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uorb autogeneration

This commit is contained in:
Daniel Agar 2016-04-25 17:36:13 -04:00 committed by Lorenz Meier
parent 3aa2297497
commit 76387b1693
113 changed files with 897 additions and 593 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
CMakeLists.txt
View File

@ -295,11 +295,11 @@ add_definitions(${definitions})
#=============================================================================
# source code generation
#
file(GLOB_RECURSE msg_files msg/*.msg)
file(GLOB msg_files msg/*.msg)
px4_generate_messages(TARGET msg_gen
MSG_FILES ${msg_files}
OS ${OS}
DEPENDS git_genmsg git_gencpp
DEPENDS git_genmsg git_gencpp prebuild_targets
)
px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})

3
Makefile
View File

@ -155,6 +155,9 @@ px4-stm32f4discovery_default:
px4fmu-v2_ekf2:
$(call cmake-build,nuttx_px4fmu-v2_ekf2)
px4fmu-v2_lpe:
$(call cmake-build,nuttx_px4fmu-v2_lpe)
mindpx-v2_default:
$(call cmake-build,nuttx_mindpx-v2_default)

108
Tools/px_generate_uorb_topic_headers.py
View File

@ -49,6 +49,7 @@ sys.path.append(px4_tools_dir + "/genmsg/src")
sys.path.append(px4_tools_dir + "/gencpp/src")
try:
import em
import genmsg.template_tools
except ImportError as e:
print("python import error: ", e)
@ -74,24 +75,75 @@ __license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
msg_template_map = {'msg.h.template': '@NAME@.h'}
srv_template_map = {}
incl_default = ['std_msgs:./msg/std_msgs']
package = 'px4'
TEMPLATE_FILE = 'msg.h.template'
OUTPUT_FILE_EXT = '.h'
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
def convert_file(filename, outputdir, templatedir, includepath):
def get_multi_topics(filename):
"""
Converts a single .msg file to a uorb header
Get TOPICS names from a "# TOPICS" line
"""
#print("Generating headers from {0}".format(filename))
genmsg.template_tools.generate_from_file(filename,
package,
outputdir,
templatedir,
includepath,
msg_template_map,
srv_template_map)
ofile = open(filename, 'r')
text = ofile.read()
result = []
for each_line in text.split('\n'):
if each_line.startswith (TOPICS_TOKEN):
topic_names_str = each_line.strip()
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
result.extend(topic_names_str.split(" "))
ofile.close()
return result
def generate_header_from_file(filename, outputdir, templatedir, includepath):
"""
Converts a single .msg file to a uorb header file
"""
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
topics = get_multi_topics(filename)
if includepath:
search_path = genmsg.command_line.includepath_to_dict(includepath)
else:
search_path = {}
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
md5sum = genmsg.gentools.compute_md5(msg_context, spec)
if len(topics) == 0:
topics.append(spec.short_name)
em_globals = {
"file_name_in": filename,
"md5sum": md5sum,
"search_path": search_path,
"msg_context": msg_context,
"spec": spec,
"topics": topics
}
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TEMPLATE_FILE)
output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
if os.path.isfile(output_file):
return False
ofile = open(output_file, 'w')
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found in template dir %s" % (template_file, templatedir))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
ofile.close()
return True
def convert_dir(inputdir, outputdir, templatedir):
@ -122,7 +174,7 @@ def convert_dir(inputdir, outputdir, templatedir):
if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
return False
includepath = incl_default + [':'.join([package, inputdir])]
includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
for f in os.listdir(inputdir):
# Ignore hidden files
if f.startswith("."):
@ -133,11 +185,7 @@ def convert_dir(inputdir, outputdir, templatedir):
if not os.path.isfile(fn):
continue
convert_file(fn,
outputdir,
templatedir,
includepath)
generate_header_from_file(fn, outputdir, templatedir, includepath)
return True
@ -151,15 +199,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
for input_file in os.listdir(inputdir):
fni = os.path.join(inputdir, input_file)
if os.path.isfile(fni):
# Check if f exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, prefix + f)
# Check if input_file exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, prefix + input_file)
if not os.path.isfile(fno):
shutil.copy(fni, fno)
if not quiet:
print("{0}: new header file".format(f))
print("{0}: new header file".format(fno))
continue
if os.path.getmtime(fni) > os.path.getmtime(fno):
@ -168,11 +216,11 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
if not quiet:
print("{0}: updated".format(f))
print("{0}: updated".format(input_file))
continue
if not quiet:
print("{0}: unchanged".format(f))
print("{0}: unchanged".format(input_file))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
@ -208,11 +256,7 @@ if __name__ == "__main__":
if args.file is not None:
for f in args.file:
convert_file(
f,
args.outputdir,
args.templatedir,
incl_default)
generate_header_from_file(f, args.outputdir, args.templatedir, INCL_DEFAULT)
elif args.dir is not None:
convert_dir_save(
args.dir,

