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microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs

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This commit is contained in:
TSC21
2019-06-02 16:12:50 +01:00
committed by Beat Küng
parent a747116eab
commit 3d9f83a4f2
23 changed files with 290 additions and 153 deletions
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21
msg/templates/urtps/msg.idl.em
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@@ -7,6 +7,7 @@
@################################################################################
@#
@# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
@# Copyright (C) 2018-2019 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:
@@ -42,6 +43,8 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
builtin_types = set()
array_types = set()
topic = alias if alias else spec.short_name
}@
@#################################################
@# Searching for serialize function per each field
@@ -71,7 +74,7 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if field.is_array:
print(' {0}__{1}_array_{2} {3}_;'.format(spec.short_name, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
print(' {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
else:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
print(' {0} {1}_;'.format(base_type, field.name))
@@ -86,7 +89,7 @@ def add_array_typedefs():
for field in spec.parsed_fields():
if not field.is_header and field.is_array:
base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, spec.short_name, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
if array_type not in array_types:
array_types.add(array_type)
for atype in array_types:
@@ -97,11 +100,11 @@ def add_msg_constants():
sorted_constants = sorted(spec.constants,
key=sizeof_field_type, reverse=True)
for constant in sorted_constants:
print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), spec.short_name, constant.name, constant.val))
print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), topic, constant.name, constant.val))
}
#ifndef __@(spec.short_name)__idl__
#define __@(spec.short_name)__idl__
#ifndef __@(topic)__idl__
#define __@(topic)__idl__
@#############################
@# Include dependency messages
@@ -113,11 +116,11 @@ def add_msg_constants():
@add_msg_constants()
@# Array types
@add_array_typedefs()
struct @(spec.short_name)_
struct @(topic)_
{
@add_msg_fields()
}; // struct @(spec.short_name)_
}; // struct @(topic)_
#pragma keylist @(spec.short_name)_
#pragma keylist @(topic)_
#endif // __@(spec.short_name)__idl__
#endif // __@(topic)__idl__