initial version of msg to uorb script

Standard and embedded types work, may need small refinements for some
types

.gitignore

@@ -39,3 +39,4 @@ tags
 .pydevproject
 .ropeproject
 *.orig
+src/modules/uORB/topics/*

Makefile

@@ -104,13 +104,13 @@ DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
 STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
 FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
 
-all:			checksubmodules $(DESIRED_FIRMWARES)
+all:	checksubmodules generateuorbtopicheaders $(DESIRED_FIRMWARES)
 
 #
 # Copy FIRMWARES into the image directory.
 #
-# XXX copying the .bin files is a hack to work around the PX4IO uploader 
-#     not supporting .px4 files, and it should be deprecated onced that 
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
 #     is taken care of.
 #
 $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@@ -152,7 +152,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
 # Build the NuttX export archives.
 #
 # Note that there are no explicit dependencies extended from these
-# archives. If NuttX is updated, the user is expected to rebuild the 
+# archives. If NuttX is updated, the user is expected to rebuild the
 # archives/build area manually. Likewise, when the 'archives' target is
 # invoked, all archives are always rebuilt.
 #
@@ -224,6 +224,16 @@ updatesubmodules:
 	$(Q) (git submodule init)
 	$(Q) (git submodule update)
 
+MSG_DIR = $(PX4_BASE)msg/px4_msgs
+MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates
+TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
+
+.PHONY: generateuorbtopicheaders
+generateuorbtopicheaders:
+	@$(ECHO) "Generating uORB topic headers"
+	$(Q) ($(PX4_BASE)/Tools/px_generate_uorb_topic_headers.py -d $(MSG_DIR) \
+		-o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR))
+
 #
 # Testing targets
 #
@@ -232,7 +242,7 @@ testbuild:
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
-# a complete re-compilation, 'distclean' should remove everything 
+# a complete re-compilation, 'distclean' should remove everything
 # that's generated leaving only files that are in source control.
 #
 .PHONY:	clean

Tools/px_generate_uorb_topic_headers.py

+#!/usr/bin/env python
+#############################################################################
+#
+#   Copyright (C) 2013-2014 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.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_headers.py
+Generates c/cpp header files for uorb topics from .msg (ROS syntax)
+message files
+"""
+from __future__ import print_function
+import os
+import argparse
+import genmsg.template_tools
+
+__author__ = "Thomas Gubler"
+__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "thomasgubler@gmail.com"
+
+
+msg_template_map = {'msg.h.template': '@NAME@.h'}
+srv_template_map = {}
+incl_default = ['std_msgs:./msg/std_msgs']
+package = 'px4'
+
+
+def convert_file(filename, outputdir, templatedir, includepath):
+    """
+    Converts a single .msg file to a uorb header
+    """
+    print("Generating uORB headers from {0}".format(filename))
+    genmsg.template_tools.generate_from_file(filename,
+                                             package,
+                                             outputdir,
+                                             templatedir,
+                                             includepath,
+                                             msg_template_map,
+                                             srv_template_map)
+
+
+def convert_dir(inputdir, outputdir, templatedir):
+    """
+    Converts all .msg files in inputdir to uORB header files
+    """
+    includepath = incl_default + [':'.join([package, inputdir])]
+    for f in os.listdir(inputdir):
+        fn = os.path.join(inputdir, f)
+        if os.path.isfile(fn):
+            convert_file(fn, outputdir, templatedir, includepath)
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description='Convert msg files to uorb headers')
+    parser.add_argument('-d', dest='dir', help='directory with msg files')
+    parser.add_argument('-f', dest='file',
+                        help="files to convert (use only without -d)",
+                        nargs="+")
+    parser.add_argument('-e', dest='templatedir',
+                        help='directory with template files',)
+    parser.add_argument('-o', dest='outputdir',
+                        help='output directory for header files')
+    args = parser.parse_args()
+
+    if args.file is not None:
+        for f in args.file:
+            convert_file(f, args.outputdir, args.templatedir, incl_default)
+    elif args.dir is not None:
+            convert_dir(args.dir, args.outputdir, args.templatedir)

msg/px4_msgs/actuator_armed.msg

+
+uint64 timestamp	# Microseconds since system boot
+bool armed          # Set to true if system is armed
+bool ready_to_arm	# Set to true if system is ready to be armed
+bool lockdown	    # Set to true if actuators are forced to being disabled (due to emergency or HIL)
+bool force_failsafe # Set to true if the actuators are forced to the failsafe position

msg/rc_channels.msg → msg/px4_msgs/rc_channels.msg

-Header header
 int32 RC_CHANNELS_FUNCTION_MAX=18
+uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
+uint8 RC_CHANNELS_FUNCTION_ROLL=1
+uint8 RC_CHANNELS_FUNCTION_PITCH=2
+uint8 RC_CHANNELS_FUNCTION_YAW=3
+uint8 RC_CHANNELS_FUNCTION_MODE=4
+uint8 RC_CHANNELS_FUNCTION_RETURN=5
+uint8 RC_CHANNELS_FUNCTION_POSCTL=6
+uint8 RC_CHANNELS_FUNCTION_LOITER=7
+uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8
+uint8 RC_CHANNELS_FUNCTION_ACRO=9
+uint8 RC_CHANNELS_FUNCTION_FLAPS=10
+uint8 RC_CHANNELS_FUNCTION_AUX_1=11
+uint8 RC_CHANNELS_FUNCTION_AUX_2=12
+uint8 RC_CHANNELS_FUNCTION_AUX_3=13
+uint8 RC_CHANNELS_FUNCTION_AUX_4=14
+uint8 RC_CHANNELS_FUNCTION_AUX_5=15
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
 int8[18] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
+actuator_armed actuator

msg/std_msgs/Bool.msg

+bool data
\ No newline at end of file

msg/std_msgs/Byte.msg

+byte data

msg/std_msgs/ByteMultiArray.msg

+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+byte[]            data          # array of data
+

msg/std_msgs/Char.msg

+char data
\ No newline at end of file

msg/std_msgs/ColorRGBA.msg

+float32 r
+float32 g
+float32 b
+float32 a

msg/std_msgs/Duration.msg

+duration data

msg/std_msgs/Float32.msg

+float32 data
\ No newline at end of file

msg/std_msgs/Float32MultiArray.msg

+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float32[]         data          # array of data
+

msg/std_msgs/Float64.msg

+float64 data
\ No newline at end of file

msg/std_msgs/Float64MultiArray.msg

+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+float64[]         data          # array of data
+

msg/std_msgs/Header.msg

+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id

msg/std_msgs/Int16.msg

+int16 data

msg/std_msgs/Int16MultiArray.msg

+# Please look at the MultiArrayLayout message definition for
+# documentation on all multiarrays.
+
+MultiArrayLayout  layout        # specification of data layout
+int16[]           data          # array of data
+

msg/std_msgs/Int32.msg

+int32 data
\ No newline at end of file