192
Tools/px_generate_uorb_topic_sources.py Executable file
View File

@ -0,0 +1,192 @@
#!/usr/bin/env python
#############################################################################
#
# 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.
#
#############################################################################
"""
px_generate_uorb_topic_sources.py
Generates cpp source files for uorb topics from .msg (ROS syntax)
message files
"""
from __future__ import print_function
import os
import shutil
import filecmp
import argparse
import sys
px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
sys.path.append(px4_tools_dir + "/genmsg/src")
sys.path.append(px4_tools_dir + "/gencpp/src")
try:
import em
import genmsg.template_tools
except ImportError as e:
print("python import error: ", e)
print('''
Required python packages not installed.
On a Debian/Ubuntu system please run:
sudo apt-get install python-empy
sudo pip install catkin_pkg
On MacOS please run:
sudo pip install empy catkin_pkg
On Windows please run:
easy_install empy catkin_pkg
''')
exit(1)
__author__ = "Sergey Belash, Thomas Gubler"
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
__license__ = "BSD"
__email__ = "againagainst@gmail.com, thomasgubler@gmail.com"
TOPIC_TEMPLATE_FILE = 'msg.cpp.template'
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
OUTPUT_FILE_EXT = '.cpp'
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
def get_multi_topics(filename):
"""
Get TOPICS names from a "# TOPICS" line
"""
ofile = open(filename, 'r')
text = ofile.read()
result = []
for each_line in text.split('\n'):
if each_line.startswith (TOPICS_TOKEN):
topic_names_str = each_line.strip()
topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
result.extend(topic_names_str.split(" "))
ofile.close()
return result
def get_msgs_list(msgdir):
"""
Makes list of msg files in the given directory
"""
return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
def generate_source_from_file(filename, outputdir, template_file, quiet=False):
"""
Converts a single .msg file to a uorb source file
"""
# print("Generating sources from {0}".format(filename))
msg_context = genmsg.msg_loader.MsgContext.create_default()
full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
topics = get_multi_topics(filename)
if len(topics) == 0:
topics.append(spec.short_name)
em_globals = {
"file_name_in": filename,
"spec": spec,
"topics": topics
}
output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
if os.path.isfile(output_file):
return False
generate_by_template(output_file, template_file, em_globals)
if not quiet:
print("{0}: new source file".format(output_file))
return True
def generate_by_template(output_file, template_file, em_globals):
"""
Invokes empy intepreter to geneate output_file by the
given template_file and predefined em_globals dict
"""
ofile = open(output_file, 'w')
# todo, reuse interpreter
interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
if not os.path.isfile(template_file):
ofile.close()
os.remove(output_file)
raise RuntimeError("Template file %s not found" % (template_file))
interpreter.file(open(template_file)) #todo try
interpreter.shutdown()
ofile.close()
def convert_dir(msgdir, outputdir, templatedir, quiet=False):
"""
Converts all .msg files in msgdir to uORB sources
"""
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TOPIC_TEMPLATE_FILE)
for f in os.listdir(msgdir):
# Ignore hidden files
if f.startswith("."):
continue
fn = os.path.join(msgdir, f)
# Only look at actual files
if not os.path.isfile(fn):
continue
generate_source_from_file(fn, outputdir, template_file, quiet)
# generate cpp file with topics list
tl_globals = {"msgs" : get_msgs_list(msgdir)}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
return True
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Convert msg files to uorb sources')
parser.add_argument('-d', dest='dir', help='directory with msg files')
parser.add_argument('-f', dest='file', help="files to convert (use only without -d)", nargs="+")
parser.add_argument('-e', dest='templatedir', help='directory with template files',)
parser.add_argument('-o', dest='outputdir', help='output directory for source files')
parser.add_argument('-q', dest='quiet', default=False, action='store_true',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.file is not None:
for f in args.file:
generate_source_from_file(f, args.outputdir, args.templatedir, args.quiet)
elif args.dir is not None:
convert_dir(args.dir, args.outputdir, args.templatedir, args.quiet)

