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92 lines
3.7 KiB
92 lines
3.7 KiB
@############################################### |
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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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@# - search_path (dict) search paths for genmsg |
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@# - topics (List of String) multi-topic names |
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@# - constrained_flash set to true if flash is constrained |
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@############################################### |
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/**************************************************************************** |
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* |
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* Copyright (C) 2013-2021 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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/* 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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from px_generate_uorb_topic_helper import * # this is in Tools/ |
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uorb_struct = '%s_s'%spec.short_name |
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topic_name = spec.short_name |
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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, search_path) |
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topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields] |
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}@ |
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#include <inttypes.h> |
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#include <px4_platform_common/log.h> |
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#include <px4_platform_common/defines.h> |
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#include <uORB/topics/@(topic_name).h> |
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#include <uORB/topics/uORBTopics.hpp> |
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#include <drivers/drv_hrt.h> |
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#include <lib/drivers/device/Device.hpp> |
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#include <lib/matrix/matrix/math.hpp> |
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#include <lib/mathlib/mathlib.h> |
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@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed" |
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@# This is used for the logger |
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constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );"; |
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@[for multi_topic in topics]@ |
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ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic)); |
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@[end for] |
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void print_message(const orb_metadata *meta, const @uorb_struct& message) |
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{ |
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if (sizeof(message) != meta->o_size) { |
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printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size); |
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return; |
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} |
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orb_print_message_internal(meta, &message, true); |
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}
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