148 lines
4.6 KiB
Plaintext
148 lines
4.6 KiB
Plaintext
@###############################################
|
|
@#
|
|
@# 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
|
|
@# - search_path (dict) search paths for genmsg
|
|
@# - topics (List of String) topic names
|
|
@###############################################
|
|
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2013-2022 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 re
|
|
|
|
from px_generate_uorb_topic_helper import * # this is in Tools/
|
|
|
|
uorb_struct = '%s_s'%name_snake_case
|
|
uorb_struct_upper = name_snake_case.upper()
|
|
}@
|
|
|
|
#pragma once
|
|
|
|
@##############################
|
|
@# Generic Includes
|
|
@##############################
|
|
|
|
#include <uORB/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
|
|
|
|
name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
|
|
print('#include <uORB/topics/%s.h>'%(name))
|
|
}@
|
|
|
|
@# Constants c style
|
|
#ifndef __cplusplus
|
|
@[for constant in spec.constants]@
|
|
#define @(uorb_struct_upper)_@(constant.name) @(int(constant.val))
|
|
@[end for]
|
|
#endif
|
|
|
|
@##############################
|
|
@# Main struct of message
|
|
@##############################
|
|
@{
|
|
|
|
def print_parsed_fields():
|
|
# sort fields (using a stable sort)
|
|
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
|
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
|
|
# loop over all fields and print the type and name
|
|
for field in sorted_fields:
|
|
if (not field.is_header):
|
|
print_field_def(field)
|
|
}@
|
|
|
|
#ifdef __cplusplus
|
|
@#class @(uorb_struct) {
|
|
struct __EXPORT @(uorb_struct) {
|
|
@#public:
|
|
#else
|
|
struct @(uorb_struct) {
|
|
#endif
|
|
@print_parsed_fields()
|
|
|
|
#ifdef __cplusplus
|
|
@# Constants again c++-ified
|
|
@{
|
|
for constant in spec.constants:
|
|
type_name = constant.type
|
|
if type_name in type_map:
|
|
# need to add _t: int8 --> int8_t
|
|
type_px4 = type_map[type_name]
|
|
else:
|
|
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
|
|
|
|
print('\tstatic constexpr %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
|
|
}
|
|
#endif
|
|
};
|
|
|
|
#ifdef __cplusplus
|
|
namespace px4 {
|
|
namespace msg {
|
|
using @(spec.short_name) = @(uorb_struct);
|
|
} // namespace msg
|
|
} // namespace px4
|
|
#endif
|
|
|
|
/* register this as object request broker structure */
|
|
@[for topic in topics]@
|
|
ORB_DECLARE(@topic);
|
|
@[end for]
|
|
|
|
#ifdef __cplusplus
|
|
void print_message(const orb_metadata *meta, const @uorb_struct& message);
|
|
#endif
|