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175 lines
7.4 KiB
175 lines
7.4 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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@# - md5sum (String) MD5Sum of the .msg specification |
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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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@############################################### |
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/**************************************************************************** |
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* |
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* Copyright (C) 2013-2016 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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import gencpp |
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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 = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields] |
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}@ |
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#include <px4_config.h> |
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#include <drivers/drv_orb_dev.h> |
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#include <microcdr/microCdr.h> |
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#include <uORB/topics/@(topic_name).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), |
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__orb_@(topic_name)_fields); |
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@[end for] |
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@################################################# |
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@# Searching for serialize function per each field |
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@################################################# |
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@{ |
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def print_info(field): |
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print("type: ", field.type, "name: ", field.name, "base_type: ", \ |
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field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \ |
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"is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header]) |
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def print_level_info(fields): |
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for field in fields: |
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print_info(field) |
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if (not field.is_builtin): |
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print("\n") |
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children_fields = get_children_fields(field.base_type, search_path) |
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print_level_info(children_fields) |
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print("\n") |
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def walk_through_parsed_fields(): |
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print_level_info(spec.parsed_fields()) |
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def get_serialization_type_name(type_name): |
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if type_name in type_serialize_map: |
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return type_serialize_map[type_name] |
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else: |
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raise Exception("Type {0} not supported, add to type_serialize_map!".format(type_name)) |
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def add_serialize_functions(fields, scope_name): |
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for field in fields: |
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if (not field.is_header): |
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if (field.is_builtin): |
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if (not field.is_array): |
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print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);") |
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else: |
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print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);") |
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else: |
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name = field.name |
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children_fields = get_children_fields(field.base_type, search_path) |
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if (scope_name): name = scope_name + name |
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if (not field.is_array): |
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add_serialize_functions(children_fields, name + '.') |
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else: |
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for i in range(field.array_len): |
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add_serialize_functions(children_fields, name + ('[%d].' %i)) |
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def add_deserialize_functions(fields, scope_name): |
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for field in fields: |
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if (not field.is_header): |
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if (field.is_builtin): |
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if (not field.is_array): |
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print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);") |
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else: |
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for i in range(field.array_len): |
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print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);") |
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else: |
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name = field.name |
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children_fields = get_children_fields(field.base_type, search_path) |
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if (scope_name): name = scope_name + name |
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if (not field.is_array): |
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add_deserialize_functions(children_fields, name + '.') |
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else: |
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for i in range(field.array_len): |
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add_deserialize_functions(children_fields, name + ('[%d].' %i)) |
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def add_code_to_serialize(): |
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# sort fields (using a stable sort) as in the declaration of the type |
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True) |
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add_serialize_functions(sorted_fields, "") |
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def add_code_to_deserialize(): |
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# sort fields (using a stable sort) as in the declaration of the type |
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True) |
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add_deserialize_functions(sorted_fields, "") |
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}@ |
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void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter) |
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{ |
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if (nullptr == input || nullptr == output || nullptr == length || nullptr == microCDRWriter) return; |
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resetStaticMicroCDRForSerialize(microCDRWriter); |
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@add_code_to_serialize() |
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(*length) = microCDRWriter->m_microBuffer->m_serializedBuffer; |
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} |
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void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader) |
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{ |
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if (nullptr == output || nullptr == input || nullptr == microCDRReader) return; |
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resetStaticMicroCDRForDeserialize(microCDRReader); |
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@add_code_to_deserialize() |
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} |