33
cmake/common/px4_base.cmake
View File

@ -359,13 +359,15 @@ function(px4_generate_messages)
NAME px4_generate_messages
OPTIONS VERBOSE
ONE_VALUE OS TARGET
MULTI_VALUE MSG_FILES DEPENDS
MULTI_VALUE MSG_FILES DEPENDS INCLUDES
REQUIRED MSG_FILES OS TARGET
ARGN ${ARGN})
set(QUIET)
if(NOT VERBOSE)
set(QUIET "-q")
endif()
# headers
set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
@ -390,6 +392,26 @@ function(px4_generate_messages)
VERBATIM
)
# !sources
set(msg_source_out_path ${CMAKE_BINARY_DIR}/topics_sources)
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg ${msg_list})
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
endforeach()
add_custom_command(OUTPUT ${msg_source_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_sources.py
${QUIET}
-d msg
-e msg/templates/uorb
-o ${msg_source_out_path}
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
VERBATIM
)
set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
# multi messages for target OS
set(msg_multi_out_path
${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
@ -411,8 +433,13 @@ function(px4_generate_messages)
COMMENT "Generating uORB topic multi headers for ${OS}"
VERBATIM
)
add_custom_target(${TARGET}
DEPENDS ${msg_multi_files_out} ${msg_files_out})
add_library(${TARGET}
${msg_source_files_out}
${msg_multi_files_out}
${msg_files_out}
)
endfunction()
#=============================================================================

189
cmake/configs/nuttx_px4fmu-v2_debug.cmake Normal file
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@ -0,0 +1,189 @@
set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "build type")
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
# Board support modules
#
drivers/device
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/led
drivers/px4fmu
drivers/px4io
drivers/boards/px4fmu-v2
drivers/rgbled
drivers/mpu6000
#drivers/mpu9250
drivers/lsm303d
drivers/l3gd20
#drivers/hmc5883
drivers/ms5611
#drivers/mb12xx
#drivers/srf02
#drivers/sf0x
#drivers/ll40ls
drivers/trone
drivers/gps
drivers/pwm_out_sim
#drivers/hott
#drivers/hott/hott_telemetry
#drivers/hott/hott_sensors
#drivers/blinkm
drivers/airspeed
drivers/ets_airspeed
drivers/meas_airspeed
#drivers/frsky_telemetry
modules/sensors
#drivers/mkblctrl
#drivers/px4flow
#drivers/oreoled
drivers/gimbal
drivers/pwm_input
drivers/camera_trigger
drivers/bst
#drivers/snapdragon_rc_pwm
#drivers/lis3mdl
#
# System commands
#
systemcmds/bl_update
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
#systemcmds/topic_listener
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
#
# General system control
#
modules/commander
modules/navigator
modules/mavlink
modules/gpio_led
#modules/uavcan
modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
#
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/sdlog2
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
#
# OBC challenge
#
#modules/bottle_drop
#
# Rover apps
#
#examples/rover_steering_control
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
#examples/px4_daemon_app
# Tutorial code from
# https://px4.io/dev/debug_values
#examples/px4_mavlink_debug
# Tutorial code from
# https://px4.io/dev/example_fixedwing_control
#examples/fixedwing_control
# Hardware test
#examples/hwtest
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_io_board
px4io-v2
)
set(config_io_extra_libs
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "sercon" STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "serdis" STACK_MAIN "2048")

1
msg/actuator_armed.msg
View File

@ -1,5 +1,4 @@
uint64 timestamp # Microseconds since system boot
bool armed # Set to true if system is armed
bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
bool ready_to_arm # Set to true if system is ready to be armed

5
msg/actuator_controls.msg
View File

@ -10,6 +10,9 @@ uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc

5
msg/actuator_controls_1.msg
View File

@ -1,5 +0,0 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

5
msg/actuator_controls_2.msg
View File

@ -1,5 +0,0 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

5
msg/actuator_controls_3.msg
View File

@ -1,5 +0,0 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

5
msg/actuator_controls_virtual_fw.msg
View File

@ -1,5 +0,0 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

1
msg/actuator_direct.msg
View File

@ -1,4 +1,3 @@
uint8 NUM_ACTUATORS_DIRECT = 16
uint64 timestamp # timestamp in us since system boot
uint32 nvalues # number of valid values
float32[16] values # actuator values, from -1 to 1

1
msg/actuator_outputs.msg
View File

@ -1,5 +1,4 @@
uint8 NUM_ACTUATOR_OUTPUTS = 16
uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
uint64 timestamp # output timestamp in us since system boot
uint32 noutputs # valid outputs
float32[16] output # output data, in natural output units

1
msg/airspeed.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # microseconds since system boot, needed to integrate
float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown
float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown
float32 true_airspeed_unfiltered_m_s # true airspeed in meters per second, -1 if unknown

1
msg/battery_status.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # microseconds since system boot, needed to integrate
float32 voltage_v # Battery voltage in volts, 0 if unknown
float32 voltage_filtered_v # Battery voltage in volts, filtered, 0 if unknown
float32 current_a # Battery current in amperes, -1 if unknown

