generate message wrapper headers on ros

2 files changed, 100 insertions, 5 deletions

diff --git a/msg/templates/px4/ros/msg.h.template b/msg/templates/px4/ros/msg.h.template
new file mode 100644
index 000000000..176be0d09
--- /dev/null
+++ b/msg/templates/px4/ros/msg.h.template
@@ -0,0 +1,95 @@
+@###############################################
+@#
+@# PX4 ROS compatible message source code
+@# generation for C++
+@#
+@# This file generates the multiplatform wrapper
+@#
+@# 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) 2013-2015 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.
+ *
+ ****************************************************************************/
+
+/* Auto-generated by genmsg_cpp from file @file_name_in */
+
+@{
+import genmsg.msgs
+import gencpp
+
+cpp_class = 'px4_%s'%spec.short_name
+native_type = spec.short_name
+topic_name = spec.short_name
+}@
+
+#pragma once
+
+@##############################
+@# Generic Includes
+@##############################
+#include <uORB/topics/@(topic_name).h>
+#include "platforms/px4_message.h"
+
+@##############################
+@# Class
+@##############################
+
+namespace px4
+{
+
+class @(cpp_class) :
+	public PX4Message<@(native_type)>
+{
+public:
+	@(cpp_class)() :
+		PX4Message<@(native_type)>()
+	{}
+
+	@(cpp_class)(@(native_type) msg) :
+		PX4Message<@(native_type)>(msg)
+	{}
+
+	~@(cpp_class)() {}
+
+	static PX4TopicHandle handle() {return "@(topic_name)";}
+};
+
+};
diff --git a/msg/templates/px4/msg.h.template b/msg/templates/px4/uorb/msg.h.template
index ba0fbd4bf..2d4251107 100644
--- a/msg/templates/px4/msg.h.template
+++ b/msg/templates/px4/uorb/msg.h.template
@@ -56,7 +56,7 @@ import genmsg.msgs
 import gencpp
 
 cpp_class = 'px4_%s'%spec.short_name
-uorb_struct = '%s_s'%spec.short_name
+native_type = '%s_s'%spec.short_name
 topic_name = spec.short_name
 }@
 
@@ -76,15 +76,15 @@ namespace px4
 {
 
 class __EXPORT @(cpp_class) :
-	public PX4Message<@(uorb_struct)>
+	public PX4Message<@(native_type)>
 {
 public:
 	@(cpp_class)() :
-		PX4Message<@(uorb_struct)>()
+		PX4Message<@(native_type)>()
 	{}
 
-	@(cpp_class)(@(uorb_struct) msg) :
-		PX4Message<@(uorb_struct)>(msg)
+	@(cpp_class)(@(native_type) msg) :
+		PX4Message<@(native_type)>(msg)
 	{}
 
 	~@(cpp_class)() {}