msg: introduce subset of versioned messages

Jenkinsfile

@@ -231,8 +231,10 @@ pipeline {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'main' branch
               sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/msg/versioned/*.msg')
               sh('rm -f px4_msgs/srv/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp msg/versioned/*.msg px4_msgs/versioned/msg/')
               sh('cp srv/*.srv px4_msgs/srv/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')

Tools/msg/generate_msg_docs.py

@@ -11,9 +11,22 @@
 
 def get_msgs_list(msgdir):
     """
-    Makes list of msg files in the given directory
+    Makes a list of relative paths of .msg files in the given directory
+    and its subdirectories.
+
+    Parameters:
+    msgdir (str): The directory to search for .msg files.
+
+    Returns:
+    list: A list of relative paths to .msg files.
     """
-    return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
+    msgs = []
+    for root, _, files in os.walk(msgdir):
+        for fn in files:
+            if fn.endswith(".msg"):
+                relative_path = os.path.relpath(os.path.join(root, fn), msgdir)
+                msgs.append(relative_path)
+    return msgs
 
 
 if __name__ == "__main__":
@@ -32,7 +45,7 @@ def get_msgs_list(msgdir):
     filelist_in_markdown=''
 
     for msg_file in msg_files:
-        msg_name = os.path.splitext(msg_file)[0]
+        msg_name = os.path.splitext(os.path.basename(msg_file))[0]
         output_file = os.path.join(output_dir, msg_name+'.md')
         msg_filename = os.path.join(msg_path, msg_file)
         print("{:} -> {:}".format(msg_filename, output_file))

