px4-firmware/Tools/generate_listener.py

151 lines
5.5 KiB
Python
Executable File

#!/usr/bin/python
import glob
import sys
# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
# argv[1] must be the full path of the top Firmware dir
raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
messages = []
message_elements = []
for index,m in enumerate(raw_messages):
temp_list_floats = []
temp_list_uint64 = []
temp_list_bool = []
if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
temp_list = []
f = open(m,'r')
for line in f.readlines():
if(line.split(' ')[0] == "float32"):
temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "uint64"):
temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "bool"):
temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif ('float32[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
f.close()
messages.append(m.split('/')[-1].split('.')[0])
message_elements.append(temp_list)
num_messages = len(messages);
print
print """
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
/**
* @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
*
* Tool for listening to topics when running flight stack on linux.
*/
#include <px4_middleware.h>
#include <px4_app.h>
#include <px4_config.h>
#include <iostream>
#include <fstream>
#include <string>
#include <sstream>
#include <vector>
#include <cstring>
#include <uORB/uORB.h>
#include <string.h>
#include <stdint.h>
"""
for m in messages:
print "#include <uORB/topics/%s.h>" % m
print """
extern "C" __EXPORT int listener_main(int argc, char *argv[]);
int listener_main(int argc, char *argv[]) {
int sub = -1;
orb_id_t ID;
if(argc < 3) {
printf("need at least two arguments: topic name, number of messages to print\\n");
return 1;
}
"""
print "\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);"
print "\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0]
print "\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0]
print "\t\tID = ORB_ID(%s);" % messages[0]
print "\t\tstruct %s_s container;" % messages[0]
print "\t\tmemset(&container, 0, sizeof(container));"
for index,m in enumerate(messages[1:]):
print "\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m
print "\t\tsub = orb_subscribe(ORB_ID(%s));" % m
print "\t\tID = ORB_ID(%s);" % m
print "\t\tstruct %s_s container;" % m
print "\t\tmemset(&container, 0, sizeof(container));"
print "\t\tbool updated;"
print "\t\tfor(uint32_t i = 0;i<num_msgs;i++) {"
print "\t\t\torb_check(sub,&updated);"
print "\t\t\tupdated = true;"
print "\t\t\tif(updated) {"
print "\t\t\torb_copy(ID,sub,&container);"
for item in message_elements[index+1]:
if item[0] == "float":
print "\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1])
elif item[0] == "float_array":
print "\t\t\tprintf(\"%s:\");" % item[1]
print "\t\t\tfor (int j=0;j<%d;j++) {" % item[2]
print "\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1]
print "\t\t\t}"
print "\t\t\tprintf(\"\\n\");"
elif item[0] == "uint64":
print "\t\t\tprintf(\"%s: %%lu\\n \",container.%s);" % (item[1], item[1])
elif item[0] == "uint8":
print "\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1])
elif item[0] == "bool":
print "\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1])
print "\t\t\t}"
print "\t\t}"
print "\t} else {"
print "\t\t printf(\" Topic did not match any known topics\\n\");"
print "\t}"
print("\t return 0;")
print "}"