initial version of msg to uorb script

Standard and embedded types work, may need small refinements for some
types

36 files changed, 301 insertions, 8 deletions

diff --git a/msg/px4_msgs/actuator_armed.msg b/msg/px4_msgs/actuator_armed.msg
new file mode 100644
index 000000000..f6bf58307
--- /dev/null
+++ b/msg/px4_msgs/actuator_armed.msg
@@ -0,0 +1,6 @@
+
+uint64 timestamp	# Microseconds since system boot
+bool armed          # Set to true if system is armed
+bool ready_to_arm	# Set to true if system is ready to be armed
+bool lockdown	    # Set to true if actuators are forced to being disabled (due to emergency or HIL)
+bool force_failsafe # Set to true if the actuators are forced to the failsafe position
diff --git a/msg/px4_msgs/rc_channels.msg b/msg/px4_msgs/rc_channels.msg
new file mode 100644
index 000000000..aaa6696f9
--- /dev/null
+++ b/msg/px4_msgs/rc_channels.msg
@@ -0,0 +1,24 @@
+int32 RC_CHANNELS_FUNCTION_MAX=18
+uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
+uint8 RC_CHANNELS_FUNCTION_ROLL=1
+uint8 RC_CHANNELS_FUNCTION_PITCH=2
+uint8 RC_CHANNELS_FUNCTION_YAW=3
+uint8 RC_CHANNELS_FUNCTION_MODE=4
+uint8 RC_CHANNELS_FUNCTION_RETURN=5
+uint8 RC_CHANNELS_FUNCTION_POSCTL=6
+uint8 RC_CHANNELS_FUNCTION_LOITER=7
+uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8
+uint8 RC_CHANNELS_FUNCTION_ACRO=9
+uint8 RC_CHANNELS_FUNCTION_FLAPS=10
+uint8 RC_CHANNELS_FUNCTION_AUX_1=11
+uint8 RC_CHANNELS_FUNCTION_AUX_2=12
+uint8 RC_CHANNELS_FUNCTION_AUX_3=13
+uint8 RC_CHANNELS_FUNCTION_AUX_4=14
+uint8 RC_CHANNELS_FUNCTION_AUX_5=15
+uint64 timestamp_last_valid					# Timestamp of last valid RC signal
+float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
+uint8 channel_count						# Number of valid channels
+int8[18] function						# Functions mapping
+uint8 rssi							# Receive signal strength index
+bool signal_lost						# Control signal lost, should be checked together with topic timeout
+actuator_armed actuator
diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg
deleted file mode 100644
index 11dc57c42..000000000
--- a/msg/rc_channels.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-Header header
-int32 RC_CHANNELS_FUNCTION_MAX=18
-uint64 timestamp_last_valid					# Timestamp of last valid RC signal
-float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
-uint8 channel_count						# Number of valid channels
-int8[18] function						# Functions mapping
-uint8 rssi							# Receive signal strength index
-bool signal_lost						# Control signal lost, should be checked together with topic timeout
diff --git a/msg/std_msgs/Bool.msg b/msg/std_msgs/Bool.msg
new file mode 100644
index 000000000..f7cabb94f
--- /dev/null
+++ b/msg/std_msgs/Bool.msg
@@ -0,0 +1 @@
+bool data
\ No newline at end of file
diff --git a/msg/std_msgs/Byte.msg b/msg/std_msgs/Byte.msg
new file mode 100644
index 000000000..d993b3455
--- /dev/null
+++ b/msg/std_msgs/Byte.msg
@@ -0,0 +1 @@
+byte data
diff --git a/msg/std_msgs/ByteMultiArray.msg b/msg/std_msgs/ByteMultiArray.msg
new file mode 100644
index 000000000..bb00bd348
--- /dev/null
+++ b/msg/std_msgs/ByteMultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+byte[]            data          # array of data
+
diff --git a/msg/std_msgs/Char.msg b/msg/std_msgs/Char.msg
new file mode 100644
index 000000000..39a1d46a9
--- /dev/null
+++ b/msg/std_msgs/Char.msg
@@ -0,0 +1 @@
+char data
\ No newline at end of file