1
msg/camera_trigger.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Timestamp when camera was triggered
uint32 seq # Image sequence

1
msg/commander_state.msg
View File

@ -14,6 +14,5 @@ uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
uint8 MAIN_STATE_MAX = 13
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
uint8 main_state # main state machine

1
msg/control_state.msg
View File

@ -1,5 +1,4 @@
# This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
uint64 timestamp # in microseconds since system start
float32 x_acc # X acceleration in body frame
float32 y_acc # Y acceleration in body frame
float32 z_acc # Z acceleration in body frame

1
msg/differential_pressure.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Microseconds since system boot, needed to integrate
uint64 error_count # Number of errors detected by driver
float32 differential_pressure_raw_pa # Raw differential pressure reading (may be negative)
float32 differential_pressure_filtered_pa # Low pass filtered differential pressure reading

1
msg/distance_sensor.msg
View File

@ -1,6 +1,5 @@
# DISTANCE_SENSOR message data
uint64 timestamp # Microseconds since system boot
float32 min_distance # Minimum distance the sensor can measure (in m)
float32 max_distance # Maximum distance the sensor can measure (in m)

1
msg/ekf2_innovations.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Timestamp in microseconds since boot
float32[6] vel_pos_innov # velocity and position innovations
float32[3] mag_innov # earth magnetic field innovations
float32 heading_innov # heading innovation

1
msg/encoders.msg
View File

@ -1,5 +1,4 @@
uint8 NUM_ENCODERS = 4
uint64 timestamp
int64[4] counts # counts of encoder
float32[4] velocity # counts of encoder/ second

1
msg/esc_status.msg
View File

@ -11,7 +11,6 @@ uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
uint16 counter # incremented by the writing thread everytime new data is stored
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
uint8 esc_count # number of connected ESCs
uint8 esc_connectiontype # how ESCs connected to the system

1
msg/estimator_status.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Timestamp in microseconds since boot
float32[32] states # Internal filter states
float32 n_states # Number of states effectively used
float32[3] vibe # Vibration levels in X, Y and Z

1
msg/filtered_bottom_flow.msg
View File

@ -1,5 +1,4 @@
# Filtered bottom flow in bodyframe.
uint64 timestamp # time of this estimate, in microseconds since system start
float32 sumx # Integrated bodyframe x flow in meters
float32 sumy # Integrated bodyframe y flow in meters

1
msg/follow_target.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # timestamp, UNIX epoch (GPS synced)
float64 lat # target position (deg * 1e7)
float64 lon # target position (deg * 1e7)
float32 alt # target position

2
msg/fw_pos_ctrl_status.msg
View File

@ -1,5 +1,3 @@
uint64 timestamp # timestamp this topic was emitted
float32 nav_roll
float32 nav_pitch
float32 nav_bearing

4
msg/fw_virtual_attitude_setpoint.msg
View File

@ -8,7 +8,6 @@
#
###############################################################################################
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
@ -35,3 +34,6 @@ bool fw_control_yaw # control heading with rudder (used for auto takeoff on
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
bool apply_flaps
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS fw_virtual_attitude_setpoint

1
msg/fw_virtual_rates_setpoint.msg
View File

@ -8,7 +8,6 @@
#
###############################################################################################
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame

1
msg/hil_sensor.msg
View File

@ -17,7 +17,6 @@ int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
#
# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
uint64 timestamp # Timestamp in microseconds since boot, from gyro
#
int16[3] gyro_raw # Raw sensor values of angular velocity
float32[3] gyro_rad_s # Angular velocity in radian per seconds

1
msg/home_position.msg
View File

@ -1,5 +1,4 @@
# GPS home position in WGS84 coordinates.
uint64 timestamp # Timestamp (microseconds since system boot)
float64 lat # Latitude in degrees
float64 lon # Longitude in degrees

2
msg/manual_control_setpoint.msg
View File

@ -12,8 +12,6 @@ int8 MODE_SLOT_5 = 4 # mode slot 5 selected
int8 MODE_SLOT_6 = 5 # mode slot 6 selected
int8 MODE_SLOT_MAX = 6 # number of slots plus one
uint64 timestamp
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
# The variable names follow the definition of the

1
msg/mavlink_log.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Timestamp in microseconds since boot
uint8[50] text
uint8 severity

1
msg/mc_att_ctrl_status.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # in microseconds since system start
float32 roll_rate_integ # roll rate inegrator
float32 pitch_rate_integ # pitch rate integrator

4
msg/mc_virtual_attitude_setpoint.msg
View File

@ -8,7 +8,6 @@
#
###############################################################################################
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
@ -35,3 +34,6 @@ bool fw_control_yaw # control heading with rudder (used for auto takeoff on
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
bool apply_flaps
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS mc_virtual_attitude_setpoint

