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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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8114aad983
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2 - currently doesn't do much other than allow you to build px4 msgs interface package
100 lines
3.3 KiB
C
100 lines
3.3 KiB
C
/****************************************************************************
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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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#pragma once
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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/**
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* Object metadata.
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*/
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struct orb_metadata {
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const char *o_name; /**< unique object name */
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const uint16_t o_size; /**< object size */
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const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */
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const char *o_fields; /**< semicolon separated list of fields (with type) */
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uint8_t o_id; /**< ORB_ID enum */
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};
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typedef const struct orb_metadata *orb_id_t;
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/**
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* Maximum number of multi topic instances. This must be <= 10 (because it's the last char of the node path)
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*/
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#if defined(CONSTRAINED_MEMORY)
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# define ORB_MULTI_MAX_INSTANCES 4
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#else
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# define ORB_MULTI_MAX_INSTANCES 10
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#endif
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#define ORB_ID(_name) &__orb_##_name
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#if defined(__cplusplus)
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# define ORB_DECLARE(_name) extern "C" const struct orb_metadata __orb_##_name __EXPORT
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#else
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# define ORB_DECLARE(_name) extern const struct orb_metadata __orb_##_name __EXPORT
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#endif
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#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields, _orb_id_enum) \
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const struct orb_metadata __orb_##_name = { \
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#_name, \
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sizeof(_struct), \
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_size_no_padding, \
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_fields, \
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_orb_id_enum \
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}; struct hack
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/**
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* Print a topic to console. Do not call this directly, use print_message() instead.
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* @param meta orb topic metadata
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* @param data expected to be aligned to the largest member
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*/
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void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name);
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#ifndef PX4_INFO_RAW
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# define PX4_INFO_RAW printf
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#endif
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#ifdef __cplusplus
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#include <uORBTopics.hpp>
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#endif // __cplusplus
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