diff --git a/msg/std_msgs/ColorRGBA.msg b/msg/std_msgs/ColorRGBA.msg
new file mode 100644
index 000000000..182dbc834
--- /dev/null
+++ b/msg/std_msgs/ColorRGBA.msg
@@ -0,0 +1,4 @@
+float32 r
+float32 g
+float32 b
+float32 a
diff --git a/msg/std_msgs/Duration.msg b/msg/std_msgs/Duration.msg
new file mode 100644
index 000000000..f13931ec8
--- /dev/null
+++ b/msg/std_msgs/Duration.msg
@@ -0,0 +1 @@
+duration data
diff --git a/msg/std_msgs/Empty.msg b/msg/std_msgs/Empty.msg
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/msg/std_msgs/Empty.msg
diff --git a/msg/std_msgs/Float32.msg b/msg/std_msgs/Float32.msg
new file mode 100644
index 000000000..e89740534
--- /dev/null
+++ b/msg/std_msgs/Float32.msg
@@ -0,0 +1 @@
+float32 data
\ No newline at end of file
diff --git a/msg/std_msgs/Float32MultiArray.msg b/msg/std_msgs/Float32MultiArray.msg
new file mode 100644
index 000000000..915830846
--- /dev/null
+++ b/msg/std_msgs/Float32MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float32[]         data          # array of data
+
diff --git a/msg/std_msgs/Float64.msg b/msg/std_msgs/Float64.msg
new file mode 100644
index 000000000..cd09d39b8
--- /dev/null
+++ b/msg/std_msgs/Float64.msg
@@ -0,0 +1 @@
+float64 data
\ No newline at end of file
diff --git a/msg/std_msgs/Float64MultiArray.msg b/msg/std_msgs/Float64MultiArray.msg
new file mode 100644
index 000000000..0a13b928f
--- /dev/null
+++ b/msg/std_msgs/Float64MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float64[]         data          # array of data
+
diff --git a/msg/std_msgs/Header.msg b/msg/std_msgs/Header.msg
new file mode 100644
index 000000000..f90d622ea
--- /dev/null
+++ b/msg/std_msgs/Header.msg
@@ -0,0 +1,15 @@
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
diff --git a/msg/std_msgs/Int16.msg b/msg/std_msgs/Int16.msg
new file mode 100644
index 000000000..c4389faf7
--- /dev/null
+++ b/msg/std_msgs/Int16.msg
@@ -0,0 +1 @@
+int16 data
diff --git a/msg/std_msgs/Int16MultiArray.msg b/msg/std_msgs/Int16MultiArray.msg
new file mode 100644
index 000000000..d2ddea1d1
--- /dev/null
+++ b/msg/std_msgs/Int16MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int16[]           data          # array of data
+
diff --git a/msg/std_msgs/Int32.msg b/msg/std_msgs/Int32.msg
new file mode 100644
index 000000000..0ecfe35f5
--- /dev/null
+++ b/msg/std_msgs/Int32.msg
@@ -0,0 +1 @@
+int32 data
\ No newline at end of file
diff --git a/msg/std_msgs/Int32MultiArray.msg b/msg/std_msgs/Int32MultiArray.msg
new file mode 100644
index 000000000..af60abda3
--- /dev/null
+++ b/msg/std_msgs/Int32MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int32[]           data          # array of data
+
diff --git a/msg/std_msgs/Int64.msg b/msg/std_msgs/Int64.msg
new file mode 100644
index 000000000..6961e00f5
--- /dev/null
+++ b/msg/std_msgs/Int64.msg
@@ -0,0 +1 @@
+int64 data
\ No newline at end of file
diff --git a/msg/std_msgs/Int64MultiArray.msg b/msg/std_msgs/Int64MultiArray.msg
new file mode 100644
index 000000000..f4f35e171
--- /dev/null
+++ b/msg/std_msgs/Int64MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int64[]           data          # array of data
+
diff --git a/msg/std_msgs/Int8.msg b/msg/std_msgs/Int8.msg
new file mode 100644
index 000000000..1e42e554f
--- /dev/null
+++ b/msg/std_msgs/Int8.msg
@@ -0,0 +1 @@
+int8 data
diff --git a/msg/std_msgs/Int8MultiArray.msg b/msg/std_msgs/Int8MultiArray.msg
new file mode 100644
index 000000000..a59a37259