1
msg/mc_virtual_rates_setpoint.msg
View File

@ -8,7 +8,6 @@
#
###############################################################################################
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame

4
msg/mission.msg
View File

@ -1,3 +1,7 @@
int32 dataman_id # default 0, there are two offboard storage places in the dataman: 0 or 1
uint32 count # count of the missions stored in the dataman
int32 current_seq # default -1, start at the one changed latest
# fixme: there is no mission definition in objects_common.cpp
# but it's required for systemcmds/topic_listener/topic_listener
# TOPICS mission offboard_mission onboard_mission

1
msg/offboard_control_mode.msg
View File

@ -1,5 +1,4 @@
# Off-board control mode
uint64 timestamp
bool ignore_thrust
bool ignore_attitude

1
msg/optical_flow.msg
View File

@ -1,7 +1,6 @@
# Optical flow in NED body frame in SI units.
# @see http://en.wikipedia.org/wiki/International_System_of_Units
uint64 timestamp # in microseconds since system start
uint8 sensor_id # id of the sensor emitting the flow value
float32 pixel_flow_x_integral # accumulated optical flow in radians around x axis
float32 pixel_flow_y_integral # accumulated optical flow in radians around y axis

1
msg/parameter_update.msg
View File

@ -1,2 +1 @@
uint64 timestamp # time at which the latest parameter was updated
bool saved # wether the change has already been saved to disk

1
msg/pwm_input.msg
View File

@ -1,5 +1,4 @@
uint64 timestamp # Microseconds since system boot
uint64 error_count
uint32 pulse_width # Pulse width, timer counts
uint32 period # Period, timer counts

1
msg/qshell_req.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Microseconds since system boot
int32[100] string
uint64 MAX_STRLEN = 100
uint64 strlen

2
msg/rc_channels.msg
View File

@ -20,7 +20,7 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint64 timestamp # Timestamp in microseconds since boot time
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels

1
msg/rc_parameter_map.msg
View File

@ -1,7 +1,6 @@
uint8 RC_PARAM_MAP_NCHAN = 3 # This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
uint8 PARAM_ID_LEN = 16 # corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
uint64 timestamp # time at which the map was updated
bool[3] valid #true for RC-Param channels which are mapped to a param
int32[3] param_index # corresponding param index, this field is ignored if set to -1, in this case param_id will be used
char[51] param_id # MAP_NCHAN * (ID_LEN + 1) chars, corresponding param id, null terminated

1
msg/actuator_controls_0.msg → msg/ros/actuator_controls_0.msg
View File

@ -1,5 +1,4 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

1
msg/actuator_controls_virtual_mc.msg → msg/ros/actuator_controls_virtual_mc.msg
View File

@ -1,5 +1,4 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

1
msg/safety.msg
View File

@ -1,3 +1,2 @@
uint64 timestamp
bool safety_switch_available # Set to true if a safety switch is connected
bool safety_off # Set to true if safety is off

1
msg/satellite_info.msg
View File

@ -1,6 +1,5 @@
uint8 SAT_INFO_MAX_SATELLITES = 20
uint64 timestamp # Timestamp of satellite info
uint8 count # Number of satellites in satellite info
uint8[20] svid # Space vehicle ID [1..255], see scheme below
uint8[20] used # 0: Satellite not used, 1: used for navigation

1
msg/sensor_accel.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp
uint64 integral_dt # integration time
uint64 error_count
float32 x # acceleration in the NED X board axis in m/s^2

1
msg/sensor_baro.msg
View File

@ -1,5 +1,4 @@
float32 pressure
float32 altitude
float32 temperature
uint64 timestamp
uint64 error_count

1
msg/sensor_combined.msg
View File

@ -25,7 +25,6 @@ uint32 SENSOR_PRIO_MAX = 255
#
# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
uint64 timestamp # Timestamp in microseconds since boot, from gyro
uint64[3] gyro_timestamp # Gyro timestamps
int16[9] gyro_raw # Raw sensor values of angular velocity
float32[9] gyro_rad_s # Angular velocity in radian per seconds

1
msg/sensor_gyro.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp
uint64 integral_dt # integration time
uint64 error_count
float32 x # angular velocity in the NED X board axis in rad/s

1
msg/sensor_mag.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp
uint64 error_count
float32 x
float32 y

1
msg/servorail_status.msg
View File

@ -1,3 +1,2 @@
uint64 timestamp # microseconds since system boot
float32 voltage_v # Servo rail voltage in volts
float32 rssi_v # RSSI pin voltage in volts

