mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
reformat orb message templates
This commit is contained in:
Beat Küng
Lorenz Meier
@@ -59,33 +59,33 @@ uorb_struct = '%s_s'%spec.short_name
|
||||
topic_name = spec.short_name
|
||||
|
||||
type_map = {
|
||||
'int8': 'int8_t',
|
||||
'int16': 'int16_t',
|
||||
'int32': 'int32_t',
|
||||
'int64': 'int64_t',
|
||||
'uint8': 'uint8_t',
|
||||
'uint16': 'uint16_t',
|
||||
'uint32': 'uint32_t',
|
||||
'uint64': 'uint64_t',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'bool',
|
||||
'char': 'char',
|
||||
'int8': 'int8_t',
|
||||
'int16': 'int16_t',
|
||||
'int32': 'int32_t',
|
||||
'int64': 'int64_t',
|
||||
'uint8': 'uint8_t',
|
||||
'uint16': 'uint16_t',
|
||||
'uint32': 'uint32_t',
|
||||
'uint64': 'uint64_t',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'bool',
|
||||
'char': 'char',
|
||||
}
|
||||
|
||||
msgtype_size_map = {
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
'int32': 4,
|
||||
'int64': 8,
|
||||
'uint8': 1,
|
||||
'uint16': 2,
|
||||
'uint32': 4,
|
||||
'uint64': 8,
|
||||
'float32': 4,
|
||||
'float64': 8,
|
||||
'bool': 1,
|
||||
'char': 1,
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
'int32': 4,
|
||||
'int64': 8,
|
||||
'uint8': 1,
|
||||
'uint16': 2,
|
||||
'uint32': 4,
|
||||
'uint64': 8,
|
||||
'float32': 4,
|
||||
'float64': 8,
|
||||
'bool': 1,
|
||||
'char': 1,
|
||||
}
|
||||
|
||||
def convert_type(spec_type):
|
||||
@@ -126,47 +126,47 @@ def get_children_fields(base_type):
|
||||
# Add padding fields before the embedded types, at the end and calculate the
|
||||
# struct size
|
||||
def add_padding_bytes(fields):
|
||||
struct_size = 8 # account for the timestamp
|
||||
align_to = 8 # this is always 8, because of the 64bit timestamp
|
||||
i = 0
|
||||
padding_idx = 0
|
||||
while i < len(fields):
|
||||
field = fields[i]
|
||||
if not field.is_header:
|
||||
a_pos = field.type.find('[')
|
||||
array_size = 1
|
||||
if field.is_array:
|
||||
array_size = field.array_len
|
||||
if field.is_builtin:
|
||||
field.sizeof_field_type = sizeof_field_type(field)
|
||||
else:
|
||||
# embedded type: may need to add padding
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes != align_to:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.insert(i, padding_field)
|
||||
i += 1
|
||||
children_fields = get_children_fields(field.base_type)
|
||||
field.sizeof_field_type, unused = add_padding_bytes(children_fields)
|
||||
struct_size += field.sizeof_field_type * array_size
|
||||
i += 1
|
||||
struct_size = 8 # account for the timestamp
|
||||
align_to = 8 # this is always 8, because of the 64bit timestamp
|
||||
i = 0
|
||||
padding_idx = 0
|
||||
while i < len(fields):
|
||||
field = fields[i]
|
||||
if not field.is_header:
|
||||
a_pos = field.type.find('[')
|
||||
array_size = 1
|
||||
if field.is_array:
|
||||
array_size = field.array_len
|
||||
if field.is_builtin:
|
||||
field.sizeof_field_type = sizeof_field_type(field)
|
||||
else:
|
||||
# embedded type: may need to add padding
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes != align_to:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.insert(i, padding_field)
|
||||
i += 1
|
||||
children_fields = get_children_fields(field.base_type)
|
||||
field.sizeof_field_type, unused = add_padding_bytes(children_fields)
|
||||
struct_size += field.sizeof_field_type * array_size
|
||||
i += 1
|
||||
|
||||
# add padding at the end (necessary for embedded types)
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes == align_to:
|
||||
num_padding_bytes = 0
|
||||
else:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.append(padding_field)
|
||||
return (struct_size, num_padding_bytes)
|
||||
# add padding at the end (necessary for embedded types)
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes == align_to:
|
||||
num_padding_bytes = 0
|
||||
else:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.append(padding_field)
