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Included field timestamp for micrortps bridge messages.

This commit is contained in:
Vicente Monge 2018-02-09 11:11:10 +01:00 committed by Lorenz Meier
parent f9cb575ced
commit a272cbbd08
2 changed files with 9 additions and 16 deletions
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14
msg/templates/uorb_microcdr/msg.cpp.template
View File

@ -58,10 +58,6 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%spec.short_name uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name topic_name = spec.short_name
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
}@ }@
#include <px4_config.h> #include <px4_config.h>
@ -102,9 +98,9 @@ def add_serialize_functions(fields, scope_name):
if (not field.is_header): if (not field.is_header):
if (field.is_builtin): if (field.is_builtin):
if (not field.is_array): if (not field.is_array):
print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);") print(" serialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
else: else:
print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);") print(" serialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
else: else:
name = field.name name = field.name
children_fields = get_children_fields(field.base_type, search_path) children_fields = get_children_fields(field.base_type, search_path)
@ -120,10 +116,10 @@ def add_deserialize_functions(fields, scope_name):
if (not field.is_header): if (not field.is_header):
if (field.is_builtin): if (field.is_builtin):
if (not field.is_array): if (not field.is_array):
print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);") print(" deserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
else: else:
for i in range(field.array_len): for i in range(field.array_len):
print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);") print(" deserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
else: else:
name = field.name name = field.name
children_fields = get_children_fields(field.base_type, search_path) children_fields = get_children_fields(field.base_type, search_path)
@ -151,6 +147,7 @@ void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, u
resetStaticMicroCDRForSerialize(microCDRWriter); resetStaticMicroCDRForSerialize(microCDRWriter);
serializeUnsignedLong(input->timestamp, microCDRWriter);
@add_code_to_serialize() @add_code_to_serialize()
(*length) = microCDRWriter->m_microBuffer->m_serializedBuffer; (*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
@ -162,5 +159,6 @@ void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struc
resetStaticMicroCDRForDeserialize(microCDRReader); resetStaticMicroCDRForDeserialize(microCDRReader);
deserializeUnsignedLong(&output->timestamp, microCDRReader);
@add_code_to_deserialize() @add_code_to_deserialize()
} }

11
msg/templates/urtps/msg.idl.template
View File

@ -39,12 +39,6 @@
import genmsg.msgs import genmsg.msgs
import gencpp import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/ from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
}@ }@
@################################################# @#################################################
@# Searching for serialize function per each field @# Searching for serialize function per each field
@ -61,9 +55,9 @@ def get_idl_type_name(field_type):
def add_msg_field(field): def add_msg_field(field):
if (not field.is_header): if (not field.is_header):
if (not field.is_array): if (not field.is_array):
print('\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';') print(" " + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
else: else:
print('\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];') print(" " + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
def add_msg_fields(): def add_msg_fields():
# sort fields (using a stable sort) as in the declaration of the type # sort fields (using a stable sort) as in the declaration of the type
@ -76,5 +70,6 @@ def add_msg_fields():
@ @
struct @(spec.short_name)_ struct @(spec.short_name)_
{ {
unsigned long long timestamp;
@add_msg_fields() @add_msg_fields()
}; // struct @(spec.short_name)_ }; // struct @(spec.short_name)_