From c25d122f129cf6ba5a5d8e0a57bbbc319ab83abd Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Fri, 30 Nov 2018 08:46:57 +0000
Subject: [PATCH] update micro-CDR version and msg templates to fit the up to
date version
---
.../microRTPS_client.cpp.template | 21 ++++++++-------
msg/templates/uorb_microcdr/msg.cpp.template | 26 +++++++++----------
msg/templates/uorb_microcdr/msg.h.template | 8 +++---
src/modules/micrortps_bridge/micro-CDR | 2 +-
.../micrortps_client/microRTPS_client.h | 3 +--
5 files changed, 29 insertions(+), 31 deletions(-)
diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
index c386f36a8f..974012d445 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
@@ -24,7 +24,8 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
}@
/****************************************************************************
*
- * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (c) 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (c) 2018 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:
@@ -62,7 +63,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <ctime>
#include <pthread.h>
-#include <microcdr/microcdr.h>
+#include <ucdr/microcdr.h>
#include <px4_time.h>
#include <uORB/uORB.h>
@@ -91,10 +92,10 @@ void* send(void* /*unused*/)
orb_set_interval(fds[@(idx)], _options.update_time_ms);
@[end for]@
- // MicroBuffer to serialized using the user defined buffer
- MicroBuffer MicroBufferWriter;
+ // ucdrBuffer to serialize using the user defined buffer
+ ucdrBuffer writer;
header_length=transport_node->get_header_length();
- init_micro_buffer(&MicroBufferWriter, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
+ ucdr_init_buffer(&writer, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
struct timespec begin;
px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -111,7 +112,7 @@ void* send(void* /*unused*/)
// copy raw data into local buffer
if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
/* payload is shifted by header length to make room for header*/
- serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
+ serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
{
@@ -165,9 +166,9 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
orb_advert_t @(topic)_pub = nullptr;
@[end for]@
- // MicroBuffer to deserialized using the user defined buffer
- MicroBuffer MicroBufferReader;
- init_micro_buffer(&MicroBufferReader, (uint8_t*)data_buffer, BUFFER_SIZE);
+ // ucdrBuffer to deserialize using the user defined buffer
+ ucdrBuffer reader;
+ ucdr_init_buffer(&reader, (uint8_t*)data_buffer, BUFFER_SIZE);
@[end if]@
px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -191,7 +192,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
case @(rtps_message_id(ids, topic)):
{
- deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
+ deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
if (!@(topic)_pub) {
@(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
} else {
diff --git a/msg/templates/uorb_microcdr/msg.cpp.template b/msg/templates/uorb_microcdr/msg.cpp.template
index fa2b38c63e..a08ddcb55e 100644
--- a/msg/templates/uorb_microcdr/msg.cpp.template
+++ b/msg/templates/uorb_microcdr/msg.cpp.template
@@ -19,7 +19,7 @@
@###############################################
/****************************************************************************
*
- * Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2013-2018 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
@@ -62,7 +62,7 @@ topic_name = spec.short_name
}@
#include <px4_config.h>
-#include <microcdr/microcdr.h>
+#include <ucdr/microcdr.h>
#include <uORB/topics/@(topic_name).h>
#include <uORB_microcdr/topics/@(topic_name).h>
@@ -99,9 +99,9 @@ def add_serialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
- print(" serialize_" + str(get_serialization_type_name(field.type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ");")
+ print(" ucdr_serialize_" + str(get_serialization_type_name(field.type)) + "(writer, input->" + scope_name+str(field.name) + ");")
else:
- print(" serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
+ print(" ucdr_serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(writer, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
@@ -117,9 +117,9 @@ def add_deserialize_functions(fields, scope_name):
if (not field.is_header):
if (field.is_builtin):
if (not field.is_array):
- print(" deserialize_" + str(get_serialization_type_name(field.type)) + "(microCDRReader, &output->" + scope_name+str(field.name) + ");")
+ print(" ucdr_deserialize_" + str(get_serialization_type_name(field.type)) + "(reader, &output->" + scope_name+str(field.name) + ");")
else:
- print(" deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRReader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
+ print(" ucdr_deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(reader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
else:
name = field.name
children_fields = get_children_fields(field.base_type, search_path)
@@ -141,23 +141,23 @@ def add_code_to_deserialize():
add_deserialize_functions(sorted_fields, "")
}@
-void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length)
+void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length)
{
- if (nullptr == microCDRWriter || nullptr == input || nullptr == output || nullptr == length)
+ if (nullptr == writer || nullptr == input || nullptr == output || nullptr == length)
return;
- reset_micro_buffer(microCDRWriter);
+ ucdr_reset_buffer(writer);
@add_code_to_serialize()
- (*length) = micro_buffer_length(microCDRWriter);
+ (*length) = ucdr_buffer_length(writer);
}
-void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input)
+void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input)
{
- if (nullptr == microCDRReader || nullptr == output || nullptr == input)
+ if (nullptr == reader || nullptr == output || nullptr == input)
return;
- reset_micro_buffer(microCDRReader);
+ ucdr_reset_buffer(reader);
@add_code_to_deserialize()
}
diff --git a/msg/templates/uorb_microcdr/msg.h.template b/msg/templates/uorb_microcdr/msg.h.template
index ad402fb609..eb3bbd9664 100644
--- a/msg/templates/uorb_microcdr/msg.h.template
+++ b/msg/templates/uorb_microcdr/msg.h.template
@@ -19,7 +19,7 @@
@###############################################
/****************************************************************************
*
- * Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2013-2018 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
@@ -69,7 +69,5 @@ topic_name = spec.short_name
#include <uORB/topics/@(topic_name).h>
#include <uORB_microcdr/topics/@(topic_name).h>
-struct MicroBuffer;
-
-void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length);
-void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input);
+void serialize_@(topic_name)(ucdrBuffer *writer, const struct @(uorb_struct) *input, char *output, uint32_t *length);
+void deserialize_@(topic_name)(ucdrBuffer *reader, struct @(uorb_struct) *output, const char *input);
diff --git a/src/modules/micrortps_bridge/micro-CDR b/src/modules/micrortps_bridge/micro-CDR
index f325c4f773..d23eda8772 160000
--- a/src/modules/micrortps_bridge/micro-CDR
+++ b/src/modules/micrortps_bridge/micro-CDR
@@ -1 +1 @@
-Subproject commit f325c4f7731a5d10c474e1a30f7407c220d97b54
+Subproject commit d23eda8772ecf846531ee470a81fb1be37802e7b
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
index c036343b8c..e256fd10c5 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
@@ -40,7 +40,7 @@
#include <pthread.h>
#include <termios.h>
-#include <microcdr/microcdr.h>
+#include <ucdr/microcdr.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_posix.h>
@@ -92,4 +92,3 @@ struct options {
extern struct options _options;
extern bool _should_exit_task;
extern Transport_node *transport_node;
-
--
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