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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
64c21ad428
Increased size for ORB_ID from uint8_t to uint16_t Created a type: orb_id_size_t = uint16_t. There are still a couple of places where the size of the ORB_ID is assumed to be less than 16-bits. The places that I have found are commented regarding this and can be found with a search on orb_id_size_t.
91 lines
3.6 KiB
Plaintext
91 lines
3.6 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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@###############################################
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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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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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topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
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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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@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
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@# This is used for the logger
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constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
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@[for topic in topics]@
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ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<orb_id_size_t>(ORB_ID::@topic));
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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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