text: 
  # helper methods & common code for the uorb message templates msg.{cpp,h}.template
  
  # Another positive effect of having the code here, is that this file will get
  # precompiled and thus message generation will be much faster
  
  
  import genmsg.msgs
  import gencpp
  
  type_map = {
      'int8': 'int8_t',
      'int16': 'int16_t',
      'int32': 'int32_t',
      'int64': 'int64_t',
      'uint8': 'uint8_t',
      'uint16': 'uint16_t',
      'uint32': 'uint32_t',
      'uint64': 'uint64_t',
      'float32': 'float',
      'float64': 'double',
      'bool': 'bool',
      'char': 'char',
  }
  
  type_serialize_map = {
      'int8': 'SignedChar',
      'int16': 'Short',
      'int32': 'Int',
      'int64': 'Long',
      'uint8': 'UnsignedChar',
      'uint16': 'UnsignedShort',
      'uint32': 'UnsignedInt',
      'uint64': 'UnsignedLong',
      'float32': 'Float',
      'float64': 'Double',
      'bool': 'Bool',
      'char': 'Char',
  }
  
  type_idl_map = {
      'int8': 'octet',
      'int16': 'short',
      'int32': 'long',
      'int64': 'long long',
      'uint8': 'octet',
      'uint16': 'unsigned short',
      'uint32': 'unsigned long',
      'uint64': 'unsigned long long',
      'float32': 'float',
      'float64': 'double',
      'bool': 'boolean',
      'char': 'char',
  }
  
  msgtype_size_map = {
      'int8': 1,
      'int16': 2,
      'int32': 4,
      'int64': 8,
      'uint8': 1,
      'uint16': 2,
      'uint32': 4,
      'uint64': 8,
      'float32': 4,
      'float64': 8,
      'bool': 1,
      'char': 1,
  }
  
  type_printf_map = {
      'int8': '%d',
      'int16': '%d',
      'int32': '%" PRId32 "',
      'int64': '%" PRId64 "',
      'uint8': '%u',
      'uint16': '%u',
      'uint32': '%" PRIu32 "',
      'uint64': '%" PRIu64 "',
      'float32': '%.3f',
      'float64': '%.3f',
      'bool': '%u',
      'char': '%c',
  }
  
  def bare_name(msg_type):
      """
      Get bare_name from <dir>/<bare_name>[x] format
      """
      bare = msg_type
      if '/' in msg_type:
          # removing prefix
          bare = (msg_type.split('/'))[1]
      # removing suffix
      return bare.split('[')[0]
  
  
  def sizeof_field_type(field):
      """
      Get size of a field, used for sorting
      """
      bare_name_str = bare_name(field.type)
      if bare_name_str in msgtype_size_map:
          return msgtype_size_map[bare_name_str]
      return 0 # this is for non-builtin types: sort them at the end
  
  def get_children_fields(base_type, search_path):
      (package, name) = genmsg.names.package_resource_name(base_type)
      tmp_msg_context = genmsg.msg_loader.MsgContext.create_default()
      spec_temp = genmsg.msg_loader.load_msg_by_type(tmp_msg_context, '%s/%s' %(package, name), search_path)  
      sorted_fields = sorted(spec_temp.parsed_fields(), key=sizeof_field_type, reverse=True)
      return sorted_fields
  
  def add_padding_bytes(fields, search_path):
      """
      Add padding fields before the embedded types, at the end and calculate the
      struct size
      returns a tuple with the struct size and padding at the end
      """
      struct_size = 8 # account for the timestamp
      align_to = 8 # this is always 8, because of the 64bit timestamp
      i = 0
      padding_idx = 0
      while i < len(fields):
          field = fields[i]
          if not field.is_header:
              a_pos = field.type.find('[')
              array_size = 1
              if field.is_array:
                  array_size = field.array_len
              if field.is_builtin:
                  field.sizeof_field_type = sizeof_field_type(field)
              else:
                  # embedded type: may need to add padding
                  num_padding_bytes = align_to - (struct_size % align_to)
                  if num_padding_bytes != align_to:
                      padding_field = genmsg.Field('_padding'+str(padding_idx),
                          'uint8['+str(num_padding_bytes)+']')
                      padding_idx += 1
                      padding_field.sizeof_field_type = 1
                      struct_size += num_padding_bytes
                      fields.insert(i, padding_field)
                      i += 1
                  children_fields = get_children_fields(field.base_type, search_path)
                  field.sizeof_field_type, unused = add_padding_bytes(children_fields,
                          search_path)
              struct_size += field.sizeof_field_type * array_size
          i += 1
  
      # add padding at the end (necessary for embedded types)
      num_padding_bytes = align_to - (struct_size % align_to)
      if num_padding_bytes == align_to:
          num_padding_bytes = 0
      else:
          padding_field = genmsg.Field('_padding'+str(padding_idx),
                  'uint8['+str(num_padding_bytes)+']')
          padding_idx += 1
          padding_field.sizeof_field_type = 1
          struct_size += num_padding_bytes
          fields.append(padding_field)
      return (struct_size, num_padding_bytes)
  
  
  def convert_type(spec_type):
      """
      Convert from msg type to C type
      """
      bare_type = spec_type
      if '/' in spec_type:
          # removing prefix
          bare_type = (spec_type.split('/'))[1]
  
      msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
      c_type = msg_type
      if msg_type in type_map:
          c_type = type_map[msg_type]
      if is_array:
          return c_type + "[" + str(array_length) + "]"
      return c_type
  
  
  def print_field(field):
      """
      Echo printf line
      """
  
      # 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("printf(\"\\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
  
          else:
              print("printf(\"\\n\\t" + field.name + "\");")
              print("\tprint_message(message."+ field.name + ");")
              return
  
      print("printf(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
  
  
  def print_field_def(field):
      """
      Print the C type from a field
      """
      type_name = field.type
      # detect embedded types
      sl_pos = type_name.find('/')
      type_appendix = ''
      type_prefix = ''
      if (sl_pos >= 0):
          type_name = type_name[sl_pos + 1:]
          type_prefix = 'struct '
          type_appendix = '_s'
  
      # detect arrays
      a_pos = type_name.find('[')
      array_size = ''
      if (a_pos >= 0):
          # field is array
          array_size = type_name[a_pos:]
          type_name = type_name[:a_pos]
  
      if type_name in type_map:
          # need to add _t: int8 --> int8_t
          type_px4 = type_map[type_name]
      else:
          type_px4 = type_name
  
      comment = ''
      if field.name.startswith('_padding'):
          comment = ' // required for logger'
  
      print('\t%s%s%s %s%s;%s'%(type_prefix, type_px4, type_appendix, field.name,
                  array_size, comment))
  