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msg.cpp.em
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msg.cpp.em
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@###############################################
@#
@# PX4 ROS compatible message source code
@# generation for C++
@#
@# 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
@# - search_path (dict) search paths for genmsg
@# - topics (List of String) topic names
@# - all_topics (List of String) all generated topic names (sorted)
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2022 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
from px_generate_uorb_topic_helper import * # this is in Tools/
uorb_struct = '%s_s'%name_snake_case
message_hash = get_message_hash(spec.parsed_fields(), search_path)
sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
}@
#include <inttypes.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/defines.h>
#include <uORB/topics/@(name_snake_case).h>
#include <uORB/topics/uORBTopics.hpp>
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/mathlib/mathlib.h>
@[for topic in topics]@
static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
@[end for]
void print_message(const orb_metadata *meta, const @uorb_struct& message)
{
if (sizeof(message) != meta->o_size) {
printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
return;
}
orb_print_message_internal(meta, &message, true);
}