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This reduces flash size for v5 by ~110KB, the topic listener now only adds about 1.2KB.master
Beat Küng
3 years ago
16 changed files with 330 additions and 347 deletions
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@@ -1,135 +0,0 @@
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#!/usr/bin/python |
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import glob |
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import os |
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import sys |
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import re |
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# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener |
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# argv[1] must be the full path of the top Firmware dir |
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# argv[2] - argv[n] is the full list of msg files |
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raw_messages = sys.argv[2:] |
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messages = [] |
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topics = [] |
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message_elements = [] |
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for index,m in enumerate(raw_messages): |
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topic_list = [] |
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msg_path = sys.argv[1]+ '/msg/' + m |
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if os.path.isfile(msg_path): |
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# first try opening file in msg/ directory |
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f = open(msg_path,'r') |
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else: |
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# otherwise try opening directly (could be an external module msg) |
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f = open(m,'r') |
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for line in f.readlines(): |
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items = re.split('\s+', line.strip()) |
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if '# TOPICS' == ' '.join(items[:2]): |
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for topic in items[2:]: |
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topic_list.append(topic) |
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f.close() |
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(m_head, m_tail) = os.path.split(m) |
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message = m_tail.split('.')[0] |
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if len(topic_list) == 0: |
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topic_list.append(message) |
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for topic in topic_list: |
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messages.append(message) |
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topics.append(topic) |
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num_messages = len(messages); |
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print(""" |
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/**************************************************************************** |
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* |
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* Copyright (c) 2015 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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/** |
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* @file topic_listener.cpp |
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* |
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* Autogenerated by Tools/generate_listener.py |
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* |
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* Tool for listening to topics when running flight stack on linux. |
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*/ |
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#include <drivers/drv_hrt.h> |
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#include <px4_platform_common/app.h> |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/log.h> |
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#include <uORB/uORB.h> |
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#include <string.h> |
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#include <stdint.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <inttypes.h> |
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#include <topic_listener.hpp> |
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#include <topic_listener_generated.hpp> |
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""") |
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for m in set(messages): |
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print("#include <uORB/topics/%s.h>" % m) |
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print (""" |
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\nvoid listener_generated(char * topic_name, int topic_instance, int topic_rate, int num_msgs) { |
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""") |
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print(""" |
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unsigned topic_interval = 0; |
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if (topic_rate != 0) { |
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topic_interval = 1000 / topic_rate; |
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} |
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""") |
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for index, (m, t) in enumerate(zip(messages, topics)): |
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if index == 0: |
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print("\tif (strcmp(topic_name,\"%s\") == 0) {" % (t)) |
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else: |
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print("\t} else if (strcmp(topic_name,\"%s\") == 0) {" % (t)) |
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print("\t\tlistener(listener_print_topic<%s_s>, ORB_ID(%s), num_msgs, topic_instance, topic_interval);" % (m, t)) |
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print("\t} else {") |
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print("\t\t PX4_INFO_RAW(\" Topic did not match any known topics\\n\");") |
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print("\t}") |
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print("}\n") |
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@ -1,36 +0,0 @@
@@ -1,36 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (c) 2018 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, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* 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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void listener_generated(char *topic_name, int topic_instance, int topic_rate, int num_msgs); |
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