1
msg/system_power.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # microseconds since system boot
float32 voltage5V_v # peripheral 5V rail voltage
uint8 usb_connected # USB is connected when 1
uint8 brick_valid # brick power is good when 1

1
msg/tecs_status.msg
View File

@ -6,7 +6,6 @@ uint8 TECS_MODE_LAND_THROTTLELIM = 4
uint8 TECS_MODE_BAD_DESCENT = 5
uint8 TECS_MODE_CLIMBOUT = 6
uint64 timestamp # timestamp, in microseconds since system start */
float32 altitudeSp
float32 altitude_filtered

1
msg/telemetry_status.msg
View File

@ -4,7 +4,6 @@ uint8 TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2
uint8 TELEMETRY_STATUS_RADIO_TYPE_WIRE = 3
uint8 TELEMETRY_STATUS_RADIO_TYPE_USB = 4
uint64 timestamp
uint64 heartbeat_time # Time of last received heartbeat from remote system
uint64 telem_time # Time of last received telemetry status packet, 0 for none
uint8 type # type of the radio hardware

9
msg/templates/px4/uorb/msg.h.template
View File

@ -55,7 +55,6 @@
import genmsg.msgs
import gencpp
cpp_class = 'px4_%s'%spec.short_name
native_type = '%s_s'%spec.short_name
topic_name = spec.short_name
}@
@ -74,6 +73,11 @@ topic_name = spec.short_name
namespace px4
{
@[for multi_topic in topics]@
@{
cpp_class = 'px4_%s'%multi_topic
}@
class __EXPORT @(cpp_class) :
public PX4Message<@(native_type)>
@ -89,7 +93,8 @@ public:
~@(cpp_class)() {}
static PX4TopicHandle handle() {return ORB_ID(@(topic_name));}
static PX4TopicHandle handle() {return ORB_ID(@(multi_topic));}
};
@[end for]
};

132
msg/templates/uorb/msg.cpp.template Normal file
View File

@ -0,0 +1,132 @@
@###############################################
@#
@# 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': 8,
'int16': 16,
'int32': 32,
'int64': 64,
'uint8': 8,
'uint16': 16,
'uint32': 32,
'uint64': 64,
'float32': 32,
'float64': 64,
'bool': 1,
'char': 1,
'fence_vertex': 8,
'position_setpoint': 104,
'esc_report': 36
}
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>
@# 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, __orb_@(topic_name)_fields);
@[end for]

98
msg/templates/uorb/msg.h.template
View File

@ -75,7 +75,6 @@ for field in spec.parsed_fields():
(package, name) = genmsg.names.package_resource_name(field.base_type)
package = package or spec.package # convert '' to package
print('#include <uORB/topics/%s.h>'%(name))
}@
@# Constants c style
@ -85,17 +84,12 @@ for field in spec.parsed_fields():
@[end for]
#endif
/**
* @@addtogroup topics
* @@{
*/
@##############################
@# Main struct of message
@##############################
@{
type_map = {'int8': 'int8_t',
type_map = {
'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
@ -109,37 +103,77 @@ type_map = {'int8': 'int8_t',
'char': 'char',
'fence_vertex': 'fence_vertex',
'position_setpoint': 'position_setpoint',
'esc_report': 'esc_report'}
'esc_report': 'esc_report'
}
msgtype_size_map = {
'int8': 8,
'int16': 16,
'int32': 32,
'int64': 64,
'uint8': 8,
'uint16': 16,
'uint32': 32,
'uint64': 64,
'float32': 32,
'float64': 64,
'bool': 1,
'char': 1,
'fence_vertex': 8,
'position_setpoint': 104,
'esc_report': 36
}
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)]
# Function to print a standard ros type
def print_field_def(field):
type = field.type
type_name = field.type
# detect embedded types
sl_pos = type.find('/')
sl_pos = type_name.find('/')
type_appendix = ''
type_prefix = ''
if (sl_pos >= 0):
type = type[sl_pos + 1:]
type_name = type_name[sl_pos + 1:]
type_prefix = 'struct '
type_appendix = '_s'
# detect arrays
a_pos = type.find('[')
a_pos = type_name.find('[')
array_size = ''
if (a_pos >= 0):
# field is array
array_size = type[a_pos:]
type = type[:a_pos]
array_size = type_name[a_pos:]
type_name = type_name[:a_pos]
if type in type_map:
if type_name in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
type_px4 = type_map[type_name]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
}
def print_parsed_fields():
# sort fields
sorted_fields = sorted(spec.parsed_fields(), key = sizeof_field_type, reverse=True)
# loop over all fields and print the type and name
for field in sorted_fields:
if (not field.is_header):
print_field_def(field)
}@
// #pragma pack(push, 1) badly breaks alignment everywhere!
#ifdef __cplusplus
@#class @(uorb_struct) {
struct __EXPORT @(uorb_struct) {
@ -147,31 +181,27 @@ struct __EXPORT @(uorb_struct) {
#else
struct @(uorb_struct) {
#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)
}@
@# timestamp at the beginning of each topic is required for logger
uint64_t timestamp; // required for logger
@print_parsed_fields()
#ifdef __cplusplus
@# Constants again c++-ified
@{
for constant in spec.constants:
type = constant.type
if type in type_map:
type_name = constant.type
if type_name in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
type_px4 = type_map[type_name]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
#endif
};
/**
* @@}
*/
//#pragma pack(pop)
/* register this as object request broker structure */
ORB_DECLARE(@(topic_name));
@[for multi_topic in topics]@
ORB_DECLARE(@multi_topic);
@[end for]

