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Change downlink_transport/messages2 interface to pass data-type to the transport, in case it wants to know

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Allen Ibara
2010-07-23 17:38:09 +00:00
parent 0449bc5537
commit 674bc3d9be
2 changed files with 30 additions and 4 deletions
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sw/airborne/downlink_transport.h
+15 -1
View File
@@ -32,12 +32,26 @@
#include <inttypes.h>
enum DownlinkDataType {
DL_TYPE_ARRAY_LENGTH = 1,
DL_TYPE_UINT8,
DL_TYPE_INT8,
DL_TYPE_UINT16,
DL_TYPE_INT16,
DL_TYPE_UINT32,
DL_TYPE_INT32,
DL_TYPE_UINT64,
DL_TYPE_INT64,
DL_TYPE_FLOAT,
DL_TYPE_DOUBLE,
};
struct DownlinkTransport
{
uint8_t (*SizeOf)(void *impl, uint8_t size);
int (*CheckFreeSpace)(void *impl, uint8_t size);
void (*PutBytes)(void *impl, uint8_t len, const uint8_t *bytes);
void (*PutBytes)(void *impl, enum DownlinkDataType data_type, uint8_t len, const uint8_t *bytes);
void (*StartMessage)(void *impl, char *name, uint8_t msg_id, uint8_t payload_len);
void (*EndMessage)(void *impl);
sw/tools/gen_messages2.ml
+15 -3
View File
@@ -43,6 +43,18 @@ let c_type = fun format ->
| "Uint16" -> "uint16_t"
| "Uint8" -> "uint8_t"
| _ -> failwith (sprintf "gen_messages.c_type: unknown format '%s'" format)
let dl_type = fun format ->
match format with
"Float" -> "DL_TYPE_FLOAT"
| "Double" -> "DL_TYPE_DOUBLE"
| "Int32" -> "DL_TYPE_INT32"
| "Int16" -> "DL_TYPE_INT16"
| "Int8" -> "DL_TYPE_INT8"
| "Uint32" -> "DL_TYPE_UINT32"
| "Uint16" -> "DL_TYPE_UINT16"
| "Uint8" -> "DL_TYPE_UINT8"
| _ -> failwith (sprintf "gen_messages.c_type: unknown format '%s'" format)
type field = _type * string * format option
@@ -127,11 +139,11 @@ module Gen_onboard = struct
let print_field = fun h (t, name, (_f: format option)) ->
match t with
Basic _ ->
fprintf h "\t tp->PutBytes(tp->impl, %s, (uint8_t *) _%s); \n" (Syntax.sizeof t) name
fprintf h "\t tp->PutBytes(tp->impl, %s, %s, (uint8_t *) _%s); \n" (dl_type (Syntax.nameof t)) (Syntax.sizeof t) name
| Array (t, varname) ->
let _s = Syntax.sizeof (Basic t) in
fprintf h "\t tp->PutBytes(tp->impl, 1, (uint8_t *) &%s); \n" (Syntax.length_name varname);
fprintf h "\t tp->PutBytes(tp->impl, %s * %s, (uint8_t *) _%s); \n" (Syntax.sizeof (Basic t)) (Syntax.length_name varname) name
fprintf h "\t tp->PutBytes(tp->impl, DL_TYPE_ARRAY_LENGTH, 1, (uint8_t *) &%s); \n" (Syntax.length_name varname);
fprintf h "\t tp->PutBytes(tp->impl, %s, %s * %s, (uint8_t *) _%s); \n" (dl_type (Syntax.nameof (Basic t))) (Syntax.sizeof (Basic t)) (Syntax.length_name varname) name
let print_parameter h = function
(Array (t, varname), s, _) -> fprintf h "uint8_t %s, %s *_%s" (Syntax.length_name s) (c_type (Syntax.nameof (Basic t))) s