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To include timestamp field in the micrortps bridge messages. #8888

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Feb 15, 2018
Merged

To include timestamp field in the micrortps bridge messages. #8888

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14 changes: 6 additions & 8 deletions msg/templates/uorb_microcdr/msg.cpp.template
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Original file line number Diff line number Diff line change
Expand Up @@ -58,10 +58,6 @@ from px_generate_uorb_topic_helper import * # this is in Tools/

uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name

sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
}@

#include <px4_config.h>
Expand Down Expand Up @@ -102,9 +98,9 @@ def add_serialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
print("\tserialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
print(" serialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
else:
print("\tserialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
print(" serialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
Expand All @@ -120,10 +116,10 @@ def add_deserialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
print("\tdeserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
print(" deserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
else:
for i in range(field.array_len):
print("\tdeserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
print(" deserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
Expand Down Expand Up @@ -151,6 +147,7 @@ void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, u

resetStaticMicroCDRForSerialize(microCDRWriter);

serializeUnsignedLong(input->timestamp, microCDRWriter);
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Should this not be serializeUnsignedLongLong?

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No, is the correct one. Please, see the function prototype

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But then https://github.com/PX4/Firmware/pull/8888/files#diff-8190543ff07160bad612518e04f0e097R73 should be uint64_t

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No, there is no uint64_t type in IDL

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Ah, I see, that's IDL. You're right then.

@add_code_to_serialize()

(*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
Expand All @@ -162,5 +159,6 @@ void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struc

resetStaticMicroCDRForDeserialize(microCDRReader);

deserializeUnsignedLong(&output->timestamp, microCDRReader);
@add_code_to_deserialize()
}
11 changes: 3 additions & 8 deletions msg/templates/urtps/msg.idl.template
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Original file line number Diff line number Diff line change
Expand Up @@ -39,12 +39,6 @@
import genmsg.msgs
import gencpp
from px_generate_uorb_topic_helper import * # this is in Tools/

uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name

sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
}@
@#################################################
@# Searching for serialize function per each field
Expand All @@ -61,9 +55,9 @@ def get_idl_type_name(field_type):
def add_msg_field(field):
if (not field.is_header):
if (not field.is_array):
print('\t' + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
print(" " + str(get_idl_type_name(field.type)) + ' ' + field.name + ';')
else:
print('\t' + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')
print(" " + str(get_idl_type_name(field.base_type)) + ' ' + field.name + '[' +str(field.array_len)+ '];')

def add_msg_fields():
# sort fields (using a stable sort) as in the declaration of the type
Expand All @@ -76,5 +70,6 @@ def add_msg_fields():
@
struct @(spec.short_name)_
{
unsigned long long timestamp;
@add_msg_fields()
}; // struct @(spec.short_name)_