70
msg/templates/uorb/uORBTopics.cpp.template Normal file
View File

@ -0,0 +1,70 @@
@###############################################
@#
@# EmPy template for generating uORBTopics.cpp file
@# for logging purposes
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - msgs (List) list of all msg files
@###############################################
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include <uORB/uORBTopics.h>
#include <uORB/uORB.h>
@{
msgs_count = len(msgs)
msg_names = [mn.replace(".msg", "") for mn in msgs]
}@
@[for msg_name in msg_names]@
#include <uORB/topics/@(msg_name).h>
@[end for]
const size_t _uorb_topics_count = @(msgs_count);
const struct orb_metadata* _uorb_topics_list[_uorb_topics_count] = {
@[for idx, msg_name in enumerate(msg_names, 1)]@
ORB_ID(@(msg_name))@[if idx != msgs_count],@[end if]
@[end for]
};
size_t orb_topics_count()
{
return _uorb_topics_count;
}
const struct orb_metadata **orb_get_topics()
{
return _uorb_topics_list;
}

1
msg/test_motor.msg
View File

@ -1,5 +1,4 @@
uint8 NUM_MOTOR_OUTPUTS = 8
uint64 timestamp # output timestamp in us since system boot
uint32 motor_number # number of motor to spin
float32 value # output power, range [0..1]

1
msg/transponder_report.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Timestamp of this position report
uint32 ICAO_address # ICAO address
float64 lat # Latitude, expressed as degrees
float64 lon # Longitude, expressed as degrees

1
msg/vehicle_attitude.msg
View File

@ -1,5 +1,4 @@
# This is similar to the mavlink message ATTITUDE, but for onboard use */
uint64 timestamp # in microseconds since system start
# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional
float32 roll # Roll angle (rad, Tait-Bryan, NED)
float32 pitch # Pitch angle (rad, Tait-Bryan, NED)

4
msg/vehicle_attitude_setpoint.msg
View File

@ -8,7 +8,6 @@
#
###############################################################################################
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
@ -35,3 +34,6 @@ bool fw_control_yaw # control heading with rudder (used for auto takeoff on
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
bool apply_flaps
# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS vehicle_attitude_setpoint

1
msg/vehicle_control_mode.msg
View File

@ -1,5 +1,4 @@
uint64 timestamp # in microseconds since system start
# is set whenever the writing thread stores new data
bool flag_armed

1
msg/vehicle_global_position.msg
View File

@ -4,7 +4,6 @@
# estimator, which will take more sources of information into account than just GPS,
# e.g. control inputs of the vehicle in a Kalman-filter implementation.
#
uint64 timestamp # Time of this estimate since system start, (microseconds)
uint64 time_utc_usec # GPS UTC timestamp, (microseconds)
float64 lat # Latitude, (degrees)
float64 lon # Longitude, (degrees)

1
msg/vehicle_land_detected.msg
View File

@ -1,3 +1,2 @@
uint64 timestamp # timestamp of the setpoint
bool landed # true if vehicle is currently landed on the ground
bool freefall # true if vehicle is currently in free-fall

1
msg/vehicle_local_position.msg
View File

@ -1,6 +1,5 @@
# Fused local position in NED.
uint64 timestamp # Time of this estimate since system start, (microseconds)
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vy and vy are valid

1
msg/vehicle_local_position_setpoint.msg
View File

@ -1,6 +1,5 @@
# Local position setpoint in NED frame
uint64 timestamp # timestamp of the setpoint
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED

1
msg/vehicle_rates_setpoint.msg
View File

@ -8,7 +8,6 @@
#
###############################################################################################
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame

1
msg/vehicle_status.msg
View File

@ -41,7 +41,6 @@ uint8 RC_IN_MODE_GENERATED = 2
# state machine / state of vehicle.
# Encodes the complete system state and is set by the commander app.
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
uint8 nav_state # set navigation state machine to specified value
uint8 arming_state # current arming state

