px4-firmware/msg/templates/uorb/msg.cpp.template

@###############################################
@#
@# 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
@#  - md5sum (String) MD5Sum of the .msg specification
@###############################################
/****************************************************************************
 *
 *   Copyright (C) 2013-2015 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.
 *
 ****************************************************************************/

/* Auto-generated by genmsg_cpp from file @file_name_in */

@{
import genmsg.msgs
import gencpp

uorb_struct = '%s_s'%spec.short_name
uorb_pack_func = 'pack_%s'%spec.short_name
topic_name = spec.short_name

type_map = {
  'int8': 'int8_t',
  'int16': 'int16_t',
  'int32': 'int32_t',
  'int64': 'int64_t',
  'uint8': 'uint8_t',
  'uint16': 'uint16_t',
  'uint32': 'uint32_t',
  'uint64': 'uint64_t',
  'float32': 'float',
  'float64': 'double',
  'bool': 'bool',
  'char': 'char',
  'fence_vertex': 'fence_vertex',
  'position_setpoint': 'position_setpoint',
  'esc_report': 'esc_report'
}

msgtype_size_map = {
  'int8': 1,
  'int16': 2,
  'int32': 4,
  'int64': 8,
  'uint8': 1,
  'uint16': 2,
  'uint32': 4,
  'uint64': 8,
  'float32': 4,
  'float64': 8,
  'bool': 1,
  'char': 1,
  'fence_vertex': 8,
  'position_setpoint': 104,
  'esc_report': 36
}

msgtypes_composite = ['position_setpoint', 'esc_report', 'fence_vertex']

def convert_type(spec_type):
    bare_type = spec_type
    if '/' in spec_type:
        # removing prefix
        bare_type = (spec_type.split('/'))[1]

    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
    c_type = type_map[msg_type]
    if is_array:
        return c_type + "[" + str(array_length) + "]"
    return c_type

def bare_name(msg_type):
    bare = msg_type
    if '/' in msg_type:
        # removing prefix
        bare = (msg_type.split('/'))[1]
    # removing suffix
    return bare.split('[')[0]

def sizeof_field_type(field):
    return msgtype_size_map[bare_name(field.type)]

sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
}@

#include <px4_config.h>
#include <drivers/drv_orb_dev.h>
#include <uORB/topics/@(topic_name).h>


void serialize_@(topic_name)(void *in, struct orb_output_buffer *buffer)
{
	struct @(uorb_struct) *topic = static_cast<struct @(uorb_struct) *>(in);
		
@{

serialize_expr = "	serialize_{type}(&topic->{field}, buffer);"
serialize_array_expr = "	serialize_{type}(&topic->{field}[{index}], buffer);"

buffer_memcpy_expr = "	memcpy(((char *)buffer->data) + buffer->next, &topic->{field}, sizeof(topic->{field}));"
buffer_next_expr = "	buffer->next += sizeof(topic->{field});"

for each_field in sorted_fields:
  if not each_field.is_header:
  
    # call appropriate serialize functions for fields that are orb messages
    if bare_name(each_field.type) in msgtypes_composite:
      
      if each_field.is_array:
        for i in range(each_field.array_len):
          print(serialize_array_expr.format(type=type_map[bare_name(each_field.type)], field=each_field.name, index=i))

      else:
    	print(serialize_expr.format(type=type_map[bare_name(each_field.type)], field=each_field.name))

	# copy primitive fields
    else:
    	print(buffer_memcpy_expr.format(field=each_field.name))
    	print(buffer_next_expr.format(field=each_field.name))

}@
}

@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
const char *__orb_@(topic_name)_fields = "@( topic_name.upper() ):@( ";".join(topic_fields) );";

@[for multi_topic in topics]@
ORB_DEFINE(@multi_topic, struct @uorb_struct, &serialize_@(topic_name), __orb_@(topic_name)_fields);
@[end for]