mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 15:40:31 +08:00
topic_listener: avoid code generation, use existing metadata at runtime
This reduces flash size for v5 by ~110KB, the topic listener now only adds about 1.2KB.
This commit is contained in:
Beat Küng
@@ -82,19 +82,11 @@ constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
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ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
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@[end for]
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void print_message(const @uorb_struct &message)
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void print_message(const orb_metadata *meta, const @uorb_struct& message)
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{
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@[if constrained_flash]
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(void)message;
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PX4_INFO_RAW("Not implemented on flash constrained hardware\n");
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@[else]
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PX4_INFO_RAW(" @(uorb_struct)\n");
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const hrt_abstime now = hrt_absolute_time();
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@[for field in sorted_fields]@
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@( print_field(field) )@
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@[end for]@
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@[end if]@
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if (sizeof(message) != meta->o_size) {
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printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
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return;
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}
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orb_print_message_internal(meta, &message, true);
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}
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@@ -133,5 +133,5 @@ ORB_DECLARE(@multi_topic);
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@[end for]
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#ifdef __cplusplus
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void print_message(const @uorb_struct& message);
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void print_message(const orb_metadata *meta, const @uorb_struct& message);
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#endif
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@@ -241,128 +241,6 @@ def convert_type(spec_type, use_short_type=False):
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return c_type
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def print_field(field):
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"""
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Echo printf line
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"""
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# check if there are any upper case letters in the field name
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assert not any(a.isupper()
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for a in field.name), "%r field contains uppercase letters" % field.name
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# skip padding
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if field.name.startswith('_padding'):
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return
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bare_type = field.type
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if '/' in field.type:
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# removing prefix
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bare_type = (bare_type.split('/'))[1]
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msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
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field_name = ""
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if is_array:
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c_type = "["
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if msg_type in type_map:
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p_type = type_printf_map[msg_type]
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else:
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for i in range(array_length):
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print(("PX4_INFO_RAW(\"\\t" + field.type +
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" " + field.name + "[" + str(i) + "]\");"))
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print((" print_message(message." +
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field.name + "[" + str(i) + "]);"))
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return
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for i in range(array_length):
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if i > 0:
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c_type += ", "
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field_name += ", "
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if "float32" in field.type:
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field_name += "(double)message." + \
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field.name + "[" + str(i) + "]"
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else:
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field_name += "message." + field.name + "[" + str(i) + "]"
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c_type += str(p_type)
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c_type += "]"
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else:
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c_type = msg_type
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if msg_type in type_map:
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c_type = type_printf_map[msg_type]
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field_name = "message." + field.name
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# cast double
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if field.type == "float32":
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field_name = "(double)" + field_name
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elif field.type == "bool":
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c_type = '%s'
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field_name = "(" + field_name + " ? \"True\" : \"False\")"
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else:
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print(("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");"))
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print(("\tprint_message(message." + field.name + ");"))
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return
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if field.name == 'timestamp':
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print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
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": " + c_type + " (%.6f seconds ago)\\n\", " + field_name +
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", (now - message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
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elif field.name == 'timestamp_sample':
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print(("\n\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (" + c_type +
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" us before timestamp)\\n\", " + field_name + ", message.timestamp - message.timestamp_sample);\n\t"))
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elif field.name == 'device_id':
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print("char device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
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print("PX4_INFO_RAW(\"\\tdevice_id: %\" PRId32 \" (%s) \\n\", message.device_id, device_id_buffer);")
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elif field.name == 'accel_device_id':
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print("char accel_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(accel_device_id_buffer, sizeof(accel_device_id_buffer), message.accel_device_id);")
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print("PX4_INFO_RAW(\"\\taccel_device_id: %\" PRId32 \" (%s) \\n\", message.accel_device_id, accel_device_id_buffer);")
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elif field.name == 'gyro_device_id':
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print("char gyro_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(gyro_device_id_buffer, sizeof(gyro_device_id_buffer), message.gyro_device_id);")
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print("PX4_INFO_RAW(\"\\tgyro_device_id: %\" PRId32 \" (%s) \\n\", message.gyro_device_id, gyro_device_id_buffer);")
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elif field.name == 'baro_device_id':
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print("char baro_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(baro_device_id_buffer, sizeof(baro_device_id_buffer), message.baro_device_id);")
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print("PX4_INFO_RAW(\"\\tbaro_device_id: %\" PRId32 \" (%s) \\n\", message.baro_device_id, baro_device_id_buffer);")
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elif field.name == 'mag_device_id':
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print("char mag_device_id_buffer[80];")
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print("device::Device::device_id_print_buffer(mag_device_id_buffer, sizeof(mag_device_id_buffer), message.mag_device_id);")
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print("PX4_INFO_RAW(\"\\tmag_device_id: %\" PRId32 \" (%s) \\n\", message.mag_device_id, mag_device_id_buffer);")
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elif (field.name == 'q' or 'q_' in field.name) and field.type == 'float32[4]':
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# float32[4] q/q_d/q_reset/delta_q_reset
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print("{")
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print(
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"\t\tmatrix::Eulerf euler{matrix::Quatf{message." + field.name + "}};")
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print("\t\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + " (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg" ")\\n\", " +
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field_name + ", (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));\n\t")
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print("\t}")
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elif ("flags" in field.name or "bits" in field.name) and "uint" in field.type:
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# print bits of fixed width unsigned integers (uint8, uint16, uint32) if name contains flags or bits
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print("PX4_INFO_RAW(\"\\t" + field.name + ": " +
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c_type + " (0b\", " + field_name + ");")
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print("\tfor (int i = (sizeof(" + field_name + ") * 8) - 1; i >= 0; i--) { PX4_INFO_RAW(\"%lu%s\", (unsigned long) "
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+ field_name + " >> i & 1, ((unsigned)i < (sizeof(" + field_name + ") * 8) - 1 && i % 4 == 0 && i > 0) ? \"'\" : \"\"); }")
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print("\tPX4_INFO_RAW(\")\\n\");")
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elif is_array and 'char' in field.type:
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." +
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str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
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else:
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print(("PX4_INFO_RAW(\"\\t" + field.name + ": " +
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c_type + "\\n\", " + field_name + ");"))
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def print_field_def(field):
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"""
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Print the C type from a field
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