From 8b5bc703a11805cada41e06b5e2327d0796ec0e5 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 1 Dec 2014 16:39:27 +0100
Subject: initial version of msg to uorb script

Standard and embedded types work, may need small refinements for some
types
---
 msg/templates/msg.h.template | 141 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 141 insertions(+)
 create mode 100644 msg/templates/msg.h.template

(limited to 'msg/templates/msg.h.template')

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));
-- 
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