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improved topic listener

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tumbili
2015-05-03 23:30:18 +02:00
parent 17267a7f66
commit 4b34d0c297
1 changed files with 39 additions and 6 deletions
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Tools/generate_listener.py
+39 -6
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@@ -9,19 +9,33 @@ import sys
raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg") raw_messages = glob.glob(sys.argv[1]+"/msg/*.msg")
messages = [] messages = []
message_floats = [] message_elements = []
for index,m in enumerate(raw_messages): for index,m in enumerate(raw_messages):
temp_list = [] temp_list_floats = []
temp_list_uint64 = []
temp_list_bool = []
if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m): if("actuator_control" not in m and "pwm_input" not in m and "position_setpoint" not in m):
temp_list = []
f = open(m,'r') f = open(m,'r')
for line in f.readlines(): for line in f.readlines():
if(line.split(' ')[0] == "float32"): if(line.split(' ')[0] == "float32"):
temp_list.append(line.split(' ')[1].split('\t')[0].split('\n')[0]) temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "uint64"):
temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "bool"):
temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif ('float32[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
f.close() f.close()
messages.append(m.split('/')[-1].split('.')[0]) messages.append(m.split('/')[-1].split('.')[0])
message_floats.append(temp_list) message_elements.append(temp_list)
num_messages = len(messages); num_messages = len(messages);
print print
@@ -76,6 +90,7 @@ print """
#include <cstring> #include <cstring>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <string.h> #include <string.h>
#include <stdint.h>
""" """
for m in messages: for m in messages:
print "#include <uORB/topics/%s.h>" % m print "#include <uORB/topics/%s.h>" % m
@@ -104,10 +119,28 @@ for index,m in enumerate(messages[1:]):
print "\t\tID = ORB_ID(%s);" % m print "\t\tID = ORB_ID(%s);" % m
print "\t\tstruct %s_s container;" % m print "\t\tstruct %s_s container;" % m
print "\t\tmemset(&container, 0, sizeof(container));" print "\t\tmemset(&container, 0, sizeof(container));"
print "\t\tbool updated;"
print "\t\tfor(uint32_t i = 0;i<num_msgs;i++) {" print "\t\tfor(uint32_t i = 0;i<num_msgs;i++) {"
print "\t\t\torb_check(sub,&updated);"
print "\t\t\tupdated = true;"
print "\t\t\tif(updated) {"
print "\t\t\torb_copy(ID,sub,&container);" print "\t\t\torb_copy(ID,sub,&container);"
for item in message_floats[index+1]: for item in message_elements[index+1]:
print "\t\t\tprintf(\"%s: %%f\\n \",container.%s);" % (item, item) if item[0] == "float":
print "\t\t\tprintf(\"%s: %%f\\n \",container.%s);" % (item[1], item[1])
elif item[0] == "float_array":
print "\t\t\tprintf(\"%s:\");" % item[1]
print "\t\t\tfor (int j=0;j<%d;j++) {" % item[2]
print "\t\t\t\tprintf(\"%%f \",container.%s[j]);" % item[1]
print "\t\t\t}"
print "\t\t\tprintf(\"\\n\");"
elif item[0] == "uint64":
print "\t\t\tprintf(\"%s: %%f\\n \",(float)container.%s);" % (item[1], item[1])
elif item[0] == "uint8":
print "\t\t\tprintf(\"%s: %%f\\n \",(float)container.%s);" % (item[1], item[1])
elif item[0] == "bool":
print "\t\t\tprintf(\"%s: %%s\\n \",container.%s ? \"True\" : \"False\");" % (item[1], item[1])
print "\t\t\t}"
print "\t\t}" print "\t\t}"
print "\t} else {" print "\t} else {"
print "\t\t printf(\" Topic did not match any known topics\\n\");" print "\t\t printf(\" Topic did not match any known topics\\n\");"