mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 00:33:33 +08:00
268 lines
8.5 KiB
Plaintext
268 lines
8.5 KiB
Plaintext
@###############################################
|
|
@#
|
|
@# 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]
|