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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,123 @@ | ||
| @############################################### | ||
| @# | ||
| @# EmPy template | ||
| @# | ||
| @############################################### | ||
| @# generates CDR serialization & deserialization methods | ||
| @# | ||
| @# Context: | ||
| @# - spec (msggen.MsgSpec) Parsed specification of the .msg file | ||
| @############################################### | ||
| @{ | ||
| import genmsg.msgs | ||
| from px_generate_uorb_topic_helper import * # this is in Tools/ | ||
|
|
||
| topic = spec.short_name | ||
| uorb_struct = '%s_s'%spec.short_name | ||
|
|
||
| # get fields, struct size and paddings | ||
| field_sizes = [] | ||
| offset = 0 | ||
| for field in spec.parsed_fields(): | ||
| if not field.is_header: | ||
| field_size = sizeof_field_type(field) | ||
|
|
||
| # TODO: fix, support nested topics | ||
| ################### | ||
| if field_size == 0: | ||
| field_sizes.append((field_size * array_size, padding)) | ||
| continue | ||
| ################### | ||
| assert field_size > 0 | ||
|
|
||
| padding = (field_size - (offset % field_size)) & (field_size - 1) | ||
|
|
||
| type_name = field.type | ||
| # detect embedded types | ||
| sl_pos = type_name.find('/') | ||
| if (sl_pos >= 0): | ||
| type_name = type_name[sl_pos + 1:] | ||
|
|
||
| # detect arrays | ||
| a_pos = type_name.find('[') | ||
| array_size = 1 | ||
| if (a_pos >= 0): | ||
| # field is array | ||
| array_size = int(type_name[a_pos+1:-1]) | ||
| type_name = type_name[:a_pos] | ||
|
|
||
| field_sizes.append((field_size * array_size, padding)) | ||
| offset += array_size * field_size + padding | ||
|
|
||
| # TODO: nested types | ||
|
|
||
| struct_size = offset | ||
|
|
||
| }@ | ||
|
|
||
| // auto-generated file | ||
|
|
||
| #pragma once | ||
|
|
||
| #include <ucdr/microcdr.h> | ||
| #include <string.h> | ||
| #include <uORB/topics/@(topic).h> | ||
|
|
||
| int ucdr_topic_size_@(topic)() | ||
| { | ||
| return @(struct_size); | ||
| } | ||
|
|
||
| bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf) | ||
| { | ||
| if (ucdr_buffer_remaining(&buf) < @(struct_size)) { | ||
| return false; | ||
| } | ||
| @{ | ||
| size_idx = 0 | ||
| for field in spec.parsed_fields(): | ||
| if not field.is_header: | ||
| field_size, padding = field_sizes[size_idx] | ||
| if padding > 0: | ||
| print('\tbuf.iterator += {:}; // padding'.format(padding)) | ||
| print('\tbuf.offset += {:}; // padding'.format(padding)) | ||
|
|
||
| print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field.name, field_size)) | ||
| print('\tmemcpy(buf.iterator, &topic.{0}, sizeof(topic.{0}));'.format(field.name)) | ||
| print('\tbuf.iterator += sizeof(topic.{:});'.format(field.name)) | ||
| print('\tbuf.offset += sizeof(topic.{:});'.format(field.name)) | ||
|
|
||
| # TODO: nested types | ||
|
|
||
| size_idx += 1 | ||
|
|
||
| }@ | ||
| return true; | ||
| } | ||
|
|
||
| bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic) | ||
| { | ||
| if (ucdr_buffer_remaining(&buf) < @(struct_size)) { | ||
| return false; | ||
| } | ||
| @{ | ||
| size_idx = 0 | ||
| for field in spec.parsed_fields(): | ||
| if not field.is_header: | ||
| field_size, padding = field_sizes[size_idx] | ||
| if padding > 0: | ||
| print('\tbuf.iterator += {:}; // padding'.format(padding)) | ||
| print('\tbuf.offset += {:}; // padding'.format(padding)) | ||
|
|
||
| print('\tstatic_assert(sizeof(topic.{0}) == {1}, "size mismatch");'.format(field.name, field_size)) | ||
| print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field.name)) | ||
| print('\tbuf.iterator += sizeof(topic.{:});'.format(field.name)) | ||
| print('\tbuf.offset += sizeof(topic.{:});'.format(field.name)) | ||
|
|
||
| # TODO: nested types | ||
|
|
||
| size_idx += 1 | ||
|
|
||
| }@ | ||
| return true; | ||
| } |
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