Beat Küng
9 years ago
committed by
Lorenz Meier
3 changed files with 175 additions and 240 deletions
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# helper methods & common code for the uorb message templates msg.{cpp,h}.template |
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# Another positive effect of having the code here, is that this file will get |
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# precompiled and thus message generation will be much faster |
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import genmsg.msgs |
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import gencpp |
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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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""" |
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Get bare_name from <dir>/<bare_name>[x] format |
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""" |
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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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""" |
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Get size of a field, used for sorting |
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""" |
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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, search_path): |
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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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def add_padding_bytes(fields, search_path): |
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""" |
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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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returns a tuple with the struct size and padding at the end |
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""" |
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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, search_path) |
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field.sizeof_field_type, unused = add_padding_bytes(children_fields, |
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search_path) |
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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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def convert_type(spec_type): |
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""" |
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Convert from msg type to C type |
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""" |
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bare_type = spec_type |
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if '/' in spec_type: |
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# removing prefix |
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bare_type = (spec_type.split('/'))[1] |
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msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type) |
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c_type = msg_type |
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if msg_type in type_map: |
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c_type = type_map[msg_type] |
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if is_array: |
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return c_type + "[" + str(array_length) + "]" |
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return c_type |
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def print_field_def(field): |
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""" |
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Print the C type from a field |
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""" |
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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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