initial version of msg to uorb script

Standard and embedded types work, may need small refinements for some
types

.gitignore

@@ -39,3 +39,4 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+src/modules/uORB/topics/*

Makefile

@@ -104,13 +104,13 @@ DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
 STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
 FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
 
-all:			checksubmodules $(DESIRED_FIRMWARES)
+all:	checksubmodules generateuorbtopicheaders $(DESIRED_FIRMWARES)
 
 #
 # Copy FIRMWARES into the image directory.
 #
-# XXX copying the .bin files is a hack to work around the PX4IO uploader 
-#     not supporting .px4 files, and it should be deprecated onced that 
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
 #     is taken care of.
 #
 $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@@ -152,7 +152,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
 # Build the NuttX export archives.
 #
 # Note that there are no explicit dependencies extended from these
-# archives. If NuttX is updated, the user is expected to rebuild the 
+# archives. If NuttX is updated, the user is expected to rebuild the
 # archives/build area manually. Likewise, when the 'archives' target is
 # invoked, all archives are always rebuilt.
 #
@@ -224,6 +224,16 @@ updatesubmodules:
 	$(Q) (git submodule init)
 	$(Q) (git submodule update)
 
+MSG_DIR = $(PX4_BASE)msg/px4_msgs
+MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates
+TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
+
+.PHONY: generateuorbtopicheaders
+generateuorbtopicheaders:
+	@$(ECHO) "Generating uORB topic headers"
+	$(Q) ($(PX4_BASE)/Tools/px_generate_uorb_topic_headers.py -d $(MSG_DIR) \
+		-o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR))
+
 #
 # Testing targets
 #
@@ -232,7 +242,7 @@ testbuild:
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
-# a complete re-compilation, 'distclean' should remove everything 
+# a complete re-compilation, 'distclean' should remove everything
 # that's generated leaving only files that are in source control.
 #
 .PHONY:	clean

Tools/px_generate_uorb_topic_headers.py

@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+#############################################################################
+#
+#   Copyright (C) 2013-2014 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.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_headers.py
+Generates c/cpp header files for uorb topics from .msg (ROS syntax)
+message files
+"""
+from __future__ import print_function
+import os
+import argparse
+import genmsg.template_tools
+
+__author__ = "Thomas Gubler"
+__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+msg_template_map = {'msg.h.template': '@NAME@.h'}
+srv_template_map = {}
+incl_default = ['std_msgs:./msg/std_msgs']
+package = 'px4'
+
+
+def convert_file(filename, outputdir, templatedir, includepath):
+    """
+    Converts a single .msg file to a uorb header
+    """
+    print("Generating uORB headers from {0}".format(filename))
+    genmsg.template_tools.generate_from_file(filename,
+                                             package,
+                                             outputdir,
+                                             templatedir,
+                                             includepath,
+                                             msg_template_map,
+                                             srv_template_map)
+
+
+def convert_dir(inputdir, outputdir, templatedir):
+    """
+    Converts all .msg files in inputdir to uORB header files
+    """
+    includepath = incl_default + [':'.join([package, inputdir])]
+    for f in os.listdir(inputdir):
+        fn = os.path.join(inputdir, f)
+        if os.path.isfile(fn):
+            convert_file(fn, outputdir, templatedir, includepath)
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description='Convert msg files to uorb headers')
+    parser.add_argument('-d', dest='dir', help='directory with msg files')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    args = parser.parse_args()
+
+    if args.file is not None:
+        for f in args.file:
+            convert_file(f, args.outputdir, args.templatedir, incl_default)
+    elif args.dir is not None:
+            convert_dir(args.dir, args.outputdir, args.templatedir)

msg/px4_msgs/actuator_armed.msg

@@ -0,0 +1,6 @@
+
+uint64 timestamp	# Microseconds since system boot
+bool armed          # Set to true if system is armed
+bool ready_to_arm	# Set to true if system is ready to be armed
+bool lockdown	    # Set to true if actuators are forced to being disabled (due to emergency or HIL)
+bool force_failsafe # Set to true if the actuators are forced to the failsafe position

msg/px4_msgs/rc_channels.msg

@@ -0,0 +1,24 @@
+int32 RC_CHANNELS_FUNCTION_MAX=18
+uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
+uint8 RC_CHANNELS_FUNCTION_ROLL=1
+uint8 RC_CHANNELS_FUNCTION_PITCH=2
+uint8 RC_CHANNELS_FUNCTION_YAW=3
+uint8 RC_CHANNELS_FUNCTION_MODE=4
+uint8 RC_CHANNELS_FUNCTION_RETURN=5
+uint8 RC_CHANNELS_FUNCTION_POSCTL=6
+uint8 RC_CHANNELS_FUNCTION_LOITER=7
+uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8
+uint8 RC_CHANNELS_FUNCTION_ACRO=9
+uint8 RC_CHANNELS_FUNCTION_FLAPS=10
+uint8 RC_CHANNELS_FUNCTION_AUX_1=11
+uint8 RC_CHANNELS_FUNCTION_AUX_2=12
+uint8 RC_CHANNELS_FUNCTION_AUX_3=13
+uint8 RC_CHANNELS_FUNCTION_AUX_4=14
+uint8 RC_CHANNELS_FUNCTION_AUX_5=15
+uint64 timestamp_last_valid					# Timestamp of last valid RC signal
+float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
+uint8 channel_count						# Number of valid channels
+int8[18] function						# Functions mapping
+uint8 rssi							# Receive signal strength index
+bool signal_lost						# Control signal lost, should be checked together with topic timeout
+actuator_armed actuator

