mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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eabc43d78c
This is required for the logger, we just manually add the padding bytes what would otherwise be done by the compiler. Additionally we reorder the fields by type, so that padding is only necessary for nested types.
268 lines
8.2 KiB
Plaintext
268 lines
8.2 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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@# - md5sum (String) MD5Sum of the .msg specification
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@# - search_path (dict) search paths for genmsg
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@# - topics (List of String) multi-topic names
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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2016 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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import gencpp
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uorb_struct = '%s_s'%spec.short_name
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topic_name = spec.short_name
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}@
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#pragma once
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@##############################
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@# Generic Includes
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@##############################
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#include <stdint.h>
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#ifdef __cplusplus
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#include <cstring>
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#else
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#include <string.h>
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#endif
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#include <uORB/uORB.h>
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@##############################
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@# Includes for dependencies
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@##############################
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@{
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for field in spec.parsed_fields():
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if (not field.is_builtin):
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if (not field.is_header):
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(package, name) = genmsg.names.package_resource_name(field.base_type)
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package = package or spec.package # convert '' to package
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print('#include <uORB/topics/%s.h>'%(name))
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}@
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@# Constants c style
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#ifndef __cplusplus
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@[for constant in spec.constants]@
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#define @(constant.name) @(int(constant.val))
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@[end for]
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#endif
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@##############################
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@# Main struct of message
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@##############################
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@{
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type_map = {
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'int8': 'int8_t',
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'int16': 'int16_t',
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'int32': 'int32_t',
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'int64': 'int64_t',
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'uint8': 'uint8_t',
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'uint16': 'uint16_t',
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'uint32': 'uint32_t',
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'uint64': 'uint64_t',
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'float32': 'float',
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'float64': 'double',
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'bool': 'bool',
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'char': 'char',
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}
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msgtype_size_map = {
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'int8': 1,
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'int16': 2,
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'int32': 4,
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'int64': 8,
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'uint8': 1,
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'uint16': 2,
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'uint32': 4,
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'uint64': 8,
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'float32': 4,
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'float64': 8,
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'bool': 1,
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'char': 1,
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}
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def bare_name(msg_type):
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bare = msg_type
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if '/' in msg_type:
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# removing prefix
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bare = (msg_type.split('/'))[1]
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# removing suffix
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return bare.split('[')[0]
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def sizeof_field_type(field):
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bare_name_str = bare_name(field.type)
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if bare_name_str in msgtype_size_map:
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return msgtype_size_map[bare_name_str]
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return 0 # this is for non-builtin types: sort them at the end
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def get_children_fields(base_type):
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(package, name) = genmsg.names.package_resource_name(base_type)
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tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
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spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)
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sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
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return sorted_fields
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# Add padding fields before the embedded types, at the end and calculate the
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# struct size
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def add_padding_bytes(fields):
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struct_size = 8 # account for the timestamp
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align_to = 8 # this is always 8, because of the 64bit timestamp
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i = 0
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padding_idx = 0
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while i < len(fields):
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field = fields[i]
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if not field.is_header:
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a_pos = field.type.find('[')
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array_size = 1
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if field.is_array:
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array_size = field.array_len
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if field.is_builtin:
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field.sizeof_field_type = sizeof_field_type(field)
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else:
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# embedded type: may need to add padding
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num_padding_bytes = align_to - (struct_size % align_to)
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if num_padding_bytes != align_to:
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padding_field = genmsg.Field('_padding'+str(padding_idx),
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'uint8['+str(num_padding_bytes)+']')
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padding_idx += 1
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padding_field.sizeof_field_type = 1
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struct_size += num_padding_bytes
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fields.insert(i, padding_field)
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i += 1
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children_fields = get_children_fields(field.base_type)
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field.sizeof_field_type, unused = add_padding_bytes(children_fields)
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struct_size += field.sizeof_field_type * array_size
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i += 1
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# add padding at the end (necessary for embedded types)
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num_padding_bytes = align_to - (struct_size % align_to)
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if num_padding_bytes == align_to:
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num_padding_bytes = 0
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else:
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padding_field = genmsg.Field('_padding'+str(padding_idx),
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'uint8['+str(num_padding_bytes)+']')
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padding_idx += 1
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padding_field.sizeof_field_type = 1
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struct_size += num_padding_bytes
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fields.append(padding_field)
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return (struct_size, num_padding_bytes)
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# Function to print a standard ros type
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def print_field_def(field):
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type_name = field.type
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# detect embedded types
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sl_pos = type_name.find('/')
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type_appendix = ''
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type_prefix = ''
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if (sl_pos >= 0):
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type_name = type_name[sl_pos + 1:]
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type_prefix = 'struct '
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type_appendix = '_s'
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# detect arrays
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a_pos = type_name.find('[')
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array_size = ''
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if (a_pos >= 0):
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# field is array
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array_size = type_name[a_pos:]
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type_name = type_name[:a_pos]
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if type_name in type_map:
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# need to add _t: int8 --> int8_t
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type_px4 = type_map[type_name]
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else:
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type_px4 = type_name
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comment = ''
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if field.name.startswith('_padding'):
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comment = ' // required for logger'
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print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
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array_size, comment))
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def print_parsed_fields():
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# sort fields (using a stable sort)
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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)
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# loop over all fields and print the type and name
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for field in sorted_fields:
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if (not field.is_header):
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print_field_def(field)
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}@
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#ifdef __cplusplus
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@#class @(uorb_struct) {
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struct __EXPORT @(uorb_struct) {
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@#public:
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#else
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struct @(uorb_struct) {
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#endif
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@# timestamp at the beginning of each topic is required for logger
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uint64_t timestamp; // required for logger
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@print_parsed_fields()
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#ifdef __cplusplus
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@# Constants again c++-ified
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@{
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for constant in spec.constants:
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type_name = constant.type
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if type_name in type_map:
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# need to add _t: int8 --> int8_t
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type_px4 = type_map[type_name]
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else:
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raise Exception("Type {0} not supported, add to to template file!".format(type_name))
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print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
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}
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#endif
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};
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/* register this as object request broker structure */
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@[for multi_topic in topics]@
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ORB_DECLARE(@multi_topic);
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@[end for]
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