+	MagWorkerData.msg
+	ManualControlSetpoint.msg
+	ManualControlSwitches.msg
+	MavlinkLog.msg
+	MavlinkTunnel.msg
+	Mission.msg
+	MissionResult.msg
+	MountOrientation.msg
+	NavigatorMissionItem.msg
+	NpfgStatus.msg
+	ObstacleDistance.msg
+	OffboardControlMode.msg
+	OnboardComputerStatus.msg
+	OrbitStatus.msg
+	OrbTest.msg
+	OrbTestLarge.msg
+	OrbTestMedium.msg
+	ParameterUpdate.msg
+	Ping.msg
+	PositionControllerLandingStatus.msg
+	PositionControllerStatus.msg
+	PositionSetpoint.msg
+	PositionSetpointTriplet.msg
+	PowerButtonState.msg
+	PowerMonitor.msg
+	PpsCapture.msg
+	PwmInput.msg
+	Px4ioStatus.msg
+	RadioStatus.msg
+	RateCtrlStatus.msg
+	RcChannels.msg
+	RcParameterMap.msg
+	Rpm.msg
+	RtlTimeEstimate.msg
+	SatelliteInfo.msg
+	SensorAccel.msg
+	SensorAccelFifo.msg
+	SensorBaro.msg
+	SensorCombined.msg
+	SensorCorrection.msg
+	SensorGnssRelative.msg
+	SensorGps.msg
+	SensorGyro.msg
+	SensorGyroFft.msg
+	SensorGyroFifo.msg
+	SensorHygrometer.msg
+	SensorMag.msg
+	SensorOpticalFlow.msg
+	SensorPreflightMag.msg
+	SensorSelection.msg
+	SensorsStatus.msg
+	SensorsStatusImu.msg
+	SystemPower.msg
+	TakeoffStatus.msg
+	TaskStackInfo.msg
+	TecsStatus.msg
+	TelemetryStatus.msg
+	TimesyncStatus.msg
+	TrajectoryBezier.msg
+	TrajectorySetpoint.msg
+	TrajectoryWaypoint.msg
+	TransponderReport.msg
+	TuneControl.msg
+	UavcanParameterRequest.msg
+	UavcanParameterValue.msg
+	UlogStream.msg
+	UlogStreamAck.msg
+	UwbDistance.msg
+	UwbGrid.msg
+	VehicleAcceleration.msg
+	VehicleAirData.msg
+	VehicleAngularAcceleration.msg
+	VehicleAngularAccelerationSetpoint.msg
+	VehicleAngularVelocity.msg
+	VehicleAttitude.msg
+	VehicleAttitudeSetpoint.msg
+	VehicleCommand.msg
+	VehicleCommandAck.msg
+	VehicleConstraints.msg
+	VehicleControlMode.msg
+	VehicleGlobalPosition.msg
+	VehicleImu.msg
+	VehicleImuStatus.msg
+	VehicleLandDetected.msg
+	VehicleLocalPosition.msg
+	VehicleLocalPositionSetpoint.msg
+	VehicleMagnetometer.msg
+	VehicleOdometry.msg
+	VehicleOpticalFlow.msg
+	VehicleOpticalFlowVel.msg
+	VehicleRatesSetpoint.msg
+	VehicleRoi.msg
+	VehicleStatus.msg
+	VehicleThrustSetpoint.msg
+	VehicleTorqueSetpoint.msg
+	VehicleTrajectoryBezier.msg
+	VehicleTrajectoryWaypoint.msg
+	VtolVehicleStatus.msg
+	WheelEncoders.msg
+	Wind.msg
+	YawEstimatorStatus.msg
 )
-
-if(NOT px4_constrained_flash_build)
-	list(APPEND msg_files
-		debug_array.msg
-		debug_key_value.msg
-		debug_value.msg
-		debug_vect.msg
-	)
-endif()
-
-if(PX4_TESTING)
-	list(APPEND msg_files
-		orb_test.msg
-		orb_test_large.msg
-		orb_test_medium.msg
-	)
-endif()
-
 list(SORT msg_files)

-set(deprecated_msgs
-	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
-	)
-
-foreach(msg IN LISTS deprecated_msgs)
-	if(msg IN_LIST msg_files)
-		get_filename_component(msg_we ${msg} NAME_WE)
-		list(APPEND invalid_msgs ${msg_we})
-	endif()
-endforeach()
-if(invalid_msgs)
-	list(LENGTH invalid_msgs invalid_msgs_size)
-	if(${invalid_msgs_size} GREATER 1)
-		foreach(msg IN LISTS invalid_msgs)
-			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
-		endforeach()
-		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
-		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
-	else()
-		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
-	endif()
-endif()
-
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -271,63 +236,64 @@ endif()
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
-set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

-set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
-set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_headers)
+set(uorb_sources)
 set(uorb_ucdr_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
+
+	# Pascal case to snake case (MsgFile -> msg_file)
+	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
+	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
+	string(TOLOWER "${msg}" msg)
+
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
 	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 	list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
 endforeach()

-if (px4_constrained_flash_build)
-	set(added_arguments --constrained-flash)
-endif()
-
 # set parent scope msg_files for other modules to consume (eg topic_listener)
 set(msg_files ${msg_files} PARENT_SCOPE)

 # Generate uORB headers
-add_custom_command(OUTPUT ${uorb_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_headers}
+		${msg_out_path}/uORBTopics.hpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.h.em
-		templates/uorb/uORBTopics.hpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})

-add_custom_command(OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+# Generate microcdr headers
+add_custom_command(
+	OUTPUT ${uorb_ucdr_headers}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${ucdr_out_path}
-		-e templates/ucdr
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
 		${msg_files}
-		templates/ucdr/msg.h.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic ucdr headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
@@ -335,26 +301,27 @@ add_custom_command(OUTPUT ${uorb_ucdr_headers}
 add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})

 # Generate uORB sources
-add_custom_command(OUTPUT ${uorb_sources}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+add_custom_command(
+	OUTPUT
+		${uorb_sources}
+		${msg_source_out_path}/uORBTopics.cpp
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_source_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-		-q
-		${added_arguments}
+		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
 		${msg_files}
-		templates/uorb/msg.cpp.em
-		templates/uorb/uORBTopics.cpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
 	)

-add_library(uorb_msgs ${uorb_sources})
+add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
+target_link_libraries(uorb_msgs PRIVATE m)
 add_dependencies(uorb_msgs prebuild_targets uorb_headers)