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update micro-CDR version and msg templates to fit the up to date version

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This commit is contained in:
TSC21
2018-11-30 08:46:57 +00:00
committed by Lorenz Meier
parent 3e57067b35
commit c25d122f12
5 changed files with 29 additions and 31 deletions
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msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+11 -10
View File
@@ -24,7 +24,8 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
}@ }@
/**************************************************************************** /****************************************************************************
* *
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). * Copyright (c) 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
@@ -62,7 +63,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <ctime> #include <ctime>
#include <pthread.h> #include <pthread.h>
#include <microcdr/microcdr.h> #include <ucdr/microcdr.h>
#include <px4_time.h> #include <px4_time.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
@@ -91,10 +92,10 @@ void* send(void* /*unused*/)
orb_set_interval(fds[@(idx)], _options.update_time_ms); orb_set_interval(fds[@(idx)], _options.update_time_ms);
@[end for]@ @[end for]@
// MicroBuffer to serialized using the user defined buffer // ucdrBuffer to serialize using the user defined buffer
MicroBuffer MicroBufferWriter; ucdrBuffer writer;
header_length=transport_node->get_header_length(); header_length=transport_node->get_header_length();
init_micro_buffer(&MicroBufferWriter, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length); ucdr_init_buffer(&writer, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
struct timespec begin; struct timespec begin;
px4_clock_gettime(CLOCK_REALTIME, &begin); px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -111,7 +112,7 @@ void* send(void* /*unused*/)
// copy raw data into local buffer // copy raw data into local buffer
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) { if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
/* payload is shifted by header length to make room for header*/ /* payload is shifted by header length to make room for header*/
serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length); serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length))) if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{ {
@@ -165,9 +166,9 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
orb_advert_t @(topic)_pub = nullptr; orb_advert_t @(topic)_pub = nullptr;
@[end for]@ @[end for]@
// MicroBuffer to deserialized using the user defined buffer // ucdrBuffer to deserialize using the user defined buffer
MicroBuffer MicroBufferReader; ucdrBuffer reader;
init_micro_buffer(&MicroBufferReader, (uint8_t*)data_buffer, BUFFER_SIZE); ucdr_init_buffer(&reader, (uint8_t*)data_buffer, BUFFER_SIZE);
@[end if]@ @[end if]@
px4_clock_gettime(CLOCK_REALTIME, &begin); px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -191,7 +192,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
case @(rtps_message_id(ids, topic)): case @(rtps_message_id(ids, topic)):
{ {
deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer); deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) { if (!@(topic)_pub) {
@(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data); @(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
} else { } else {
msg/templates/uorb_microcdr/msg.cpp.template
+13 -13
View File
@@ -19,7 +19,7 @@
@############################################### @###############################################
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2013-2016 PX4 Development Team. All rights reserved. * Copyright (C) 2013-2018 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -62,7 +62,7 @@ topic_name = spec.short_name
}@ }@
#include <px4_config.h> #include <px4_config.h>
#include <microcdr/microcdr.h> #include <ucdr/microcdr.h>
#include <uORB/topics/@(topic_name).h> #include <uORB/topics/@(topic_name).h>
#include <uORB_microcdr/topics/@(topic_name).h> #include <uORB_microcdr/topics/@(topic_name).h>
@@ -99,9 +99,9 @@ def add_serialize_functions(fields, scope_name):
if (not field.is_header): if (not field.is_header):
if (field.is_builtin): if (field.is_builtin):
if (not field.is_array): if (not field.is_array):
print(" serialize_" + str(get_serialization_type_name(field.type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ");") print(" ucdr_serialize_" + str(get_serialization_type_name(field.type)) + "(writer, input->" + scope_name+str(field.name) + ");")
else: else:
print(" serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");") print(" ucdr_serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(writer, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
else: else:
name = field.name name = field.name
children_fields = get_children_fields(field.base_type, search_path) children_fields = get_children_fields(field.base_type, search_path)
@@ -117,9 +117,9 @@ def add_deserialize_functions(fields, scope_name):
if (not field.is_header): if (not field.is_header):
if (field.is_builtin): if (field.is_builtin):
if (not field.is_array): if (not field.is_array):
print(" deserialize_" + str(get_serialization_type_name(field.type)) + "(microCDRReader, &output->" + scope_name+str(field.name) + ");") print(" ucdr_deserialize_" + str(get_serialization_type_name(field.type)) + "(reader, &output->" + scope_name+str(field.name) + ");")
else: else:
print(" deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRReader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");") print(" ucdr_deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(reader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
else: else:
name = field.name name = field.name
children_fields = get_children_fields(field.base_type, search_path) children_fields = get_children_fields(field.base_type, search_path)
@@ -141,23 +141,23 @@ def add_code_to_deserialize():
add_deserialize_functions(sorted_fields, "") add_deserialize_functions(sorted_fields, "")
}@ }@
void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length) void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length)
{ {
if (nullptr == microCDRWriter || nullptr == input || nullptr == output || nullptr == length) if (nullptr == writer || nullptr == input || nullptr == output || nullptr == length)
return; return;
reset_micro_buffer(microCDRWriter); ucdr_reset_buffer(writer);
@add_code_to_serialize() @add_code_to_serialize()
(*length) = micro_buffer_length(microCDRWriter); (*length) = ucdr_buffer_length(writer);
} }
void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input) void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input)
{ {
if (nullptr == microCDRReader || nullptr == output || nullptr == input) if (nullptr == reader || nullptr == output || nullptr == input)
return; return;
reset_micro_buffer(microCDRReader); ucdr_reset_buffer(reader);
@add_code_to_deserialize() @add_code_to_deserialize()
} }
msg/templates/uorb_microcdr/msg.h.template
+3 -5
View File
@@ -19,7 +19,7 @@
@############################################### @###############################################
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2013-2016 PX4 Development Team. All rights reserved. * Copyright (C) 2013-2018 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -69,7 +69,5 @@ topic_name = spec.short_name
#include <uORB/topics/@(topic_name).h> #include <uORB/topics/@(topic_name).h>
#include <uORB_microcdr/topics/@(topic_name).h> #include <uORB_microcdr/topics/@(topic_name).h>
struct MicroBuffer; void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length);
void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input);
void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length);
void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input);
src/modules/micrortps_bridge/micro-CDR
+1 -1
Submodule src/modules/micrortps_bridge/micro-CDR updated: f325c4f773...d23eda8772
src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+1 -2
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@@ -40,7 +40,7 @@
#include <pthread.h> #include <pthread.h>
#include <termios.h> #include <termios.h>
#include <microcdr/microcdr.h> #include <ucdr/microcdr.h>
#include <px4_config.h> #include <px4_config.h>
#include <px4_getopt.h> #include <px4_getopt.h>
#include <px4_posix.h> #include <px4_posix.h>
@@ -92,4 +92,3 @@ struct options {
extern struct options _options; extern struct options _options;
extern bool _should_exit_task; extern bool _should_exit_task;
extern Transport_node *transport_node; extern Transport_node *transport_node;