msg/CMakeLists.txt

@@ -40,19 +40,14 @@ set(msg_files
 	ActionRequest.msg
 	ActuatorArmed.msg
 	ActuatorControlsStatus.msg
-	ActuatorMotors.msg
 	ActuatorOutputs.msg
-	ActuatorServos.msg
 	ActuatorServosTrim.msg
 	ActuatorTest.msg
 	AdcReport.msg
 	Airspeed.msg
 	AirspeedValidated.msg
 	AirspeedWind.msg
-	ArmingCheckReply.msg
-	ArmingCheckRequest.msg
 	AutotuneAttitudeControlStatus.msg
-	BatteryStatus.msg
 	Buffer128.msg
 	ButtonEvent.msg
 	CameraCapture.msg
@@ -62,7 +57,6 @@ set(msg_files
 	CellularStatus.msg
 	CollisionConstraints.msg
 	CollisionReport.msg
-	ConfigOverrides.msg
 	ControlAllocatorStatus.msg
 	Cpuload.msg
 	DatamanRequest.msg
@@ -110,7 +104,6 @@ set(msg_files
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
-	GotoSetpoint.msg
 	GpioConfig.msg
 	GpioIn.msg
 	GpioOut.msg
@@ -120,7 +113,6 @@ set(msg_files
 	Gripper.msg
 	HealthReport.msg
 	HeaterStatus.msg
-	HomePosition.msg
 	HoverThrustEstimate.msg
 	InputRc.msg
 	InternalCombustionEngineStatus.msg
@@ -136,7 +128,6 @@ set(msg_files
 	LogMessage.msg
 	MagnetometerBiasEstimate.msg
 	MagWorkerData.msg
-	ManualControlSetpoint.msg
 	ManualControlSwitches.msg
 	MavlinkLog.msg
 	MavlinkTunnel.msg
@@ -145,7 +136,6 @@ set(msg_files
 	Mission.msg
 	MissionResult.msg
 	MountOrientation.msg
-	ModeCompleted.msg
 	NavigatorMissionItem.msg
 	NavigatorStatus.msg
 	NormalizedUnsignedSetpoint.msg
@@ -182,8 +172,6 @@ set(msg_files
 	RateCtrlStatus.msg
 	RcChannels.msg
 	RcParameterMap.msg
-	RegisterExtComponentReply.msg
-	RegisterExtComponentRequest.msg
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannStatus.msg
 	RoverDifferentialGuidanceStatus.msg
@@ -223,47 +211,59 @@ set(msg_files
 	TiltrotorExtraControls.msg
 	TimesyncStatus.msg
 	TrajectoryBezier.msg
-	TrajectorySetpoint.msg
 	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
 	UavcanParameterRequest.msg
 	UavcanParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
-	UnregisterExtComponent.msg
 	VehicleAcceleration.msg
 	VehicleAirData.msg
 	VehicleAngularAccelerationSetpoint.msg
-	VehicleAngularVelocity.msg
-	VehicleAttitude.msg
-	VehicleAttitudeSetpoint.msg
-	VehicleCommand.msg
-	VehicleCommandAck.msg
 	VehicleConstraints.msg
-	VehicleControlMode.msg
-	VehicleGlobalPosition.msg
 	VehicleImu.msg
 	VehicleImuStatus.msg
-	VehicleLandDetected.msg
-	VehicleLocalPosition.msg
 	VehicleLocalPositionSetpoint.msg
 	VehicleMagnetometer.msg
-	VehicleOdometry.msg
 	VehicleOpticalFlow.msg
 	VehicleOpticalFlowVel.msg
-	VehicleRatesSetpoint.msg
 	VehicleRoi.msg
-	VehicleStatus.msg
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
 	VehicleTrajectoryBezier.msg
 	VehicleTrajectoryWaypoint.msg
 	VelocityLimits.msg
-	VtolVehicleStatus.msg
 	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
+	versioned/ActuatorMotors.msg
+	versioned/ActuatorServos.msg
+	versioned/ArmingCheckReply.msg
+	versioned/ArmingCheckRequest.msg
+	versioned/BatteryStatus.msg
+	versioned/ConfigOverrides.msg
+	versioned/GotoSetpoint.msg
+	versioned/HomePosition.msg
+	versioned/ManualControlSetpoint.msg
+	versioned/ModeCompleted.msg
+	versioned/RegisterExtComponentReply.msg
+	versioned/RegisterExtComponentRequest.msg
+	versioned/TrajectorySetpoint.msg
+	versioned/UnregisterExtComponent.msg
+	versioned/VehicleAngularVelocity.msg
+	versioned/VehicleAttitude.msg
+	versioned/VehicleAttitudeSetpoint.msg
+	versioned/VehicleCommandAck.msg
+	versioned/VehicleCommand.msg
+	versioned/VehicleControlMode.msg
+	versioned/VehicleGlobalPosition.msg
+	versioned/VehicleLandDetected.msg
+	versioned/VehicleLocalPosition.msg
+	versioned/VehicleOdometry.msg
+	versioned/VehicleRatesSetpoint.msg
+	versioned/VehicleStatus.msg
+	versioned/VtolVehicleStatus.msg
 )
 list(SORT msg_files)
 
@@ -315,7 +315,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -336,7 +336,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_source_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -374,7 +374,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${ucdr_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
 	DEPENDS
@@ -396,7 +396,7 @@ add_custom_command(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 		-o ${msg_source_out_path}
 		-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
 	DEPENDS
@@ -447,7 +447,13 @@ if(CONFIG_LIB_CDRSTREAM)
 	# Copy .msg files
 	foreach(msg_file ${msg_files})
 		get_filename_component(msg ${msg_file} NAME_WE)
-		configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		get_filename_component(msg_directory ${msg_file} DIRECTORY)
+		get_filename_component(msg_directory ${msg_directory} NAME)
+		if(msg_directory STREQUAL "versioned")
+			configure_file(${PX4_SOURCE_DIR}/msg/${msg_directory}/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		else()
+			configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
+		endif()
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
@@ -492,7 +498,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
-			-i ${CMAKE_CURRENT_SOURCE_DIR}
+			-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
 			-o ${idl_uorb_path}
 			-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
 		DEPENDS

msg/ActuatorMotors.msg → msg/versioned/ActuatorMotors.msg

@@ -1,4 +1,7 @@
 # Motor control message
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 

msg/ActuatorServos.msg → msg/versioned/ActuatorServos.msg

@@ -1,4 +1,7 @@
 # Servo control message
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 

