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WIP logger serialization

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This commit is contained in:
Daniel Agar
2016-05-03 16:50:12 -04:00
committed by Lorenz Meier
parent 8f5cb4084d
commit 69c1ce1714
23 changed files with 154 additions and 314 deletions
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msg/templates/uorb/msg.cpp.template
+55 -15
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@@ -57,7 +57,8 @@ uorb_struct = '%s_s'%spec.short_name
uorb_pack_func = 'pack_%s'%spec.short_name
topic_name = spec.short_name
type_map = {'int8': 'int8_t',
type_map = {
'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
@@ -71,23 +72,28 @@ type_map = {'int8': 'int8_t',
'char': 'char',
'fence_vertex': 'fence_vertex',
'position_setpoint': 'position_setpoint',
'esc_report': 'esc_report'}
'esc_report': 'esc_report'
}
msgtype_size_map = {'int8': 8,
'int16': 16,
'int32': 32,
'int64': 64,
'uint8': 8,
'uint16': 16,
'uint32': 32,
'uint64': 64,
'float32': 32,
'float64': 64,
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,
'fence_vertex': 8,
'position_setpoint': 104,
'esc_report': 36}
'esc_report': 36
}
msgtypes_composite = ['position_setpoint', 'esc_report', 'fence_vertex']
def convert_type(spec_type):
bare_type = spec_type
@@ -112,7 +118,7 @@ def bare_name(msg_type):
def sizeof_field_type(field):
return msgtype_size_map[bare_name(field.type)]
sorted_fields = sorted(spec.parsed_fields(), key = sizeof_field_type, reverse=True)
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
}@
@@ -120,9 +126,43 @@ topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in so
#include <drivers/drv_orb_dev.h>
#include <uORB/topics/@(topic_name).h>
void serialize_@(topic_name)(void *in, struct orb_output_buffer *buffer)
{
struct @(uorb_struct) *topic = static_cast<struct @(uorb_struct) *>(in);
@{
serialize_expr = " serialize_{type}(&topic->{field}, buffer);"
serialize_array_expr = " serialize_{type}(&topic->{field}[{index}], buffer);"
buffer_memcpy_expr = " memcpy(((char *)buffer->data) + buffer->next, &topic->{field}, sizeof(topic->{field}));"
buffer_next_expr = " buffer->next += sizeof(topic->{field});"
for each_field in sorted_fields:
if not each_field.is_header:
# call appropriate serialize functions for fields that are orb messages
if bare_name(each_field.type) in msgtypes_composite:
if each_field.is_array:
for i in range(each_field.array_len):
print(serialize_array_expr.format(type=type_map[bare_name(each_field.type)], field=each_field.name, index=i))
else:
print(serialize_expr.format(type=type_map[bare_name(each_field.type)], field=each_field.name))
# copy primitive fields
else:
print(buffer_memcpy_expr.format(field=each_field.name))
print(buffer_next_expr.format(field=each_field.name))
}@
}
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
const char *__orb_@(topic_name)_fields = "@( topic_name.upper() ):@( ";".join(topic_fields) );";
@[for multi_topic in topics]@
ORB_DEFINE(@multi_topic, struct @uorb_struct, __orb_@(topic_name)_fields);
ORB_DEFINE(@multi_topic, struct @uorb_struct, &serialize_@(topic_name), __orb_@(topic_name)_fields);
@[end for]