@###############################################
@#
@# 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
@#  - md5sum (String) MD5Sum of the .msg specification
@#  - search_path (dict) search paths for genmsg
@#  - topics (List of String) multi-topic names
@###############################################
/****************************************************************************
 *
 *   Copyright (C) 2013-2016 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 gencpp

uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name
}@

#pragma once

@##############################
@# Generic Includes
@##############################
#include <stdint.h>
#ifdef __cplusplus
#include <cstring>
#else
#include <string.h>
#endif

#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
            print('#include <uORB/topics/%s.h>'%(name))
}@

@# Constants c style
#ifndef __cplusplus
@[for constant in spec.constants]@
#define @(constant.name) @(int(constant.val))
@[end for]
#endif

@##############################
@# Main struct of message
@##############################
@{
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',
}

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,
}

def bare_name(msg_type):
    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):
    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):
    (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)  
    sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
    return sorted_fields

# Add padding fields before the embedded types, at the end and calculate the
# struct size
def add_padding_bytes(fields):
    struct_size = 8 # account for the timestamp
    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)
                field.sizeof_field_type, unused = add_padding_bytes(children_fields)
            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)

# Function to print a standard ros type
def print_field_def(field):
    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_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))

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)
    # 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
@# timestamp at the beginning of each topic is required for logger
	uint64_t timestamp; // required for logger
@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 const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
#endif
};

/* register this as object request broker structure */
@[for multi_topic in topics]@
ORB_DECLARE(@multi_topic);
@[end for]