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Diffstat (limited to 'msg/templates/uorb/msg.h.template')
| -rw-r--r-- | msg/templates/uorb/msg.h.template | 175 |
1 files changed, 175 insertions, 0 deletions
diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template new file mode 100644 index 000000000..f16095c97 --- /dev/null +++ b/msg/templates/uorb/msg.h.template @@ -0,0 +1,175 @@ +@############################################### +@# +@# 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) 2013-2015 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 + +uorb_struct = '%s_s'%spec.short_name +topic_name = spec.short_name +}@ + +#pragma once + +@############################## +@# Generic Includes +@############################## +#include <stdint.h> +#include <uORB/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 c style +#ifndef __cplusplus +@[for constant in spec.constants]@ +#define @(constant.name) @(int(constant.val)) +@[end for] +#endif + +/** + * @@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', + 'float64': 'double', + 'bool': 'bool', + 'fence_vertex': 'fence_vertex', + 'position_setpoint': 'position_setpoint'} + +# 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 @(uorb_struct) { +struct __EXPORT @(uorb_struct) { +@#public: +#else +struct @(uorb_struct) { +#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) +}@ +#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 +}; + +/** + * @@} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(@(topic_name)); |