diff options
-rw-r--r-- | msg/templates/msg.h.template | 159 | ||||
-rw-r--r-- | msg/templates/uorb/msg.h.template | 23 |
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 }; /** |