forked from Archive/PX4-Autopilot
412 lines
14 KiB
Python
412 lines
14 KiB
Python
#!/usr/bin/env python3
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#############################################################################
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#
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# Copyright (C) 2013-2019 PX4 Pro 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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Helper methods & common code for the uorb message templates msg.{cpp,h}.em
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Another positive effect of having the code here, is that this file will get
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precompiled and thus message generation will be much faster
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'''
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import os
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import errno
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import genmsg.msgs
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type_map = {
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'int8': 'int8_t',
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'int16': 'int16_t',
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'int32': 'int32_t',
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'int64': 'int64_t',
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'uint8': 'uint8_t',
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'uint16': 'uint16_t',
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'uint32': 'uint32_t',
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'uint64': 'uint64_t',
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'float32': 'float',
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'float64': 'double',
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'bool': 'bool',
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'char': 'char',
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}
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type_serialize_map = {
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'int8': 'int8_t',
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'int16': 'int16_t',
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'int32': 'int32_t',
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'int64': 'int64_t',
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'uint8': 'uint8_t',
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'uint16': 'uint16_t',
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'uint32': 'uint32_t',
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'uint64': 'uint64_t',
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'float32': 'float',
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'float64': 'double',
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'bool': 'bool',
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'char': 'char',
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}
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type_idl_map = {
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'bool': 'boolean',
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'byte': 'octet',
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'char': 'char',
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'int8': 'octet',
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'uint8': 'octet',
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'int16': 'short',
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'uint16': 'unsigned short',
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'int32': 'long',
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'uint32': 'unsigned long',
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'int64': 'long long',
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'uint64': 'unsigned long long',
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'float32': 'float',
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'float64': 'double',
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'string': 'string',
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}
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msgtype_size_map = {
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'int8': 1,
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'int16': 2,
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'int32': 4,
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'int64': 8,
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'uint8': 1,
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'uint16': 2,
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'uint32': 4,
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'uint64': 8,
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'float32': 4,
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'float64': 8,
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'bool': 1,
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'char': 1,
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}
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type_printf_map = {
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'int8': '%d',
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'int16': '%d',
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'int32': '%" PRId32 "',
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'int64': '%" PRId64 "',
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'uint8': '%u',
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'uint16': '%u',
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'uint32': '%" PRIu32 "',
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'uint64': '%" PRIu64 "',
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'float32': '%.4f',
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'float64': '%.6f',
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'bool': '%u',
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'char': '%c',
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}
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def bare_name(msg_type):
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"""
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Get bare_name from <dir>/<bare_name>[x] format
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"""
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bare = msg_type
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if '/' in msg_type:
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# removing prefix
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bare = (msg_type.split('/'))[1]
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# removing suffix
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return bare.split('[')[0]
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def sizeof_field_type(field):
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"""
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Get size of a field, used for sorting
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"""
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bare_name_str = bare_name(field.type)
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if bare_name_str in msgtype_size_map:
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return msgtype_size_map[bare_name_str]
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return 0 # this is for non-builtin types: sort them at the end
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def get_children_fields(base_type, search_path):
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(package, name) = genmsg.names.package_resource_name(base_type)
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tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
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spec_temp = genmsg.msg_loader.load_msg_by_type(
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tmp_msg_context, '%s/%s' % (package, name), search_path)
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return spec_temp.parsed_fields()
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def add_padding_bytes(fields, search_path):
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"""
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Add padding fields before the embedded types, at the end and calculate the
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struct size
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returns a tuple with the struct size and padding at the end
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"""
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struct_size = 0
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align_to = 8 # this is always 8, because of the 64bit timestamp
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i = 0
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padding_idx = 0
