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57df7e35b2
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static. Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions. * Made setting of uORB topic queue size in based on topic definition only * Fixes to the ModalAI muorb implementation * Removed libfc sensor from format checks * msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h --------- Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com> Co-authored-by: Daniel Agar <daniel@agar.ca>
96 lines
3.7 KiB
Plaintext
96 lines
3.7 KiB
Plaintext
@###############################################
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@#
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@# PX4 ROS compatible message source code
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@# generation for C++
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@#
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@# EmPy template for generating <msg>.h files
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@# Based on the original template for ROS
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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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@# - file_name_in (String) Source file
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@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
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@# - search_path (dict) search paths for genmsg
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@# - topics (List of String) topic names
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@# - all_topics (List of String) all generated topic names (sorted)
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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2022 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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/* Auto-generated by genmsg_cpp from file @file_name_in */
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@{
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import genmsg.msgs
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from px_generate_uorb_topic_helper import * # this is in Tools/
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uorb_struct = '%s_s'%name_snake_case
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message_hash = get_message_hash(spec.parsed_fields(), search_path)
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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}@
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#include <inttypes.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/defines.h>
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#include <uORB/topics/@(name_snake_case).h>
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#include <uORB/topics/uORBTopics.hpp>
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#include <drivers/drv_hrt.h>
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#include <lib/drivers/device/Device.hpp>
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#include <lib/matrix/matrix/math.hpp>
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#include <lib/mathlib/mathlib.h>
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@{
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queue_length = 1
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for constant in spec.constants:
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if constant.name == 'ORB_QUEUE_LENGTH':
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queue_length = constant.val
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}@
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@[for topic in topics]@
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static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
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ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
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@[end for]
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void print_message(const orb_metadata *meta, const @uorb_struct& message)
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{
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if (sizeof(message) != meta->o_size) {
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printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
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return;
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}
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orb_print_message_internal(meta, &message, true);
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}
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