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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
added autogenerated code for topic listener tool
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tumbili
1
.gitignore
vendored
1
.gitignore
vendored
@@ -49,3 +49,4 @@ unittests/build
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*.pretty
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xcode
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src/platforms/linux/px4_messages/
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src/systemcmds/topic_listener.cpp
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112
Tools/generate_listener.py
Normal file
112
Tools/generate_listener.py
Normal file
@@ -0,0 +1,112 @@
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#!/usr/bin/python
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import glob
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raw_messages = glob.glob("../msg/*.msg")
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messages = []
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message_floats = []
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for index,m in enumerate(raw_messages):
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temp_list = []
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if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
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f = open(m,'r')
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for line in f.readlines():
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if(line.split(' ')[0] == "float32"):
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temp_list.append(line.split(' ')[1].split('\t')[0].split('\n')[0])
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f.close()
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messages.append(m.split('/')[-1].split('.')[0])
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message_floats.append(temp_list)
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num_messages = len(messages);
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print
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print """
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/****************************************************************************
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*
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* Copyright (c) 2015 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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/**
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* @file topic_listener.cpp, autogenerated by Tools/generate_listener.py
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*
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* Tool for listening to topics when running flight stack on linux.
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*/
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#include <px4_middleware.h>
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#include <px4_app.h>
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#include <px4_config.h>
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <sstream>
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#include <vector>
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#include <cstring>
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#include <uORB/uORB.h>
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#include <string.h>
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"""
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for m in messages:
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print "#include <uORB/topics/%s.h>" % m
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print """
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extern "C" __EXPORT int listener_main(int argc, char *argv[]);
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int listener_main(int argc, char *argv[]) {
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int sub = -1;
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orb_id_t ID;
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if(argc < 3) {
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printf("need at least two arguments: topic name, number of messages to print\\n");
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return 1;
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}
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"""
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print "\tuint32_t num_msgs = (uint32_t)std::stoi(argv[2],NULL,10);"
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print "\tif(strncmp(argv[1],\"%s\",50)== 0) {" % messages[0]
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print "\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0]
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print "\t\tID = ORB_ID(%s);" % messages[0]
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print "\t\tstruct %s_s container;" % messages[0]
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print "\t\tmemset(&container, 0, sizeof(container));"
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for index,m in enumerate(messages[1:]):
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print "\t} else if(strncmp(argv[1],\"%s\",50) == 0) {" % m
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print "\t\tsub = orb_subscribe(ORB_ID(%s));" % m
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print "\t\tID = ORB_ID(%s);" % m
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print "\t\tstruct %s_s container;" % m
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print "\t\tmemset(&container, 0, sizeof(container));"
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print "\t\tfor(uint32_t i = 0;i<num_msgs;i++) {"
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print "\t\t\torb_copy(ID,sub,&container);"
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for item in message_floats[index+1]:
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print "\t\t\tprintf(\"%s: %%f\\n \",container.%s);" % (item, item)
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print "\t\t}"
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print "\t} else {"
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print "\t\t printf(\" Topic did not match any known topics\\n\");"
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print "\t}"
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print("\t return 0;")
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print "}"
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@@ -16,6 +16,7 @@ MODULES += modules/sensors
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# System commands
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#
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MODULES += systemcmds/param
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MODULES += systemcmds/topic_listener
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#
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# General system control
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43
src/systemcmds/topic_listener/module.mk
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43
src/systemcmds/topic_listener/module.mk
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2015 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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#
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# Build the topic listener tool.
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#
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MODULE_COMMAND = listener
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SRCS = topic_listener.cpp
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MODULE_STACKSIZE = 1800
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MAXOPTIMIZATION = -Os
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