UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-09-25 20:28:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add Zenoh pico support

Browse Source
This commit is contained in:
Peter van der Perk
2023-07-05 11:01:30 +02:00
committed by Daniel Agar
parent 5137ca1ccc
commit 019d232911
38 changed files with 3479 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
Tools/msg/px_generate_uorb_topic_files.py
View File

@@ -70,9 +70,9 @@ __license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em', 'uorb_idl_header.h.em']
TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
OUTPUT_FILE_EXT = ['.h', '.cpp']
OUTPUT_FILE_EXT = ['.h', '.cpp', '.h']
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
TOPICS_TOKEN = '# TOPICS '
@@ -150,6 +150,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
em_globals = {
"name_snake_case": full_type_name_snake,
"file_name_in": filename,
"file_base_name": file_base_name,
"search_path": search_path,
"msg_context": msg_context,
"spec": spec,
@@ -161,7 +162,10 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
os.makedirs(outputdir)
template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
if format_idx == 2:
output_file = os.path.join(outputdir, file_base_name + OUTPUT_FILE_EXT[format_idx])
else:
output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
return generate_by_template(output_file, template_file, em_globals)
@@ -217,6 +221,7 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
parser.add_argument('--headers', help='Generate header files', action='store_true')
parser.add_argument('--sources', help='Generate source files', action='store_true')
parser.add_argument('--uorb-idl-header', help='Generate uORB compatible idl header', action='store_true')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
nargs="+")
@@ -241,6 +246,11 @@ if __name__ == "__main__":
generate_idx = 0
elif args.sources:
generate_idx = 1
elif args.uorb_idl_header:
for f in args.file:
print(f)
generate_output_from_file(2, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
exit(0)
else:
print('Error: either --headers or --sources must be specified')
exit(-1)

65
Tools/msg/templates/cdrstream/uorb_idl_header.h.em Normal file
View File

@@ -0,0 +1,65 @@
@{
import genmsg.msgs
import re
from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%name_snake_case
uorb_struct_upper = name_snake_case.upper()
}@
/****************************************************************
PX4 Cyclone DDS IDL to C Translator compatible idl struct
Source: @file_name_in
Compatible with Cyclone DDS: V0.11.0
*****************************************************************/
#ifndef DDSC_IDL_UORB_@(uorb_struct_upper)_H
#define DDSC_IDL_UORB_@(uorb_struct_upper)_H
#include "dds/ddsc/dds_public_impl.h"
#include "dds/cdr/dds_cdrstream.h"
#include <uORB/topics/@(name_snake_case).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 "%s.h"'%(name))
name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
print('#include <uORB/topics/%s.h>'%(name))
}@
#ifdef __cplusplus
extern "C" {
#endif
@{
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('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
}@
typedef struct @uorb_struct px4_msg_@(file_base_name);
extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;
#ifdef __cplusplus
}
#endif
#endif /* DDSC_IDL_UORB_@(uorb_struct_upper)_H */