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while i < len(fields):
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field = fields[i]
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if not field.is_header:
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a_pos = field.type.find('[')
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array_size = 1
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if field.is_array:
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array_size = field.array_len
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if field.is_builtin:
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field.sizeof_field_type = sizeof_field_type(field)
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else:
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# embedded type: may need to add padding
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num_padding_bytes = align_to - (struct_size % align_to)
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if num_padding_bytes != align_to:
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padding_field = genmsg.Field('_padding' + str(padding_idx),
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'uint8[' + str(num_padding_bytes) + ']')
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padding_idx += 1
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padding_field.sizeof_field_type = 1
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struct_size += num_padding_bytes
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fields.insert(i, padding_field)
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i += 1
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children_fields = get_children_fields(
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field.base_type, search_path)
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field.sizeof_field_type, unused = add_padding_bytes(children_fields,
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search_path)
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struct_size += field.sizeof_field_type * array_size
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i += 1
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# add padding at the end (necessary for embedded types)
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num_padding_bytes = align_to - (struct_size % align_to)
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if num_padding_bytes == align_to:
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num_padding_bytes = 0
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else:
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padding_field = genmsg.Field('_padding' + str(padding_idx),
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'uint8[' + str(num_padding_bytes) + ']')
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padding_idx += 1
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padding_field.sizeof_field_type = 1
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struct_size += num_padding_bytes
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fields.append(padding_field)
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return (struct_size, num_padding_bytes)
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def convert_type(spec_type):
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"""
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Convert from msg type to C type
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"""
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bare_type = spec_type
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if '/' in spec_type:
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# removing prefix
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bare_type = (spec_type.split('/'))[1]
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msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
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c_type = msg_type
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if msg_type in type_map:
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c_type = type_map[msg_type]
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if is_array:
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return c_type + "[" + str(array_length) + "]"
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return c_type
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def print_field(field):
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"""
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Echo printf line
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"""
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# check if there are any upper case letters in the field name
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assert not any(a.isupper()
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for a in field.name), "%r field contains uppercase letters" % field.name
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# skip padding
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if field.name.startswith('_padding'):
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return
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bare_type = field.type
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if '/' in field.type:
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# removing prefix
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bare_type = (bare_type.split('/'))[1]
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msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
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field_name = ""
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if is_array:
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c_type = "["
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if msg_type in type_map:
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p_type = type_printf_map[msg_type]
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else:
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for i in range(array_length):
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print(("PX4_INFO_RAW(\"\\t" + field.type +
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" " + field.name + "[" + str(i) + "]\");"))
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print((" print_message(message." +
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field.name + "[" + str(i) + "]);"))
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return
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for i in range(array_length):
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if i > 0:
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c_type += ", "
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field_name += ", "
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if "float32" in field.type:
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field_name += "(double)message." + \
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field.name + "[" + str(i) + "]"
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else:
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field_name += "message." + field.name + "[" + str(i) + "]"
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c_type += str(p_type)
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c_type += "]"
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else:
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c_type = msg_type
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if msg_type in type_map:
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c_type = type_printf_map[msg_type]
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field_name = "message." + field.name
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# cast double
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if field.type == "float32":
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field_name = "(double)" + field_name
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elif field.type == "bool":
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c_type = '%s'
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field_name = "(" + field_name + " ? \"True\" : \"False\")"
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else:
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print(("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");"))
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print(("\tprint_message(message." + field.name + ");"))
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return
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if field.name == 'timestamp':
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print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
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": " + c_type + " (%.6f seconds ago)\\n\", " + field_name +
