forked from Archive/PX4-Autopilot
orb message templates: move common code into px_generate_uorb_topic_helper.py
This also greatly speeds up the generators.
This commit is contained in:
Beat Küng
Lorenz Meier
parent
797d0f24d6
commit
093eece29b
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@ -0,0 +1,171 @@
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# helper methods & common code for the uorb message templates msg.{cpp,h}.template
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# Another positive effect of having the code here, is that this file will get
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# precompiled and thus message generation will be much faster
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import genmsg.msgs
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import gencpp
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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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"""
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Get bare_name from <dir>/<bare_name>[x] format
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"""
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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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"""
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Get size of a field, used for sorting
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"""
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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, search_path):
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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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def add_padding_bytes(fields, search_path):
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"""
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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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returns a tuple with the struct size and padding at the end
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"""
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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, search_path)
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field.sizeof_field_type, unused = add_padding_bytes(children_fields,
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search_path)
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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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def convert_type(spec_type):
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"""
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Convert from msg type to C type
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"""
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bare_type = spec_type
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if '/' in spec_type:
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# removing prefix
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bare_type = (spec_type.split('/'))[1]
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msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
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c_type = msg_type
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if msg_type in type_map:
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c_type = type_map[msg_type]
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if is_array:
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return c_type + "[" + str(array_length) + "]"
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return c_type
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def print_field_def(field):
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"""
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Print the C type from a field
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"""
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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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@ -54,122 +54,13 @@
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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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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 convert_type(spec_type):
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bare_type = spec_type
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if '/' in spec_type:
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# removing prefix
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bare_type = (spec_type.split('/'))[1]
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msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
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c_type = msg_type
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if msg_type in type_map:
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c_type = type_map[msg_type]
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if is_array:
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return c_type + "[" + str(array_length) + "]"
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return c_type
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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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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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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
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}@
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@ -54,6 +54,7 @@
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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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@ -96,139 +97,11 @@ for field in spec.parsed_fields():
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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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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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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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