px4-firmware/Tools/generate_listener.py

#!/usr/bin/python

import glob
import sys

# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener

# argv[1] must be the full path of the top Firmware dir

raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
messages = []
message_elements = []


for index,m in enumerate(raw_messages):
	temp_list_floats = []
	temp_list_uint64 = []
	temp_list_bool = []
	if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
		temp_list = []
		f = open(m,'r')
		for line in f.readlines():
			if(line.split(' ')[0] == "float32"):
				temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
			elif(line.split(' ')[0] == "uint64"):
				temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
			elif (line.split(' ')[0] == "bool"):
				temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
			elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
				temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
			elif ('float32[' in line.split(' ')[0]):
				num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
				temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))

		f.close()
		messages.append(m.split('/')[-1].split('.')[0])
		message_elements.append(temp_list)

num_messages = len(messages);

print("""

/****************************************************************************
 *
 *   Copyright (c) 2015 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.
 *
 ****************************************************************************/

/**
 * @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
 *
 * Tool for listening to topics when running flight stack on linux.
 */
#include <px4_middleware.h>
#include <px4_app.h>
#include <px4_config.h>
#include <iostream>
#include <fstream>
#include <string>
#include <sstream>
#include <vector>
#include <cstring>
#include <uORB/uORB.h>
#include <string.h>
#include <stdint.h>
#define __STDC_FORMAT_MACROS
#include <inttypes.h>
""")
for m in messages:
	print("#include <uORB/topics/%s.h>" % m)


print("""
extern "C" __EXPORT int listener_main(int argc, char *argv[]);

int listener_main(int argc, char *argv[]) {
	int sub = -1;
	orb_id_t ID;
	if(argc < 3) {
		printf("need at least two arguments: topic name, number of messages to print\\n");
		return 1;
	}
""")
print("\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);")
print("\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0])
print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
print("\t\tID = ORB_ID(%s);" % messages[0])
print("\t\tstruct %s_s container;" % messages[0])
print("\t\tmemset(&container, 0, sizeof(container));")
for index,m in enumerate(messages[1:]):
	print("\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m)
	print("\t\tsub = orb_subscribe(ORB_ID(%s));" % m)
	print("\t\tID = ORB_ID(%s);" % m)
	print("\t\tstruct %s_s container;" % m)
	print("\t\tmemset(&container, 0, sizeof(container));")
	print("\t\tbool updated;")
	print("\t\tfor(uint32_t i = 0;i<num_msgs;i++) {")
	print("\t\t\torb_check(sub,&updated);")
	print("\t\t\tupdated = true;")
	print("\t\t\tif(updated) {")
	print("\t\t\torb_copy(ID,sub,&container);")
	for item in message_elements[index+1]:
		if item[0] == "float":
			print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
		elif item[0] == "float_array":
			print("\t\t\tprintf(\"%s:\");" % item[1])
			print("\t\t\tfor (int j=0;j<%d;j++) {" % item[2])
			print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
			print("\t\t\t}")
			print("\t\t\tprintf(\"\\n\");")
		elif item[0] == "uint64":
			print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1]))
		elif item[0] == "uint8":
			print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1]))
		elif item[0] == "bool":
			print("\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
	print("\t\t\t}")
	print("\t\t}")
print("\t} else {")
print("\t\t printf(\" Topic did not match any known topics\\n\");")
print("\t}")
print("\t return 0;")

print("}")