msg/ArmingCheckReply.msg → msg/versioned/ArmingCheckReply.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint8 request_id

msg/ArmingCheckRequest.msg → msg/versioned/ArmingCheckRequest.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 # broadcast message to request all registered arming checks to be reported

msg/BatteryStatus.msg → msg/versioned/BatteryStatus.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp				# time since system start (microseconds)
 bool connected					# Whether or not a battery is connected, based on a voltage threshold
 float32 voltage_v				# Battery voltage in volts, 0 if unknown

msg/ConfigOverrides.msg → msg/versioned/ConfigOverrides.msg

@@ -1,4 +1,7 @@
 # Configurable overrides by (external) modes or mode executors
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 
 bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)

msg/GotoSetpoint.msg → msg/versioned/GotoSetpoint.msg

@@ -5,6 +5,8 @@
 # Unset optional setpoints are not controlled
 # Unset optional constraints default to vehicle specifications
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 # setpoints

msg/HomePosition.msg → msg/versioned/HomePosition.msg

@@ -1,5 +1,7 @@
 # GPS home position in WGS84 coordinates.
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp			# time since system start (microseconds)
 
 float64 lat				# Latitude in degrees

msg/ManualControlSetpoint.msg → msg/versioned/ManualControlSetpoint.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp                        # time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
 

msg/ModeCompleted.msg → msg/versioned/ModeCompleted.msg

@@ -2,6 +2,9 @@
 # The possible values of nav_state are defined in the VehicleStatus msg.
 # Note that this is not always published (e.g. when a user switches modes or on
 # failsafe activation)
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp				 # time since system start (microseconds)
 
 

msg/RegisterExtComponentReply.msg → msg/versioned/RegisterExtComponentReply.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint64 request_id          # ID from the request

msg/RegisterExtComponentRequest.msg → msg/versioned/RegisterExtComponentRequest.msg

@@ -1,4 +1,7 @@
 # Request to register an external component
+
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 uint64 request_id                  # ID, set this to a random value

msg/TrajectorySetpoint.msg → msg/versioned/TrajectorySetpoint.msg

@@ -3,6 +3,8 @@
 # Needs to be kinematically consistent and feasible for smooth flight.
 # setting a value to NaN means the state should not be controlled
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 # NED local world frame

msg/UnregisterExtComponent.msg → msg/versioned/UnregisterExtComponent.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp # time since system start (microseconds)
 
 char[25] name                      # either the mode name, or component name

msg/VehicleAngularVelocity.msg → msg/versioned/VehicleAngularVelocity.msg

@@ -1,3 +1,4 @@
+uint32 MESSAGE_VERSION = 0
 
 uint64 timestamp          # time since system start (microseconds)
 uint64 timestamp_sample   # timestamp of the data sample on which this message is based (microseconds)

msg/VehicleAttitude.msg → msg/versioned/VehicleAttitude.msg

@@ -1,6 +1,8 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
 # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp                # time since system start (microseconds)
 
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

msg/VehicleAttitudeSetpoint.msg → msg/versioned/VehicleAttitudeSetpoint.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 
 float32 yaw_sp_move_rate	# rad/s (commanded by user)

msg/VehicleCommand.msg → msg/versioned/VehicleCommand.msg

@@ -1,6 +1,8 @@
 # Vehicle Command uORB message. Used for commanding a mission / action / etc.
 # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp					# time since system start (microseconds)
 
 uint16 VEHICLE_CMD_CUSTOM_0 = 0				# test command

msg/VehicleCommandAck.msg → msg/versioned/VehicleCommandAck.msg

@@ -2,6 +2,8 @@
 # Used for acknowledging the vehicle command being received.
 # Follows the MAVLink COMMAND_ACK message definition
 
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 
 # Result cases. This follows the MAVLink MAV_RESULT enum definition

msg/VehicleControlMode.msg → msg/versioned/VehicleControlMode.msg

@@ -1,3 +1,5 @@
+uint32 MESSAGE_VERSION = 0
+
 uint64 timestamp		# time since system start (microseconds)
 bool flag_armed			# synonym for actuator_armed.armed