generate message wrapper headers on ros

.gitignore

@@ -41,6 +41,7 @@ tags
 *.orig
 src/modules/uORB/topics/*
 src/platforms/nuttx/px4_messages/*
+src/platforms/ros/px4_messages/*
 Firmware.zip
 unittests/build
 *.generated.h

CMakeLists.txt

@@ -125,6 +125,16 @@ include_directories(
   ${EIGEN_INCLUDE_DIRS}
 )
 
+## generate multiplatform wrapper headers
+## note that the message header files are generated as in any ROS project with generate_messages()
+set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
+set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
+set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
+set(MULTIPLATFORM_PREFIX px4_)
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
+	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
+	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
+
 ## Declare a cpp library
 add_library(px4
   src/platforms/ros/px4_ros_impl.cpp
@@ -133,7 +143,7 @@ add_library(px4
   src/lib/mathlib/math/Limits.cpp
   src/modules/systemlib/circuit_breaker.cpp
 )
-add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
 
 target_link_libraries(px4
   ${catkin_LIBRARIES}
@@ -143,7 +153,7 @@ target_link_libraries(px4
 add_executable(publisher
 	src/examples/publisher/publisher_main.cpp
 	src/examples/publisher/publisher_example.cpp)
-add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
 target_link_libraries(publisher
   ${catkin_LIBRARIES}
   px4
@@ -153,7 +163,7 @@ target_link_libraries(publisher
 add_executable(subscriber
 	src/examples/subscriber/subscriber_main.cpp
 	src/examples/subscriber/subscriber_example.cpp)
-add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
 target_link_libraries(subscriber
   ${catkin_LIBRARIES}
   px4

Makefile

@@ -226,13 +226,13 @@ updatesubmodules:
 
 MSG_DIR = $(PX4_BASE)msg
 UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
-MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4
+MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
 TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
 MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
 MULTIPLATFORM_PREFIX = px4_
 TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
-GENMSG_PYTHONPATH = $(PX4_BASE)/Tools/genmsg/src
+GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
-GENCPP_PYTHONPATH = $(PX4_BASE)/Tools/gencpp/src
+GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
 
 .PHONY: generateuorbtopicheaders
 generateuorbtopicheaders:

msg/templates/px4/ros/msg.h.template

@@ -0,0 +1,95 @@
+@###############################################
+@#
+@# PX4 ROS compatible message source code
+@# generation for C++
+@#
+@# This file generates the multiplatform wrapper
+@#
+@# EmPy template for generating <msg>.h files
+@# Based on the original template for ROS
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - file_name_in (String) Source file
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@#  - md5sum (String) MD5Sum of the .msg specification
+@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* Auto-generated by genmsg_cpp from file @file_name_in */
+
+@{
+import genmsg.msgs
+import gencpp
+
+cpp_class = 'px4_%s'%spec.short_name
+native_type = spec.short_name
+topic_name = spec.short_name
+}@
+
+#pragma once
+
+@##############################
+@# Generic Includes
+@##############################
+#include <uORB/topics/@(topic_name).h>
+#include "platforms/px4_message.h"
+
+@##############################
+@# Class
+@##############################
+
+namespace px4
+{
+
+class @(cpp_class) :
+	public PX4Message<@(native_type)>
+{
+public:
+	@(cpp_class)() :
+		PX4Message<@(native_type)>()
+	{}
+
+	@(cpp_class)(@(native_type) msg) :
+		PX4Message<@(native_type)>(msg)
+	{}
+
+	~@(cpp_class)() {}
+
+	static PX4TopicHandle handle() {return "@(topic_name)";}
+};
+
+};

msg/templates/px4/uorb/msg.h.template

@@ -56,7 +56,7 @@ import genmsg.msgs
 import gencpp
 
 cpp_class = 'px4_%s'%spec.short_name
-uorb_struct = '%s_s'%spec.short_name
+native_type = '%s_s'%spec.short_name
 topic_name = spec.short_name
 }@
 
@@ -76,15 +76,15 @@ namespace px4
 {
 
 class __EXPORT @(cpp_class) :
-	public PX4Message<@(uorb_struct)>
+	public PX4Message<@(native_type)>
 {
 public:
 	@(cpp_class)() :
-		PX4Message<@(uorb_struct)>()
+		PX4Message<@(native_type)>()
 	{}
 
-	@(cpp_class)(@(uorb_struct) msg) :
+	@(cpp_class)(@(native_type) msg) :
-		PX4Message<@(uorb_struct)>(msg)
+		PX4Message<@(native_type)>(msg)
 	{}
 
 	~@(cpp_class)() {}

src/platforms/ros/px4_messages/px4_rc_channels.h

@@ -1,25 +0,0 @@
-#include "px4/rc_channels.h"
-#include "platforms/px4_message.h"
-
-#pragma once
-namespace px4
-{
-
-class  px4_rc_channels :
-	public PX4Message<rc_channels>
-{
-public:
-	px4_rc_channels() :
-		PX4Message<rc_channels>()
-	{}
-
-	px4_rc_channels(rc_channels msg) :
-		PX4Message<rc_channels>(msg)
-	{}
-
-	~px4_rc_channels() {}
-
-	static PX4TopicHandle handle() {return "rc_channels";}
-};
-
-}