topic_listener: avoid code generation, use existing metadata at runtime

This reduces flash size for v5 by ~110KB, the topic listener now only adds about 1.2KB.
dagar · Oct 20, 2021 · 8a2b310 · 8a2b310
1 parent a0e72b3
commit 8a2b310
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Showing 16 changed files with 330 additions and 347 deletions.
diff --git a/msg/templates/uorb/msg.cpp.em b/msg/templates/uorb/msg.cpp.em
@@ -82,19 +82,11 @@ constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
 ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
 @[end for]
 
-void print_message(const @uorb_struct &message)
+void print_message(const orb_metadata *meta, const @uorb_struct& message)
 {
-@[if constrained_flash]
-	(void)message;
-	PX4_INFO_RAW("Not implemented on flash constrained hardware\n");
-@[else]
-	PX4_INFO_RAW(" @(uorb_struct)\n");
-
-	const hrt_abstime now = hrt_absolute_time();
-
-@[for field in sorted_fields]@
-	@( print_field(field) )@
-@[end for]@
-@[end if]@
-
+	if (sizeof(message) != meta->o_size) {
+		printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
+		return;
+	}
+	orb_print_message_internal(meta, &message, true);
 }
diff --git a/msg/templates/uorb/msg.h.em b/msg/templates/uorb/msg.h.em
@@ -133,5 +133,5 @@ ORB_DECLARE(@multi_topic);
 @[end for]
 
 #ifdef __cplusplus
-void print_message(const @uorb_struct& message);
+void print_message(const orb_metadata *meta, const @uorb_struct& message);
 #endif
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
@@ -241,128 +241,6 @@ def convert_type(spec_type, use_short_type=False):
     return c_type
 
 
-def print_field(field):
-    """
-    Echo printf line
-    """
-
-    # check if there are any upper case letters in the field name
-    assert not any(a.isupper()
-                   for a in field.name), "%r field contains uppercase letters" % field.name
-
-    # skip padding
-    if field.name.startswith('_padding'):
-        return
-
-    bare_type = field.type
-    if '/' in field.type:
-        # removing prefix
-        bare_type = (bare_type.split('/'))[1]
-
-    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
-
-    field_name = ""
-
-    if is_array:
-        c_type = "["
-
-        if msg_type in type_map:
-            p_type = type_printf_map[msg_type]
-
-        else:
-            for i in range(array_length):
-                print(("PX4_INFO_RAW(\"\\t" + field.type +
-                      " " + field.name + "[" + str(i) + "]\");"))
-                print((" print_message(message." +
-                      field.name + "[" + str(i) + "]);"))
-            return
-
-        for i in range(array_length):
-
-            if i > 0:
-                c_type += ", "
-                field_name += ", "
-
-            if "float32" in field.type:
-                field_name += "(double)message." + \
-                    field.name + "[" + str(i) + "]"
-            else:
-                field_name += "message." + field.name + "[" + str(i) + "]"
-
-            c_type += str(p_type)
-
-        c_type += "]"
-
-    else:
-        c_type = msg_type
-        if msg_type in type_map:
-            c_type = type_printf_map[msg_type]
-
-            field_name = "message." + field.name
-
-            # cast double
-            if field.type == "float32":
-                field_name = "(double)" + field_name
-            elif field.type == "bool":
-                c_type = '%s'
-                field_name = "(" + field_name + " ? \"True\" : \"False\")"
-
-        else:
-            print(("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");"))
-            print(("\tprint_message(message." + field.name + ");"))
-            return
-
-    if field.name == 'timestamp':
-        print(("if (message.timestamp != 0) {\n\t\tPX4_INFO_RAW(\"\\t" + field.name +
-              ": " + c_type + "  (%.6f seconds ago)\\n\", " + field_name +
-               ", (now - message.timestamp) / 1e6);\n\t} else {\n\t\tPX4_INFO_RAW(\"\\n\");\n\t}"))
-    elif field.name == 'timestamp_sample':
-        print(("\n\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "  (" + c_type +
-              " us before timestamp)\\n\", " + field_name + ", message.timestamp - message.timestamp_sample);\n\t"))
-    elif field.name == 'device_id':
-        print("char device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(device_id_buffer, sizeof(device_id_buffer), message.device_id);")
-        print("PX4_INFO_RAW(\"\\tdevice_id: %\" PRId32 \" (%s) \\n\", message.device_id, device_id_buffer);")
-    elif field.name == 'accel_device_id':
-        print("char accel_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(accel_device_id_buffer, sizeof(accel_device_id_buffer), message.accel_device_id);")
-        print("PX4_INFO_RAW(\"\\taccel_device_id: %\" PRId32 \" (%s) \\n\", message.accel_device_id, accel_device_id_buffer);")
-    elif field.name == 'gyro_device_id':
-        print("char gyro_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(gyro_device_id_buffer, sizeof(gyro_device_id_buffer), message.gyro_device_id);")
-        print("PX4_INFO_RAW(\"\\tgyro_device_id: %\" PRId32 \" (%s) \\n\", message.gyro_device_id, gyro_device_id_buffer);")
-    elif field.name == 'baro_device_id':
-        print("char baro_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(baro_device_id_buffer, sizeof(baro_device_id_buffer), message.baro_device_id);")
-        print("PX4_INFO_RAW(\"\\tbaro_device_id: %\" PRId32 \" (%s) \\n\", message.baro_device_id, baro_device_id_buffer);")
-    elif field.name == 'mag_device_id':
-        print("char mag_device_id_buffer[80];")
-        print("device::Device::device_id_print_buffer(mag_device_id_buffer, sizeof(mag_device_id_buffer), message.mag_device_id);")
-        print("PX4_INFO_RAW(\"\\tmag_device_id: %\" PRId32 \" (%s) \\n\", message.mag_device_id, mag_device_id_buffer);")
-    elif (field.name == 'q' or 'q_' in field.name) and field.type == 'float32[4]':
-        # float32[4] q/q_d/q_reset/delta_q_reset
-        print("{")
-        print(
-            "\t\tmatrix::Eulerf euler{matrix::Quatf{message." + field.name + "}};")
-        print("\t\tPX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "  (Roll: %.1f deg, Pitch: %.1f deg, Yaw: %.1f deg" ")\\n\", " +
-              field_name + ", (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));\n\t")
-        print("\t}")
-
-    elif ("flags" in field.name or "bits" in field.name) and "uint" in field.type:
-        # print bits of fixed width unsigned integers (uint8, uint16, uint32) if name contains flags or bits
-        print("PX4_INFO_RAW(\"\\t" + field.name + ": " +
-              c_type + " (0b\", " + field_name + ");")
-        print("\tfor (int i = (sizeof(" + field_name + ") * 8) - 1; i >= 0; i--) { PX4_INFO_RAW(\"%lu%s\", (unsigned long) "
-              + field_name + " >> i & 1, ((unsigned)i < (sizeof(" + field_name + ") * 8) - 1 && i % 4 == 0 && i > 0) ? \"'\" : \"\"); }")
-        print("\tPX4_INFO_RAW(\")\\n\");")
-    elif is_array and 'char' in field.type:
-        print(("PX4_INFO_RAW(\"\\t" + field.name + ": \\\"%." +
-              str(array_length) + "s\\\" \\n\", message." + field.name + ");"))
-    else:
-        print(("PX4_INFO_RAW(\"\\t" + field.name + ": " +
-              c_type + "\\n\", " + field_name + ");"))
-
-
 def print_field_def(field):
     """
     Print the C type from a field