--- /dev/null
+++ b/msg/std_msgs/Int8MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int8[]            data          # array of data
+
diff --git a/msg/std_msgs/MultiArrayDimension.msg b/msg/std_msgs/MultiArrayDimension.msg
new file mode 100644
index 000000000..08240462c
--- /dev/null
+++ b/msg/std_msgs/MultiArrayDimension.msg
@@ -0,0 +1,3 @@
+string label   # label of given dimension
+uint32 size    # size of given dimension (in type units)
+uint32 stride  # stride of given dimension
\ No newline at end of file
diff --git a/msg/std_msgs/MultiArrayLayout.msg b/msg/std_msgs/MultiArrayLayout.msg
new file mode 100644
index 000000000..5437f8542
--- /dev/null
+++ b/msg/std_msgs/MultiArrayLayout.msg
@@ -0,0 +1,26 @@
+# The multiarray declares a generic multi-dimensional array of a
+# particular data type.  Dimensions are ordered from outer most
+# to inner most.
+
+MultiArrayDimension[] dim # Array of dimension properties
+uint32 data_offset        # padding bytes at front of data
+
+# Accessors should ALWAYS be written in terms of dimension stride
+# and specified outer-most dimension first.
+# 
+# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
+#
+# A standard, 3-channel 640x480 image with interleaved color channels
+# would be specified as:
+#
+# dim[0].label  = "height"
+# dim[0].size   = 480
+# dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
+# dim[1].label  = "width"
+# dim[1].size   = 640
+# dim[1].stride = 3*640 = 1920
+# dim[2].label  = "channel"
+# dim[2].size   = 3
+# dim[2].stride = 3
+#
+# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
\ No newline at end of file
diff --git a/msg/std_msgs/String.msg b/msg/std_msgs/String.msg
new file mode 100644
index 000000000..ae721739e
--- /dev/null
+++ b/msg/std_msgs/String.msg
@@ -0,0 +1 @@
+string data
diff --git a/msg/std_msgs/Time.msg b/msg/std_msgs/Time.msg
new file mode 100644
index 000000000..7f8f72171
--- /dev/null
+++ b/msg/std_msgs/Time.msg
@@ -0,0 +1 @@
+time data
diff --git a/msg/std_msgs/UInt16.msg b/msg/std_msgs/UInt16.msg
new file mode 100644
index 000000000..87d0c44eb
--- /dev/null
+++ b/msg/std_msgs/UInt16.msg
@@ -0,0 +1 @@
+uint16 data
diff --git a/msg/std_msgs/UInt16MultiArray.msg b/msg/std_msgs/UInt16MultiArray.msg
new file mode 100644
index 000000000..f38970b65
--- /dev/null
+++ b/msg/std_msgs/UInt16MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint16[]            data        # array of data
+
diff --git a/msg/std_msgs/UInt32.msg b/msg/std_msgs/UInt32.msg
new file mode 100644
index 000000000..b6c696b42
--- /dev/null
+++ b/msg/std_msgs/UInt32.msg
@@ -0,0 +1 @@
+uint32 data
\ No newline at end of file
diff --git a/msg/std_msgs/UInt32MultiArray.msg b/msg/std_msgs/UInt32MultiArray.msg
new file mode 100644
index 000000000..b2bb0771f
--- /dev/null
+++ b/msg/std_msgs/UInt32MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint32[]          data          # array of data
+
diff --git a/msg/std_msgs/UInt64.msg b/msg/std_msgs/UInt64.msg
new file mode 100644
index 000000000..2eb1afad3
--- /dev/null
+++ b/msg/std_msgs/UInt64.msg
@@ -0,0 +1 @@
+uint64 data
\ No newline at end of file
diff --git a/msg/std_msgs/UInt64MultiArray.msg b/msg/std_msgs/UInt64MultiArray.msg
new file mode 100644
index 000000000..30d0cd928
--- /dev/null
+++ b/msg/std_msgs/UInt64MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint64[]          data          # array of data
+
diff --git a/msg/std_msgs/UInt8.msg b/msg/std_msgs/UInt8.msg
