forked from Archive/PX4-Autopilot
234 lines
8.7 KiB
Python
Executable File
234 lines
8.7 KiB
Python
Executable File
#!/usr/bin/python
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import glob
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import os
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import sys
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import re
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# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
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# argv[1] must be the full path of the top Firmware dir
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raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
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messages = []
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message_elements = []
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for index,m in enumerate(raw_messages):
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temp_list_floats = []
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temp_list_uint64 = []
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temp_list_bool = []
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if("pwm_input" not in m and "position_setpoint" not in m):
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temp_list = []
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f = open(m,'r')
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for line in f.readlines():
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items = re.split('\s+', line.strip())
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if ('float32[' in items[0]):
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num_floats = int(items[0].split("[")[1].split("]")[0])
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temp_list.append(("float_array",items[1],num_floats))
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elif ('float64[' in items[0]):
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num_floats = int(items[0].split("[")[1].split("]")[0])
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temp_list.append(("double_array",items[1],num_floats))
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elif ('uint64[' in items[0]):
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num_floats = int(items[0].split("[")[1].split("]")[0])
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temp_list.append(("uint64_array",items[1],num_floats))
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elif(items[0] == "float32"):
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temp_list.append(("float",items[1]))
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elif(items[0] == "float64"):
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temp_list.append(("double",items[1]))
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elif(items[0] == "uint64") and len(line.split('=')) == 1:
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temp_list.append(("uint64",items[1]))
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elif(items[0] == "uint32") and len(line.split('=')) == 1:
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temp_list.append(("uint32",items[1]))
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elif(items[0] == "uint16") and len(line.split('=')) == 1:
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temp_list.append(("uint16",items[1]))
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elif(items[0] == "int64") and len(line.split('=')) == 1:
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temp_list.append(("int64",items[1]))
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elif(items[0] == "int32") and len(line.split('=')) == 1:
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temp_list.append(("int32",items[1]))
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elif(items[0] == "int16") and len(line.split('=')) == 1:
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temp_list.append(("int16",items[1]))
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elif (items[0] == "bool") and len(line.split('=')) == 1:
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temp_list.append(("bool",items[1]))
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elif (items[0] == "uint8") and len(line.split('=')) == 1:
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temp_list.append(("uint8",items[1]))
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elif (items[0] == "int8") and len(line.split('=')) == 1:
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temp_list.append(("int8",items[1]))
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f.close()
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(m_head, m_tail) = os.path.split(m)
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message = m_tail.split('.')[0]
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if message != "actuator_controls":
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messages.append(message)
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message_elements.append(temp_list)
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#messages.append(m.split('/')[-1].split('.')[0])
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num_messages = len(messages);
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print("""
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/****************************************************************************
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*
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* Copyright (c) 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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/**
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* @file topic_listener.cpp
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*
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* Autogenerated by Tools/generate_listener.py
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*
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* Tool for listening to topics when running flight stack on linux.
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*/
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#include <drivers/drv_hrt.h>
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#include <px4_middleware.h>
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#include <px4_app.h>
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#include <px4_config.h>
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#include <uORB/uORB.h>
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#include <string.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <inttypes.h>
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#ifndef PRIu64
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#define PRIu64 "llu"
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#endif
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#ifndef PRId64
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#define PRId64 "lld"
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#endif
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static bool check_timeout(const hrt_abstime& time) {
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if (hrt_elapsed_time(&time) > 2*1000*1000) {
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printf("Waited for 2 seconds without a message. Giving up.\\n");
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return true;
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}
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return false;
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}
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""")
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for m in messages:
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print("#include <uORB/topics/%s.h>" % m)
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print("""
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extern "C" __EXPORT int listener_main(int argc, char *argv[]);
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int listener_main(int argc, char *argv[]) {
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int sub = -1;
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orb_id_t ID;
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if(argc < 2) {
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printf("need at least two arguments: topic name. [optional number of messages to print] [optional instance]\\n");
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return 1;
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}
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""")
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print("\tunsigned num_msgs = (argc > 2) ? atoi(argv[2]) : 1;")
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print("\tunsigned topic_instance = (argc > 3) ? atoi(argv[3]) : 0;")
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print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
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print("\t\tsub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % messages[0])
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print("\t\tID = ORB_ID(%s);" % messages[0])
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print("\t\tstruct %s_s container;" % messages[0])
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print("\t\tmemset(&container, 0, sizeof(container));")
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for index,m in enumerate(messages[1:]):
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print("\t} else if (strncmp(argv[1],\"%s\",50) == 0) {" % m)
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print("\t\tsub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % m)
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print("\t\tID = ORB_ID(%s);" % m)
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print("\t\tstruct %s_s container;" % m)
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print("\t\tmemset(&container, 0, sizeof(container));")
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print("\t\tbool updated;")
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print("\t\tunsigned i = 0;")
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print("\t\thrt_abstime start_time = hrt_absolute_time();")
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print("\t\twhile(i < num_msgs) {")
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print("\t\t\torb_check(sub,&updated);")
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print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
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print("\t\t\tif (updated) {")
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print("\t\t\tstart_time = hrt_absolute_time();")
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print("\t\t\ti++;")
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print("\t\t\tprintf(\"\\nTOPIC: %s instance %%d #%%d\\n\", topic_instance, i);" % m)
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print("\t\t\torb_copy(ID,sub,&container);")
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print("\t\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
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for item in message_elements[index+1]:
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if item[0] == "float":
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print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "float_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "double":
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print("\t\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "double_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "uint64":
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print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint64_array":
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print("\t\t\tprintf(\"%s: \");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%\" PRIu64 \"\",container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "int64":
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print("\t\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "int32":
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print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint32":
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print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
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elif item[0] == "int16":
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print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
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elif item[0] == "uint16":
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print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
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elif item[0] == "int8":
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print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
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elif item[0] == "uint8":
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print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
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elif item[0] == "bool":
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print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
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print("\t\t\t} else {")
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print("\t\t\t\tif (check_timeout(start_time)) {")
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print("\t\t\t\t\tbreak;")
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print("\t\t\t\t}")
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print("\t\t\t}")
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print("\t\t}")
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print("\t} else {")
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print("\t\t printf(\" Topic did not match any known topics\\n\");")
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print("\t}")
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print("\t\torb_unsubscribe(sub);")
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print("\t return 0;")
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print("}")
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