uORB messages generated pretty print #9149

dagar · 2018-03-23T16:05:46Z

This is an old branch I resurrected and didn't want to lose track of again. The idea is to create a print function for each uORB message at generation time. Currently the topic_listener does this with a separate python script (https://github.com/PX4/Firmware/blob/cc26c34691db1e622cddac6d330679fe61467d37/src/systemcmds/topic_listener/generate_listener.py), but has several small issues that are easily resolved when generating this properly at the source.

With a mechanism to print an arbitrary uORB message we can move listener over, and replace the many status and test messages throughout various drivers and modules. I'm also hopeful we can eventually fit this back into flash constrained devices. For example ekf2 status would grab and print the last copy of each published output message (estimator_status, etc). This largely eliminates the need for listener.

TODO

general review, restructuring, and cleanup

consider sharing the strings between the generated fields string and print helper
eg vehicle_attitude

constexpr char __orb_vehicle_attitude_fields[] = "uint64_t timestamp;float rollspeed;float pitchspeed;float yawspeed;float[4] q;float[4] delta_q_reset;uint8_t quat_reset_counter;uint8_t[3] _padding0;";``` void print_message(const vehicle_attitude_s& message)
{
printf("vehicle_attitude_s\n");
printf("timestamp: %llu\n", message.timestamp);
printf("rollspeed: %.3f\n", (double)message.rollspeed);
printf("pitchspeed: %.3f\n", (double)message.pitchspeed);
printf("yawspeed: %.3f\n", (double)message.yawspeed);
printf("q: [%.3f, %.3f, %.3f, %.3f]\n", (double)message.q[0], (double)message.q[1], (double)message.q[2], (double)message.q[3]);
printf("delta_q_reset: [%.3f, %.3f, %.3f, %.3f]\n", (double)message.delta_q_reset[0], (double)message.delta_q_reset[1], (double)message.delta_q_reset[2], (double)message.delta_q_reset[3]);
printf("quat_reset_counter: %u\n", message.quat_reset_counter);
}
```* ignore padding* update and simplify listener
* command line syntax is horrible for specifying the number of messages or instance
* ability to subscribe at a lower rate would be very helpful
* listener -n <number of messages> -i <instance number> -r <rate> message
* should make it clear if a message has never been published

consider adding pretty print options like...
- time elapsed in seconds next to the timestamp in microseconds
  - eg timestamp: 12345678 (1.2 seconds ago)
- euler angles next to a quaternion
- decode some bitmasks?
- boolean true/false
check all nested structures work

dagar · 2018-03-23T17:43:27Z

It might be worth pursuing this short term, it's already a ~ 2.5K flash savings on px4fmu-v2.

dagar · 2018-03-23T17:53:00Z

Adding timestamp context.

dagar · 2018-03-24T15:44:42Z

Updated listener to report if a topic has never been published, and it now works properly for position_setpoint_triplet (contains 3 position_setpoints).

All nested types should work.

LorenzMeier · 2018-03-24T17:08:58Z

Nice!

bkueng

Cool! I have a few minor things, but it's definitely an improvement.

bkueng · 2018-03-27T14:41:36Z

msg/tools/px_generate_uorb_topic_helper.py

@@ -165,6 +179,70 @@ def convert_type(spec_type):
    return c_type


+def px4_printf(field):


I find the method name a bit confusing. How about print_field?

bkueng · 2018-03-27T14:42:39Z

msg/tools/px_generate_uorb_topic_helper.py

+    """
+
+    # skip padding
+    if ("_padding" in field.name):


only if it starts with padding: .startswith('_padding') (and drop the brackets)

bkueng · 2018-03-27T14:47:34Z

msg/templates/uorb/msg.cpp.template

+void print_message(const @uorb_struct& message)
+{
+    printf(" @(uorb_struct)\n");
+	printf("\ttimestamp: %" PRIu64 " (%.6f seconds ago)\n", message.timestamp, hrt_elapsed_time(&message.timestamp) / 1e6);