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", (now - message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
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elif field.name == 'timestamp_sample':
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print(("\n\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (" + c_type + " us before timestamp)\\n\", " + field_name + ", message.timestamp - message.timestamp_sample);\n\t"))
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elif field.name == 'device_id':
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print("char device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
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print("PX4_INFO_RAW(\"\\tdevice_id: %d (%s) \\n\", message.device_id, device_id_buffer);")
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elif field.name == 'accel_device_id':
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print("char accel_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(accel_device_id_buffer, sizeof(accel_device_id_buffer), message.accel_device_id);")
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print("PX4_INFO_RAW(\"\\taccel_device_id: %d (%s) \\n\", message.accel_device_id, accel_device_id_buffer);")
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elif field.name == 'gyro_device_id':
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print("char gyro_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(gyro_device_id_buffer, sizeof(gyro_device_id_buffer), message.gyro_device_id);")
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print("PX4_INFO_RAW(\"\\tgyro_device_id: %d (%s) \\n\", message.gyro_device_id, gyro_device_id_buffer);")
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elif field.name == 'baro_device_id':
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print("char baro_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(baro_device_id_buffer, sizeof(baro_device_id_buffer), message.baro_device_id);")
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print("PX4_INFO_RAW(\"\\tbaro_device_id: %d (%s) \\n\", message.baro_device_id, baro_device_id_buffer);")
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elif field.name == 'mag_device_id':
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print("char mag_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(mag_device_id_buffer, sizeof(mag_device_id_buffer), message.mag_device_id);")
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print("PX4_INFO_RAW(\"\\tmag_device_id: %d (%s) \\n\", message.mag_device_id, mag_device_id_buffer);")
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elif (field.name == 'q' or 'q_' in field.name) and field.type == 'float32[4]':
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# float32[4] q/q_d/q_reset/delta_q_reset
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print("{")
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print("\t\tmatrix::Eulerf euler{matrix::Quatf{message." + field.name + "}};")
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print("\t\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg" ")\\n\", " + field_name + ", (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));\n\t")
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print("\t}")
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elif ("flags" in field.name or "bits" in field.name) and "uint" in field.type:
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# print bits of fixed width unsigned integers (uint8, uint16, uint32) if name contains flags or bits
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print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (0b\", " + field_name + ");")
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print("\tfor (int i = (sizeof(" + field_name + ") * 8) - 1; i >= 0; i--) { PX4_INFO_RAW(\"%u%s\", " + field_name + " >> i & 1, ((unsigned)i < (sizeof(" + field_name + ") * 8) - 1 && i % 4 == 0 && i > 0) ? \"'\" : \"\"); }")
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print("\tPX4_INFO_RAW(\")\\n\");")
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elif is_array and 'char' in field.type:
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." + str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
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else:
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");"))
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def print_field_def(field):
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"""
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Print the C type from a field
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"""
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# check if there are any upper case letters in the field name
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assert not any(a.isupper()
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for a in field.name), "%r field contains uppercase letters" % field.name
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type_name = field.type
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# detect embedded types
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sl_pos = type_name.find('/')
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type_appendix = ''
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type_prefix = ''
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if (sl_pos >= 0):
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type_name = type_name[sl_pos + 1:]
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type_prefix = 'struct '
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type_appendix = '_s'
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# detect arrays
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a_pos = type_name.find('[')
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array_size = ''
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if (a_pos >= 0):
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# field is array
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array_size = type_name[a_pos:]
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type_name = type_name[:a_pos]
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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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type_px4 = type_name
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comment = ''
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if field.name.startswith('_padding'):
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comment = ' // required for logger'
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print(('\t%s%s%s %s%s;%s' % (type_prefix, type_px4, type_appendix, field.name,
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array_size, comment)))
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def check_available_ids(used_msg_ids_list):
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"""
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Checks the available RTPS ID's
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"""
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return set(list(range(0, 255))) - set(used_msg_ids_list)
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def rtps_message_id(msg_id_map, message):
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"""
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Get RTPS ID of uORB message
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"""
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error_msg = ""
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# check if the message has an ID set
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for dict in msg_id_map[0]['rtps']:
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if message in dict['msg']:
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if dict['id'] is not None:
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return dict['id']
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else:
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error_msg = "ID is None!"
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break
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# create list of the available IDs if it fails to get an ID
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used_ids = list()
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for dict in msg_id_map[0]['rtps']:
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if dict['id'] is not None:
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used_ids.append(dict['id'])
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raise AssertionError(
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"%s %s Please add an ID from the available pool:\n" % (message, error_msg) +
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", ".join('%d' % id for id in check_available_ids(used_ids)))
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