1
msg/vtol_vehicle_status.msg
View File

@ -5,7 +5,6 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
uint8 VEHICLE_VTOL_STATE_MC = 3
uint8 VEHICLE_VTOL_STATE_FW = 4
uint64 timestamp # Microseconds since system boot
bool vtol_in_rw_mode # true: vtol vehicle is in rotating wing mode
bool vtol_in_trans_mode
bool vtol_transition_failsafe # vtol in transition failsafe mode

1
msg/wind_estimate.msg
View File

@ -1,4 +1,3 @@
uint64 timestamp # Microseconds since system boot
float32 windspeed_north # Wind component in north / X direction
float32 windspeed_east # Wind component in east / Y direction
float32 covariance_north # Uncertainty - set to zero (no uncertainty) if not estimated

11
src/drivers/airspeed/airspeed.cpp
View File

@ -375,12 +375,11 @@ Airspeed::update_status()
{
if (_sensor_ok != _last_published_sensor_ok) {
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
_sensor_ok,
subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE
};
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = _sensor_ok;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE;
if (_subsys_pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);

4
src/drivers/ardrone_interface/ardrone_interface.c
View File

@ -55,10 +55,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>

12
src/drivers/mb12xx/mb12xx.cpp
View File

@ -616,12 +616,12 @@ MB12XX::start()
work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 5);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
};
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {

1
src/drivers/mkblctrl/mkblctrl.cpp
View File

@ -75,7 +75,6 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>

4
src/drivers/pwm_out_sim/pwm_out_sim.cpp
View File

@ -77,10 +77,6 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>

12
src/drivers/px4flow/px4flow.cpp
View File

@ -592,12 +592,12 @@ PX4FLOW::start()
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW
};
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {

4
src/drivers/px4fmu/fmu.cpp
View File

@ -79,10 +79,6 @@
#include <lib/rc/sumd.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>

4
src/drivers/px4io/px4io.cpp
View File

@ -77,10 +77,6 @@
#include <systemlib/battery.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>

1
src/drivers/roboclaw/RoboClaw.cpp
View File

@ -54,7 +54,6 @@
#include <arch/board/board.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>

1
src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
View File

@ -51,7 +51,6 @@
#include <termios.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <v1.0/mavlink_types.h>
#include <v1.0/common/mavlink.h>

12
src/drivers/srf02/srf02.cpp
View File

@ -618,12 +618,12 @@ SRF02::start()
work_queue(HPWORK, &_work, (worker_t)&SRF02::cycle_trampoline, this, 5);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
};
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {

12
src/drivers/trone/trone.cpp
View File

@ -628,12 +628,12 @@ TRONE::start()
work_queue(HPWORK, &_work, (worker_t)&TRONE::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
};
struct subsystem_info_s info = {};
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
static orb_advert_t pub = nullptr;
if (pub != nullptr) {

4
src/examples/fixedwing_control/main.c
View File

@ -61,10 +61,6 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/parameter_update.h>

4
src/examples/hwtest/hwtest.c
View File

@ -47,10 +47,6 @@
#include <systemlib/err.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/uORB.h>
__EXPORT int ex_hwtest_main(int argc, char *argv[]);

4
src/examples/rover_steering_control/main.cpp
View File

@ -58,10 +58,6 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>

4
src/lib/controllib/uorb/blocks.hpp
View File

@ -47,10 +47,6 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/parameter_update.h>
#include <stdio.h>

4
src/modules/bottle_drop/bottle_drop.cpp
View File

@ -57,10 +57,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h>

4
src/modules/commander/commander.cpp
View File

@ -81,10 +81,6 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>

2
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -62,8 +62,6 @@
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>

2
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -47,8 +47,6 @@
#include "mavlink_parameters.h"
#include "mavlink_main.h"
ORB_DEFINE(uavcan_parameter_request, struct uavcan_parameter_request_s);
ORB_DEFINE(uavcan_parameter_value, struct uavcan_parameter_value_s);
#define HASH_PARAM "_HASH_CHECK"
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),

2
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -70,8 +70,6 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>

4
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
View File

@ -52,10 +52,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>

4
src/modules/sdlog2/sdlog2.c
View File

@ -78,10 +78,6 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>

3
src/modules/systemlib/param/param.c
View File

@ -136,9 +136,6 @@ UT_array *param_values;
/** array info for the modified parameters array */
const UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
/** parameter update topic */
ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = NULL;

3
src/modules/systemlib/param/param_shmem.c
View File

@ -158,9 +158,6 @@ UT_array *param_values;
/** array info for the modified parameters array */
const UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
/** parameter update topic */
ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = NULL;

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