I'd add the (%.6f seconds ago) only if the timestamp is > 0

bkueng · 2018-03-27T15:02:55Z

src/systemcmds/topic_listener/generate_listener.py

@@ -18,74 +18,33 @@
 topics = []
 message_elements = []

+# large and not worth printing (find better solution)
+raw_messes = [raw_messages.remove(x) for x in raw_messages if 'qshell_req' in x]


raw_messes = [x for x in raw_messes if not any(exception in x for exception in ['qshell_req', 'ulog_stream', ...])]

- don't ignore position_setpoint_triplet

- indent field print with tabs instead of spaces - print a newline before printing a nested field - cmake add generator dependencies

bkueng

Good to go.
One thing we can consider is pretty-printing for strings. log_message currently prints as:

 log_message_s
        timestamp: 14282720 (9.598521 seconds ago)
        severity: 4
        text: [91, 109, 99, 95, 97, 116, 116, 95, 99, 111, 110, 116, 114, 111, 108, 93, 32, 97, 108, 114, 101, 97, 100, 121, 32, 114, 117, 110, 110, 105, 110, 103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80, 102, 200, 253, 253, 127, 0, 0, 32, 102, 200, 253, 253, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 240, 101, 200, 253, 253, 127, 0, 0, 163, 60, 192, 8, 163, 127, 0, 0, 5, 0, 0, 0, 0, 0, 0, 0, 216, 209, 129, 0, 0, 0, 0, 0, 80, 102, 200, 253, 253, 127, 0, 0]

dagar added Admin: Enhancement (improvement) 💡 Admin: Cleanup (housekeeping) 🧹 labels Mar 23, 2018

dagar added this to the Release v1.8.0 milestone Mar 23, 2018

dagar assigned dagar and bkueng Mar 23, 2018

dagar requested a review from bkueng March 23, 2018 16:05

dagar force-pushed the pr-uorb_print branch 5 times, most recently from 340e033 to 402972f Compare March 23, 2018 17:42

dagar force-pushed the pr-uorb_print branch 2 times, most recently from c304936 to 7b54cec Compare March 23, 2018 21:22

dagar force-pushed the pr-uorb_print branch from 0e806db to fab8cb0 Compare March 26, 2018 14:14

bkueng reviewed Mar 27, 2018

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dagar added 9 commits March 27, 2018 11:56

uORB generate message print functions

b56b80e

drivers start using uORB message print instead of custom

f9e778c

listener replace custom uORB print code

1b771be

uORB print message add timestamp elapsed

8f0196c

topic_listener report never published and cleanup

f9f30f8

- don't ignore position_setpoint_triplet

generate uorb topic helper rename px4_printf to print_field

6b0a16e

generate uorb topic helper ignore _padding properly

c19d21d

generate_listener.py combine message exclusion

9c93d42

uORB print_message cleanup

3232614

- indent field print with tabs instead of spaces - print a newline before printing a nested field - cmake add generator dependencies

dagar force-pushed the pr-uorb_print branch from fab8cb0 to 3232614 Compare March 27, 2018 16:20

dagar changed the title ~~[WIP] uORB messages generated pretty print~~ uORB messages generated pretty print Mar 27, 2018

bkueng approved these changes Mar 28, 2018

View reviewed changes

dagar merged commit 416feea into master Mar 28, 2018

dagar deleted the pr-uorb_print branch March 28, 2018 13:15

mrpollo mentioned this pull request Jun 5, 2018

v1.8 Changelog scratchpad #9593

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uORB messages generated pretty print #9149

uORB messages generated pretty print #9149

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		@@ -165,6 +179,70 @@ def convert_type(spec_type):
		return c_type


		def px4_printf(field):

uORB messages generated pretty print #9149

uORB messages generated pretty print #9149

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dagar commented Mar 23, 2018 •

edited by AuterionWrikeBot

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dagar commented Mar 24, 2018 •

edited

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