px4-firmware/Tools/px_generate_uorb_topic_help...

172 lines
5.0 KiB
Python

# helper methods & common code for the uorb message templates msg.{cpp,h}.template
# Another positive effect of having the code here, is that this file will get
# precompiled and thus message generation will be much faster
import genmsg.msgs
import gencpp
type_map = {
'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
'uint8': 'uint8_t',
'uint16': 'uint16_t',
'uint32': 'uint32_t',
'uint64': 'uint64_t',
'float32': 'float',
'float64': 'double',
'bool': 'bool',
'char': 'char',
}
msgtype_size_map = {
'int8': 1,
'int16': 2,
'int32': 4,
'int64': 8,
'uint8': 1,
'uint16': 2,
'uint32': 4,
'uint64': 8,
'float32': 4,
'float64': 8,
'bool': 1,
'char': 1,
}
def bare_name(msg_type):
"""
Get bare_name from <dir>/<bare_name>[x] format
"""
bare = msg_type
if '/' in msg_type:
# removing prefix
bare = (msg_type.split('/'))[1]
# removing suffix
return bare.split('[')[0]
def sizeof_field_type(field):
"""
Get size of a field, used for sorting
"""
bare_name_str = bare_name(field.type)
if bare_name_str in msgtype_size_map:
return msgtype_size_map[bare_name_str]
return 0 # this is for non-builtin types: sort them at the end
def get_children_fields(base_type, search_path):
(package, name) = genmsg.names.package_resource_name(base_type)
tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)
sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
return sorted_fields
def add_padding_bytes(fields, search_path):
"""
Add padding fields before the embedded types, at the end and calculate the
struct size
returns a tuple with the struct size and padding at the end
"""
struct_size = 8 # account for the timestamp
align_to = 8 # this is always 8, because of the 64bit timestamp
i = 0
padding_idx = 0
while i < len(fields):
field = fields[i]
if not field.is_header:
a_pos = field.type.find('[')
array_size = 1
if field.is_array:
array_size = field.array_len
if field.is_builtin:
field.sizeof_field_type = sizeof_field_type(field)
else:
# embedded type: may need to add padding
num_padding_bytes = align_to - (struct_size % align_to)
if num_padding_bytes != align_to:
padding_field = genmsg.Field('_padding'+str(padding_idx),
'uint8['+str(num_padding_bytes)+']')
padding_idx += 1
padding_field.sizeof_field_type = 1
struct_size += num_padding_bytes
fields.insert(i, padding_field)
i += 1
children_fields = get_children_fields(field.base_type, search_path)
field.sizeof_field_type, unused = add_padding_bytes(children_fields,
search_path)
struct_size += field.sizeof_field_type * array_size
i += 1
# add padding at the end (necessary for embedded types)
num_padding_bytes = align_to - (struct_size % align_to)
if num_padding_bytes == align_to:
num_padding_bytes = 0
else:
padding_field = genmsg.Field('_padding'+str(padding_idx),
'uint8['+str(num_padding_bytes)+']')
padding_idx += 1
padding_field.sizeof_field_type = 1
struct_size += num_padding_bytes
fields.append(padding_field)
return (struct_size, num_padding_bytes)
def convert_type(spec_type):
"""
Convert from msg type to C type
"""
bare_type = spec_type
if '/' in spec_type:
# removing prefix
bare_type = (spec_type.split('/'))[1]
msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
c_type = msg_type
if msg_type in type_map:
c_type = type_map[msg_type]
if is_array:
return c_type + "[" + str(array_length) + "]"
return c_type
def print_field_def(field):
"""
Print the C type from a field
"""
type_name = field.type
# detect embedded types
sl_pos = type_name.find('/')
type_appendix = ''
type_prefix = ''
if (sl_pos >= 0):
type_name = type_name[sl_pos + 1:]
type_prefix = 'struct '
type_appendix = '_s'
# detect arrays
a_pos = type_name.find('[')
array_size = ''
if (a_pos >= 0):
# field is array
array_size = type_name[a_pos:]
type_name = type_name[:a_pos]
if type_name in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type_name]
else:
type_px4 = type_name
comment = ''
if field.name.startswith('_padding'):
comment = ' // required for logger'
print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
array_size, comment))