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267 lines
8.5 KiB
267 lines
8.5 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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uorb_struct = '%s_s'%spec.short_name |
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topic_name = spec.short_name |
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}@ |
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#pragma once |
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@############################## |
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@# Generic Includes |
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@############################## |
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#include <stdint.h> |
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#ifdef __cplusplus |
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#include <cstring> |
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#else |
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#include <string.h> |
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#endif |
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#include <uORB/uORB.h> |
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@############################## |
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@# Includes for dependencies |
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@############################## |
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@{ |
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for field in spec.parsed_fields(): |
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if (not field.is_builtin): |
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if (not field.is_header): |
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(package, name) = genmsg.names.package_resource_name(field.base_type) |
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package = package or spec.package # convert '' to package |
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print('#include <uORB/topics/%s.h>'%(name)) |
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}@ |
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@# Constants c style |
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#ifndef __cplusplus |
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@[for constant in spec.constants]@ |
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#define @(constant.name) @(int(constant.val)) |
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@[end for] |
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#endif |
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@############################## |
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@# Main struct of message |
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@############################## |
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@{ |
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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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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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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): |
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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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# Add padding fields before the embedded types, at the end and calculate the |
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# struct size |
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def add_padding_bytes(fields): |
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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) |
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field.sizeof_field_type, unused = add_padding_bytes(children_fields) |
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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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# Function to print a standard ros type |
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def print_field_def(field): |
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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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def print_parsed_fields(): |
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# sort fields (using a stable sort) |
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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) |
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# loop over all fields and print the type and name |
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for field in sorted_fields: |
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if (not field.is_header): |
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print_field_def(field) |
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}@ |
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#ifdef __cplusplus |
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@#class @(uorb_struct) { |
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struct __EXPORT @(uorb_struct) { |
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@#public: |
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#else |
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struct @(uorb_struct) { |
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#endif |
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@# timestamp at the beginning of each topic is required for logger |
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uint64_t timestamp; // required for logger |
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@print_parsed_fields() |
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#ifdef __cplusplus |
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@# Constants again c++-ified |
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@{ |
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for constant in spec.constants: |
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type_name = constant.type |
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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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raise Exception("Type {0} not supported, add to to template file!".format(type_name)) |
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print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val))) |
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} |
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#endif |
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}; |
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/* register this as object request broker structure */ |
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@[for multi_topic in topics]@ |
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ORB_DECLARE(@multi_topic); |
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@[end for]
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