@###############################################
@#
@# EmPy template for generating uORBTopics.hpp 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) 2021 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.
 *
 ****************************************************************************/

@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msgs_count = len(msg_names)
msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
msg_names_all.sort()
msgs_count_all = len(msg_names_all)
}@

#pragma once

#include <stddef.h>

#include <uORB/uORB.h>

// TODO: ros2 friendly include paths
//#include <uORB/topics/action_request.h>
//#include <uORB/topics/actuator_armed.h>


@PX4_ORB_HEADER_INCLUDE_STR@

static constexpr size_t ORB_TOPICS_COUNT{@PX4_ORB_TOPIC_COUNT@};
static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }


// ORB_DECLARE(action_request);
// ORB_DECLARE(actuator_armed);

@PX4_ORB_DECLARE_STR@

/*
 * Returns array of topics metadata
 */
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;


// enum class ORB_ID : uint8_t {
// 	action_request,
//	actuator_armed,

enum class ORB_ID : uint8_t {
@[for idx, msg_name in enumerate(msg_names_all)]@
	@(msg_name) = @(idx),
@[end for]
	INVALID
};

const struct orb_metadata *get_orb_meta(ORB_ID id);


static constexpr const char *get_topic_string(ORB_ID orb_id)
{
	switch (orb_id) {
	//case ORB_ID::action_request: return "action_request";
	//case ORB_ID::actuator_armed: return "actuator_armed";

@[for idx, msg_name in enumerate(msg_names_all)]@
	case @(msg_name): return "@(msg_name)";
@[end for]
	}

	return nullptr;
}