uorb constants are now defined inside class

2 files changed, 21 insertions, 161 deletions

diff --git a/msg/templates/msg.h.template b/msg/templates/msg.h.template
deleted file mode 100644
index cc128c1ea..000000000
--- a/msg/templates/msg.h.template
+++ /dev/null
@@ -1,159 +0,0 @@
-@###############################################
-@#
-@# 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
-@##############################
-@{
-
-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',
-  'bool': 'bool',
-  'fence_vertex': 'fence_vertex'}
-
-# 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 type_map:
-    # need to add _t: int8 --> int8_t
-    type_px4 = type_map[type]
-  else:
-    raise Exception("Type {0} not supported, add to to template file!".format(type))
-
-  print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
-
-}
-#ifdef __cplusplus
-@#class @(spec.short_name)_s {
-struct __EXPORT @(spec.short_name)_s {
-@#public:
-#else
-struct @(spec.short_name)_s {
-#endif
-@{
-# 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));
diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template
index 622641617..f16095c97 100644
--- a/msg/templates/uorb/msg.h.template
+++ b/msg/templates/uorb/msg.h.template
@@ -77,10 +77,13 @@ for field in spec.parsed_fields():
       print('#include <uORB/topics/%s.h>'%(name))
 
 }@
-@# Constants
+
+@# Constants c style
+#ifndef __cplusplus
 @[for constant in spec.constants]@
 #define @(constant.name) @(int(constant.val))
 @[end for]
+#endif
 
 /**
  * @@addtogroup topics
@@ -101,8 +104,10 @@ type_map = {'int8': 'int8_t',
   'uint32': 'uint32_t',
   'uint64': 'uint64_t',
   'float32': 'float',
+  'float64': 'double',
   'bool': 'bool',
-  'fence_vertex': 'fence_vertex'}
+  'fence_vertex': 'fence_vertex',
+  'position_setpoint': 'position_setpoint'}
 
 # Function to print a standard ros type
 def print_field_def(field):
@@ -146,6 +151,20 @@ for field in spec.parsed_fields():
   if (not field.is_header):
     print_field_def(field)
 }@
+#ifdef __cplusplus
+@# Constants again c++-ified
+@{
+for constant in spec.constants:
+  type = constant.type
+  if type in type_map:
+    # need to add _t: int8 --> int8_t
+    type_px4 = type_map[type]
+  else:
+    raise Exception("Type {0} not supported, add to to template file!".format(type))
+
+  print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
+}
+#endif
 };
 
 /**