forked from Archive/PX4-Autopilot
generate wrapper headers for uorb
This commit is contained in:
Thomas Gubler
parent
6f7fa3b4e7
commit
738f65a705
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@ -40,6 +40,7 @@ tags
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.ropeproject
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*.orig
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src/modules/uORB/topics/*
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src/platforms/nuttx/px4_messages/*
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Firmware.zip
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unittests/build
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*.generated.h
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15
Makefile
15
Makefile
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@ -225,9 +225,12 @@ updatesubmodules:
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$(Q) (git submodule update)
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MSG_DIR = $(PX4_BASE)msg
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MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates
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UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
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MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4
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TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
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TOPICS_TEMPORARY_DIR = $(BUILD_DIR)topics_temporary
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MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
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MULTIPLATFORM_PREFIX = px4_
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TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
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GENMSG_PYTHONPATH = $(PX4_BASE)/Tools/genmsg/src
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GENCPP_PYTHONPATH = $(PX4_BASE)/Tools/gencpp/src
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@ -236,9 +239,13 @@ generateuorbtopicheaders:
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@$(ECHO) "Generating uORB topic headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR) -t $(TOPICS_TEMPORARY_DIR))
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-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
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@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
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$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
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$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
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-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
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# clean up temporary files
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$(Q) (rm -r $(TOPICS_TEMPORARY_DIR))
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$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
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#
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# Testing targets
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@ -0,0 +1,95 @@
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@###############################################
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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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@# This file generates the multiplatform wrapper
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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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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2015 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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cpp_class = 'px4_%s'%spec.short_name
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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 <uORB/topics/@(topic_name).h>
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#include "platforms/px4_message.h"
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@##############################
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@# Class
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@##############################
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namespace px4
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{
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class __EXPORT @(cpp_class) :
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public PX4Message<@(uorb_struct)>
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{
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public:
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@(cpp_class)() :
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PX4Message<@(uorb_struct)>()
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{}
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@(cpp_class)(@(uorb_struct) msg) :
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PX4Message<@(uorb_struct)>(msg)
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{}
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~@(cpp_class)() {}
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static PX4TopicHandle handle() {return ORB_ID(@(topic_name));}
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};
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};
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@ -0,0 +1,159 @@
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@###############################################
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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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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2015 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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cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace
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cpp_class = '%s_'%spec.short_name
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cpp_full_name = '%s%s'%(cpp_namespace,cpp_class)
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cpp_full_name_with_alloc = '%s<ContainerAllocator>'%(cpp_full_name)
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cpp_msg_definition = gencpp.escape_message_definition(msg_definition)
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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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#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
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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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/**
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* @@addtogroup topics
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* @@{
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*/
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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 = {'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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'bool': 'bool',
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'fence_vertex': 'fence_vertex'}
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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 = field.type
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# detect embedded types
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sl_pos = type.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 = type[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.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[a_pos:]
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type = type[:a_pos]
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if type in type_map:
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# need to add _t: int8 --> int8_t
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type_px4 = type_map[type]
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else:
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raise Exception("Type {0} not supported, add to to template file!".format(type))
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print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
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}
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#ifdef __cplusplus
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@#class @(spec.short_name)_s {
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struct __EXPORT @(spec.short_name)_s {
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@#public:
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#else
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struct @(spec.short_name)_s {
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#endif
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@{
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# loop over all fields and print the type and name
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for field in spec.parsed_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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};
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/**
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* @@}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(@(spec.short_name));
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@ -1,26 +0,0 @@
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#include <uORB/uORB.h>
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#include <uORB/topics/rc_channels.h>
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#include "platforms/px4_message.h"
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#pragma once
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namespace px4
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{
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class __EXPORT px4_rc_channels :
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public PX4Message<rc_channels_s>
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{
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public:
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px4_rc_channels() :
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PX4Message<rc_channels_s>()
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{}
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px4_rc_channels(rc_channels_s msg) :
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PX4Message<rc_channels_s>(msg)
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{}
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~px4_rc_channels() {}
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static PX4TopicHandle handle() {return ORB_ID(rc_channels);}
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};
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}
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