diff --git a/.gitignore b/.gitignore index 1c4f49fdea..764be0029f 100644 --- a/.gitignore +++ b/.gitignore @@ -40,6 +40,7 @@ tags .ropeproject *.orig src/modules/uORB/topics/* +src/platforms/nuttx/px4_messages/* Firmware.zip unittests/build *.generated.h diff --git a/Makefile b/Makefile index 6480286d2d..bffba69aed 100644 --- a/Makefile +++ b/Makefile @@ -225,9 +225,12 @@ updatesubmodules: $(Q) (git submodule update) MSG_DIR = $(PX4_BASE)msg -MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates +UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb +MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4 TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics -TOPICS_TEMPORARY_DIR = $(BUILD_DIR)topics_temporary +MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages +MULTIPLATFORM_PREFIX = px4_ +TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary GENMSG_PYTHONPATH = $(PX4_BASE)/Tools/genmsg/src GENCPP_PYTHONPATH = $(PX4_BASE)/Tools/gencpp/src @@ -236,9 +239,13 @@ generateuorbtopicheaders: @$(ECHO) "Generating uORB topic headers" $(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \ $(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \ - -d $(MSG_DIR) -o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR) -t $(TOPICS_TEMPORARY_DIR)) + -d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR)) + @$(ECHO) "Generating multiplatform uORB topic wrapper headers" + $(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \ + $(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \ + -d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX)) # clean up temporary files - $(Q) (rm -r $(TOPICS_TEMPORARY_DIR)) + $(Q) (rm -r $(TOPICHEADER_TEMP_DIR)) # # Testing targets diff --git a/msg/templates/px4/msg.h.template b/msg/templates/px4/msg.h.template new file mode 100644 index 0000000000..ba0fbd4bfe --- /dev/null +++ b/msg/templates/px4/msg.h.template @@ -0,0 +1,95 @@ +@############################################### +@# +@# PX4 ROS compatible message source code +@# generation for C++ +@# +@# This file generates the multiplatform wrapper +@# +@# EmPy template for generating .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 + +cpp_class = 'px4_%s'%spec.short_name +uorb_struct = '%s_s'%spec.short_name +topic_name = spec.short_name +}@ + +#pragma once + +@############################## +@# Generic Includes +@############################## +#include +#include "platforms/px4_message.h" + +@############################## +@# Class +@############################## + +namespace px4 +{ + +class __EXPORT @(cpp_class) : + public PX4Message<@(uorb_struct)> +{ +public: + @(cpp_class)() : + PX4Message<@(uorb_struct)>() + {} + + @(cpp_class)(@(uorb_struct) msg) : + PX4Message<@(uorb_struct)>(msg) + {} + + ~@(cpp_class)() {} + + static PX4TopicHandle handle() {return ORB_ID(@(topic_name));} +}; + +}; diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template new file mode 100644 index 0000000000..11cb1ea2ae --- /dev/null +++ b/msg/templates/uorb/msg.h.template @@ -0,0 +1,159 @@ +@############################################### +@# +@# PX4 ROS compatible message source code +@# generation for C++ +@# +@# EmPy template for generating .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 + +cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace +cpp_class = '%s_'%spec.short_name +cpp_full_name = '%s%s'%(cpp_namespace,cpp_class) +cpp_full_name_with_alloc = '%s'%(cpp_full_name) +cpp_msg_definition = gencpp.escape_message_definition(msg_definition) +}@ + +#pragma once + +@############################## +@# Generic Includes +@############################## +#include +#include + +@############################## +@# 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 + print('#include '%(name)) + +}@ +@# Constants +@[for constant in spec.constants]@ +#define @(constant.name) @(int(constant.val)) +@[end for] + +/** + * @@addtogroup topics + * @@{ + */ + +@############################## +@# Main struct of message +@############################## +@{ + +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', + 'bool': 'bool', + 'fence_vertex': 'fence_vertex'} + +# Function to print a standard ros type +def print_field_def(field): + type = field.type + # detect embedded types + sl_pos = type.find('/') + type_appendix = '' + type_prefix = '' + if (sl_pos >= 0): + type = type[sl_pos + 1:] + type_prefix = 'struct ' + type_appendix = '_s' + + # detect arrays + a_pos = type.find('[') + array_size = '' + if (a_pos >= 0): + # field is array + array_size = type[a_pos:] + type = type[:a_pos] + + if type in type_map: + # need to add _t: int8 --> int8_t + type_px4 = type_map[type] + else: + raise Exception("Type {0} not supported, add to to template file!".format(type)) + + print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size)) + +} +#ifdef __cplusplus +@#class @(spec.short_name)_s { +struct __EXPORT @(spec.short_name)_s { +@#public: +#else +struct @(spec.short_name)_s { +#endif +@{ +# loop over all fields and print the type and name +for field in spec.parsed_fields(): + if (not field.is_header): + print_field_def(field) +}@ +}; + +/** + * @@} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(@(spec.short_name)); diff --git a/src/platforms/nuttx/px4_messages/px4_rc_channels.h b/src/platforms/nuttx/px4_messages/px4_rc_channels.h deleted file mode 100644 index 2ce7bfc80a..0000000000 --- a/src/platforms/nuttx/px4_messages/px4_rc_channels.h +++ /dev/null @@ -1,26 +0,0 @@ -#include -#include -#include "platforms/px4_message.h" - -#pragma once -namespace px4 -{ - -class __EXPORT px4_rc_channels : - public PX4Message -{ -public: - px4_rc_channels() : - PX4Message() - {} - - px4_rc_channels(rc_channels_s msg) : - PX4Message(msg) - {} - - ~px4_rc_channels() {} - - static PX4TopicHandle handle() {return ORB_ID(rc_channels);} -}; - -}