|
||||
return (struct_size, num_padding_bytes)
|
||||
|
||||
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
||||
struct_size, padding_end_size = add_padding_bytes(sorted_fields)
|
||||
|
||||
@@ -78,11 +78,11 @@ topic_name = spec.short_name
|
||||
@##############################
|
||||
@{
|
||||
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))
|
||||
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 c style
|
||||
@@ -97,33 +97,33 @@ for field in spec.parsed_fields():
|
||||
@##############################
|
||||
@{
|
||||
type_map = {
|
||||
'int8': 'int8_t',
|
||||
'int16': 'int16_t',
|
||||
'int32': 'int32_t',
|
||||
'int64': 'int64_t',
|
||||
'uint8': 'uint8_t',
|
||||
'uint16': 'uint16_t',
|
||||
'uint32': 'uint32_t',
|
||||
'uint64': 'uint64_t',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'bool',
|
||||
'char': 'char',
|
||||
'int8': 'int8_t',
|
||||
'int16': 'int16_t',
|
||||
'int32': 'int32_t',
|
||||
'int64': 'int64_t',
|
||||
'uint8': 'uint8_t',
|
||||
'uint16': 'uint16_t',
|
||||
'uint32': 'uint32_t',
|
||||
'uint64': 'uint64_t',
|
||||
'float32': 'float',
|
||||
'float64': 'double',
|
||||
'bool': 'bool',
|
||||
'char': 'char',
|
||||
}
|
||||
|
||||
msgtype_size_map = {
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
'int32': 4,
|
||||
'int64': 8,
|
||||
'uint8': 1,
|
||||
'uint16': 2,
|
||||
'uint32': 4,
|
||||
'uint64': 8,
|
||||
'float32': 4,
|
||||
'float64': 8,
|
||||
'bool': 1,
|
||||
'char': 1,
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
'int32': 4,
|
||||
'int64': 8,
|
||||
'uint8': 1,
|
||||
'uint16': 2,
|
||||
'uint32': 4,
|
||||
'uint64': 8,
|
||||
'float32': 4,
|
||||
'float64': 8,
|
||||
'bool': 1,
|
||||
'char': 1,
|
||||
}
|
||||
|
||||
def bare_name(msg_type):
|
||||
@@ -150,89 +150,89 @@ def get_children_fields(base_type):
|
||||
# Add padding fields before the embedded types, at the end and calculate the
|
||||
# struct size
|
||||
def add_padding_bytes(fields):
|
||||
struct_size = 8 # account for the timestamp
|
||||
align_to = 8 # this is always 8, because of the 64bit timestamp
|
||||
i = 0
|
||||
padding_idx = 0
|
||||
while i < len(fields):
|
||||
field = fields[i]
|
||||
if not field.is_header:
|
||||
a_pos = field.type.find('[')
|
||||
array_size = 1
|
||||
if field.is_array:
|
||||
array_size = field.array_len
|
||||
if field.is_builtin:
|
||||
field.sizeof_field_type = sizeof_field_type(field)
|
||||
else:
|
||||
# embedded type: may need to add padding
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes != align_to:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.insert(i, padding_field)
|
||||
i += 1
|
||||
children_fields = get_children_fields(field.base_type)
|
||||
field.sizeof_field_type, unused = add_padding_bytes(children_fields)
|
||||
struct_size += field.sizeof_field_type * array_size
|
||||
i += 1
|
||||
struct_size = 8 # account for the timestamp
|
||||
align_to = 8 # this is always 8, because of the 64bit timestamp
|
||||
i = 0
|
||||
padding_idx = 0
|
||||
while i < len(fields):
|
||||
field = fields[i]
|
||||
if not field.is_header:
|
||||
a_pos = field.type.find('[')
|
||||
array_size = 1
|
||||
if field.is_array:
|
||||
array_size = field.array_len
|
||||
if field.is_builtin:
|
||||
field.sizeof_field_type = sizeof_field_type(field)
|
||||
else:
|
||||
# embedded type: may need to add padding
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes != align_to:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.insert(i, padding_field)
|
||||
i += 1
|
||||
children_fields = get_children_fields(field.base_type)
|
||||
field.sizeof_field_type, unused = add_padding_bytes(children_fields)
|
||||
struct_size += field.sizeof_field_type * array_size
|
||||
i += 1
|
||||
|
||||
# add padding at the end (necessary for embedded types)
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes == align_to:
|
||||
num_padding_bytes = 0
|
||||
else:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.append(padding_field)
|
||||
return (struct_size, num_padding_bytes)
|
||||
# add padding at the end (necessary for embedded types)
|
||||
num_padding_bytes = align_to - (struct_size % align_to)
|
||||
if num_padding_bytes == align_to:
|
||||
num_padding_bytes = 0
|
||||
else:
|
||||
padding_field = genmsg.Field('_padding'+str(padding_idx),
|
||||
'uint8['+str(num_padding_bytes)+']')
|
||||
padding_idx += 1
|
||||
padding_field.sizeof_field_type = 1
|
||||
struct_size += num_padding_bytes
|
||||
fields.append(padding_field)
|
||||
return (struct_size, num_padding_bytes)
|
||||
|
||||
# Function to print a standard ros type
|
||||
def print_field_def(field):
|
||||
type_name = field.type
|
||||
# detect embedded types
|
||||
sl_pos = type_name.find('/')
|
||||
type_appendix = ''
|
||||
type_prefix = ''
|
||||
if (sl_pos >= 0):
|
||||
type_name = type_name[sl_pos + 1:]
|
||||
type_prefix = 'struct '
|
||||
type_appendix = '_s'
|
||||
type_name = field.type
|
||||
# detect embedded types
|
||||
sl_pos = type_name.find('/')
|
||||
type_appendix = ''
|
||||
type_prefix = ''
|
||||
if (sl_pos >= 0):
|
||||
type_name = type_name[sl_pos + 1:]
|
||||
type_prefix = 'struct '
|
||||
type_appendix = '_s'
|
||||
|
||||
# detect arrays
|
||||
a_pos = type_name.find('[')
|
||||
array_size = ''
|
||||
if (a_pos >= 0):
|
||||
# field is array
|
||||
array_size = type_name[a_pos:]
|
||||
type_name = type_name[:a_pos]
|
||||
# detect arrays
|
||||
a_pos = type_name.find('[')
|
||||
array_size = ''
|
||||
if (a_pos >= 0):
|
||||
# field is array
|
||||
array_size = type_name[a_pos:]
|
||||
type_name = type_name[:a_pos]
|
||||
|
||||
if type_name in type_map:
|
||||
# need to add _t: int8 --> int8_t
|
||||
type_px4 = type_map[type_name]
|
||||
else:
|
||||
type_px4 = type_name
|
||||
if type_name in type_map:
|
||||
# need to add _t: int8 --> int8_t
|
||||
type_px4 = type_map[type_name]
|
||||
else:
|
||||
type_px4 = type_name
|
||||
|
||||
comment = ''
|
||||
if field.name.startswith('_padding'):
|
||||
comment = ' // required for logger'
|
||||
comment = ''
|
||||
if field.name.startswith('_padding'):
|
||||
comment = ' // required for logger'
|
||||
|
||||
print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
|
||||
array_size, comment))
|
||||
print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
|
||||
array_size, comment))
|
||||
|
||||
def print_parsed_fields():
|
||||
# sort fields (using a stable sort)
|
||||
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
||||
struct_size, padding_end_size = add_padding_bytes(sorted_fields)
|
||||
# loop over all fields and print the type and name
|
||||
for field in sorted_fields:
|
||||
if (not field.is_header):
|
||||
print_field_def(field)
|
||||
# sort fields (using a stable sort)
|
||||
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
|
||||
struct_size, padding_end_size = add_padding_bytes(sorted_fields)
|
||||
# loop over all fields and print the type and name
|
||||
for field in sorted_fields:
|
||||
if (not field.is_header):
|
||||
print_field_def(field)
|
||||
}@
|
||||
|
||||
#ifdef __cplusplus
|
||||
@@ -249,14 +249,14 @@ struct @(uorb_struct) {
|
||||
@# Constants again c++-ified
|
||||
@{
|
||||
for constant in spec.constants:
|
||||
type_name = constant.type
|
||||
if type_name in type_map:
|
||||
# need to add _t: int8 --> int8_t
|
||||
type_px4 = type_map[type_name]
|
||||
else:
|
||||
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
|
||||
type_name = constant.type
|
||||
if type_name in type_map:
|
||||
# need to add _t: int8 --> int8_t
|
||||
type_px4 = type_map[type_name]
|
||||
else:
|
||||
raise Exception("Type {0} not supported, add to to template file!".format(type_name))
|
||||
|
||||
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
|
||||
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
|
||||
}
|
||||
#endif
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user