mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
56de0e27d8
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
109 lines
3.4 KiB
Plaintext
109 lines
3.4 KiB
Plaintext
@###############################################
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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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@# - 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) 2021 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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@{
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msg_names = [mn.replace(".msg", "") for mn in msgs]
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msgs_count = len(msg_names)
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msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
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msg_names_all.sort()
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msgs_count_all = len(msg_names_all)
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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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// TODO: ros2 friendly include paths
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//#include <uORB/topics/action_request.h>
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//#include <uORB/topics/actuator_armed.h>
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@PX4_ORB_HEADER_INCLUDE_STR@
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static constexpr size_t ORB_TOPICS_COUNT{@PX4_ORB_TOPIC_COUNT@};
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static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
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// ORB_DECLARE(action_request);
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// ORB_DECLARE(actuator_armed);
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@PX4_ORB_DECLARE_STR@
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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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// action_request,
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// actuator_armed,
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enum class ORB_ID : uint8_t {
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@[for idx, msg_name in enumerate(msg_names_all)]@
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@(msg_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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static constexpr const char *get_topic_string(ORB_ID orb_id)
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{
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switch (orb_id) {
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//case ORB_ID::action_request: return "action_request";
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//case ORB_ID::actuator_armed: return "actuator_armed";
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@[for idx, msg_name in enumerate(msg_names_all)]@
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case @(msg_name): return "@(msg_name)";
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@[end for]
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}
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return nullptr;
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}
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