forked from Archive/PX4-Autopilot
148 lines
4.6 KiB
Plaintext
148 lines
4.6 KiB
Plaintext
@###############################################
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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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@# - search_path (dict) search paths for genmsg
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@# - topics (List of String) topic names
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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2022 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 re
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from px_generate_uorb_topic_helper import * # this is in Tools/
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uorb_struct = '%s_s'%name_snake_case
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uorb_struct_upper = name_snake_case.upper()
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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/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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name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
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print('#include <uORB/topics/%s.h>'%(name))
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}@
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@# Constants c style
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#ifndef __cplusplus
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@[for constant in spec.constants]@
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#define @(uorb_struct_upper)_@(constant.name) @(int(constant.val))
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@[end for]
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#endif
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@##############################
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@# Main struct of message
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@##############################
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@{
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def print_parsed_fields():
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# sort fields (using a stable sort)
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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# loop over all fields and print the type and name
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for field in sorted_fields:
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if (not field.is_header):
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print_field_def(field)
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}@
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#ifdef __cplusplus
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@#class @(uorb_struct) {
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struct __EXPORT @(uorb_struct) {
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@#public:
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#else
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struct @(uorb_struct) {
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#endif
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@print_parsed_fields()
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#ifdef __cplusplus
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@# Constants again c++-ified
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@{
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for constant in spec.constants:
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type_name = constant.type
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if type_name in type_map:
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# need to add _t: int8 --> int8_t
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type_px4 = type_map[type_name]
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else:
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raise Exception("Type {0} not supported, add to to template file!".format(type_name))
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print('\tstatic constexpr %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
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}
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#endif
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};
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#ifdef __cplusplus
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namespace px4 {
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namespace msg {
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using @(spec.short_name) = @(uorb_struct);
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} // namespace msg
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} // namespace px4
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#endif
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/* register this as object request broker structure */
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@[for topic in topics]@
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ORB_DECLARE(@topic);
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@[end for]
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#ifdef __cplusplus
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void print_message(const orb_metadata *meta, const @uorb_struct& message);
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#endif
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