msg/rc_channels.msg

@@ -1,8 +0,0 @@
-Header header
-int32 RC_CHANNELS_FUNCTION_MAX=18
-uint64 timestamp_last_valid					# Timestamp of last valid RC signal
-float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
-uint8 channel_count						# Number of valid channels
-int8[18] function						# Functions mapping
-uint8 rssi							# Receive signal strength index
-bool signal_lost						# Control signal lost, should be checked together with topic timeout

msg/std_msgs/Bool.msg

@@ -0,0 +1 @@
+bool data

msg/std_msgs/Byte.msg

@@ -0,0 +1 @@
+byte data

msg/std_msgs/ByteMultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+byte[]            data          # array of data
+

msg/std_msgs/Char.msg

@@ -0,0 +1 @@
+char data

msg/std_msgs/ColorRGBA.msg

@@ -0,0 +1,4 @@
+float32 r
+float32 g
+float32 b
+float32 a

msg/std_msgs/Duration.msg

@@ -0,0 +1 @@
+duration data

msg/std_msgs/Float32.msg

@@ -0,0 +1 @@
+float32 data

msg/std_msgs/Float32MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float32[]         data          # array of data
+

msg/std_msgs/Float64.msg

@@ -0,0 +1 @@
+float64 data

msg/std_msgs/Float64MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float64[]         data          # array of data
+

msg/std_msgs/Header.msg

@@ -0,0 +1,15 @@
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id

msg/std_msgs/Int16.msg

@@ -0,0 +1 @@
+int16 data

msg/std_msgs/Int16MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int16[]           data          # array of data
+

msg/std_msgs/Int32.msg

@@ -0,0 +1 @@
+int32 data

msg/std_msgs/Int32MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int32[]           data          # array of data
+

msg/std_msgs/Int64.msg

@@ -0,0 +1 @@
+int64 data

msg/std_msgs/Int64MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int64[]           data          # array of data
+

msg/std_msgs/Int8.msg

@@ -0,0 +1 @@
+int8 data

msg/std_msgs/Int8MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int8[]            data          # array of data
+

msg/std_msgs/MultiArrayDimension.msg

@@ -0,0 +1,3 @@
+string label   # label of given dimension
+uint32 size    # size of given dimension (in type units)
+uint32 stride  # stride of given dimension

msg/std_msgs/MultiArrayLayout.msg

@@ -0,0 +1,26 @@
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type.  Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset        # padding bytes at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+# 
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label  = "height"
+# dim[0].size   = 480
+# dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
+# dim[1].label  = "width"
+# dim[1].size   = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label  = "channel"
+# dim[2].size   = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.

msg/std_msgs/String.msg

@@ -0,0 +1 @@
+string data

msg/std_msgs/Time.msg

@@ -0,0 +1 @@
+time data

msg/std_msgs/UInt16.msg

@@ -0,0 +1 @@
+uint16 data

msg/std_msgs/UInt16MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint16[]            data        # array of data
+

msg/std_msgs/UInt32.msg

@@ -0,0 +1 @@
+uint32 data

msg/std_msgs/UInt32MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint32[]          data          # array of data
+

msg/std_msgs/UInt64.msg

@@ -0,0 +1 @@
+uint64 data

msg/std_msgs/UInt64MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint64[]          data          # array of data
+

msg/std_msgs/UInt8.msg

@@ -0,0 +1 @@
+uint8 data

msg/std_msgs/UInt8MultiArray.msg

@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint8[]           data          # array of data
+

msg/templates/msg.h.template

@@ -0,0 +1,141 @@
+@###############################################
+@#
+@# 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
+@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2014 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
+
+cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace
+cpp_class = '%s_'%spec.short_name
+cpp_full_name = '%s%s'%(cpp_namespace,cpp_class)
+cpp_full_name_with_alloc = '%s<ContainerAllocator>'%(cpp_full_name)
+cpp_msg_definition = gencpp.escape_message_definition(msg_definition)
+}@
+
+#pragma once
+
+@##############################
+@# Generic Includes
+@##############################
+#include <stdint.h>
+#include "../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
+@[for constant in spec.constants]@
+#define @(constant.name) = @(int(constant.val))
+@[end for]
+
+/**
+ * @@addtogroup topics
+ * @@{
+ */
+
+@##############################
+@# Main struct of message
+@##############################
+@{
+
+inttypes = ['int8', 'int16', 'int32', 'int64', 'uint8', 'uint16', 'uint32', 'uint64']
+
+# Function to print a standard ros type
+def print_field_def(field):
+  type = field.type
+  # detect embedded types
+  sl_pos = type.find('/')
+  type_appendix = ''
+  type_prefix = ''
+  if (sl_pos >= 0):
+    type = type[sl_pos + 1:]
+    type_prefix = 'struct '
+    type_appendix = '_s'
+
+  # detect arrays
+  a_pos = type.find('[')
+  array_size = ''
+  if (a_pos >= 0):
+    # field is array
+    array_size = type[a_pos:]
+    type = type[:a_pos]
+
+  if type in inttypes:
+    # need to add _t: int8 --> int8_t
+    type_appendix = '_t'
+
+  print('\t%s%s%s%s %s;'%(type_prefix, type, type_appendix, array_size, field.name))
+
+}
+struct @(spec.short_name)_s
+@{
+# loop over all fields and print the type and name
+for field in spec.parsed_fields():
+  if (not field.is_header):
+    print_field_def(field)
+}@
+}
+
+/**
+ * @@}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(@(spec.short_name));