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https://github.com/PX4/PX4-Autopilot.git
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RTPS and micro-CDR build system cleanup (#8084)
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Daniel Agar
166
msg/templates/uorb_microcdr/msg.cpp.template
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166
msg/templates/uorb_microcdr/msg.cpp.template
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@###############################################
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@#
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@# PX4 ROS compatible message source code
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@# generation for C++
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@#
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@# EmPy template for generating <msg>.h files
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@# Based on the original template for ROS
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@#
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@###############################################
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@# Start of Template
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@#
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@# Context:
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@# - file_name_in (String) Source file
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@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
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@# - md5sum (String) MD5Sum of the .msg specification
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@# - search_path (dict) search paths for genmsg
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@# - topics (List of String) multi-topic names
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@###############################################
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/****************************************************************************
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*
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* Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* Auto-generated by genmsg_cpp from file @file_name_in */
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@{
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import genmsg.msgs
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import gencpp
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from px_generate_uorb_topic_helper import * # this is in Tools/
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uorb_struct = '%s_s'%spec.short_name
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topic_name = spec.short_name
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
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topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
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}@
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#include <px4_config.h>
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#include <microcdr/microCdr.h>
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#include <uORB/topics/@(topic_name).h>
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#include <uORB_microcdr/topics/@(topic_name).h>
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@#################################################
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@# Searching for serialize function per each field
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@#################################################
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@{
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def print_info(field):
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print("type: ", field.type, "name: ", field.name, "base_type: ", \
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field.base_type, "field.is_array:", ('0', '1')[field.is_array], " array_len: ", field.array_len, \
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"is_builtin:", ('0', '1')[field.is_builtin], "is_header:", ('0', '1')[field.is_header])
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def print_level_info(fields):
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for field in fields:
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print_info(field)
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if (not field.is_builtin):
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print("\n")
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children_fields = get_children_fields(field.base_type, search_path)
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print_level_info(children_fields)
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print("\n")
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def walk_through_parsed_fields():
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print_level_info(spec.parsed_fields())
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def get_serialization_type_name(type_name):
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if type_name in type_serialize_map:
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return type_serialize_map[type_name]
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else:
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raise Exception("Type {0} not supported, add to type_serialize_map!".format(type_name))
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def add_serialize_functions(fields, scope_name):
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for field in fields:
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if (not field.is_header):
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if (field.is_builtin):
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if (not field.is_array):
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print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
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else:
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print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
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else:
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name = field.name
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children_fields = get_children_fields(field.base_type, search_path)
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if (scope_name): name = scope_name + name
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if (not field.is_array):
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add_serialize_functions(children_fields, name + '.')
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else:
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for i in range(field.array_len):
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add_serialize_functions(children_fields, name + ('[%d].' %i))
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def add_deserialize_functions(fields, scope_name):
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for field in fields:
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if (not field.is_header):
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if (field.is_builtin):
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if (not field.is_array):
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print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
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else:
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for i in range(field.array_len):
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print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
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else:
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name = field.name
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children_fields = get_children_fields(field.base_type, search_path)
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if (scope_name): name = scope_name + name
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if (not field.is_array):
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add_deserialize_functions(children_fields, name + '.')
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else:
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for i in range(field.array_len):
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add_deserialize_functions(children_fields, name + ('[%d].' %i))
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def add_code_to_serialize():
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# sort fields (using a stable sort) as in the declaration of the type
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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add_serialize_functions(sorted_fields, "")
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def add_code_to_deserialize():
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# sort fields (using a stable sort) as in the declaration of the type
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sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
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add_deserialize_functions(sorted_fields, "")
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}@
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void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter)
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{
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if (nullptr == input || nullptr == output || nullptr == length || nullptr == microCDRWriter) return;
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resetStaticMicroCDRForSerialize(microCDRWriter);
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@add_code_to_serialize()
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(*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
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}
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void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader)
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{
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if (nullptr == output || nullptr == input || nullptr == microCDRReader) return;
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resetStaticMicroCDRForDeserialize(microCDRReader);
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@add_code_to_deserialize()
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}
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