new file mode 100644
index 000000000..5eefd870d
--- /dev/null
+++ b/msg/std_msgs/UInt8.msg
@@ -0,0 +1 @@
+uint8 data
diff --git a/msg/std_msgs/UInt8MultiArray.msg b/msg/std_msgs/UInt8MultiArray.msg
new file mode 100644
index 000000000..31f7d6a21
--- /dev/null
+++ b/msg/std_msgs/UInt8MultiArray.msg
@@ -0,0 +1,6 @@
+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+uint8[]           data          # array of data
+
diff --git a/msg/templates/msg.h.template b/msg/templates/msg.h.template
new file mode 100644
index 000000000..d05282c88
--- /dev/null
+++ b/msg/templates/msg.h.template
@@ -0,0 +1,141 @@
+@###############################################
+@#
+@# PX4 ROS compatible message source code
+@# generation for C++
+@#
+@# EmPy template for generating <msg>.h files
+@# Based on the original template for ROS
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - file_name_in (String) Source file
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@#  - md5sum (String) MD5Sum of the .msg specification
+@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2014 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.
+ *
+ ****************************************************************************/
+
+ /* Auto-generated by genmsg_cpp from file @file_name_in */
+
+@{
+import genmsg.msgs
+import gencpp
+
+cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace
+cpp_class = '%s_'%spec.short_name
+cpp_full_name = '%s%s'%(cpp_namespace,cpp_class)
+cpp_full_name_with_alloc = '%s<ContainerAllocator>'%(cpp_full_name)
+cpp_msg_definition = gencpp.escape_message_definition(msg_definition)
+}@
+
+#pragma once
+
+@##############################
+@# Generic Includes
+@##############################
+#include <stdint.h>
+#include "../uORB.h"
+
+@##############################
+@# Includes for dependencies
+@##############################
+@{
+for field in spec.parsed_fields():
+  if (not field.is_builtin):
+    if (not field.is_header):
+      (package, name) = genmsg.names.package_resource_name(field.base_type)
+      package = package or spec.package # convert '' to package
+      print('#include <uORB/topics/%s.h>'%(name))
+
+}@
+@# Constants
+@[for constant in spec.constants]@
+#define @(constant.name) = @(int(constant.val))
+@[end for]
+
+/**
+ * @@addtogroup topics
+ * @@{
+ */
+
+@##############################
+@# Main struct of message
+@##############################
+@{
+
+inttypes = ['int8', 'int16', 'int32', 'int64', 'uint8', 'uint16', 'uint32', 'uint64']
+
+# Function to print a standard ros type
+def print_field_def(field):
+  type = field.type
+  # detect embedded types
+  sl_pos = type.find('/')
+  type_appendix = ''
+  type_prefix = ''
+  if (sl_pos >= 0):
+    type = type[sl_pos + 1:]
+    type_prefix = 'struct '
+    type_appendix = '_s'
+
+  # detect arrays
+  a_pos = type.find('[')
+  array_size = ''
+  if (a_pos >= 0):
+    # field is array
+    array_size = type[a_pos:]
+    type = type[:a_pos]
+
+  if type in inttypes:
+    # need to add _t: int8 --> int8_t
+    type_appendix = '_t'
+
+  print('\t%s%s%s%s %s;'%(type_prefix, type, type_appendix, array_size, field.name))
+
+}
+struct @(spec.short_name)_s
+@{
+# loop over all fields and print the type and name
+for field in spec.parsed_fields():
+  if (not field.is_header):
+    print_field_def(field)
+}@
+}
+
+/**
+ * @@}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(@(spec.short_name));