External C module with an input message array?

[nens90]

Hi
I'm working on an external module written in C and I came across the possibility to define your module inputs as a message array as described in Array of Messages

So if I define the module config struct like this it should provide me with an input array of message type IMUUnitMsg_C, right?

typedef struct {

     /* declare module private variables */                       
    IMUUnitMsg_C imu_unit[2];

    BSKLogger *bskLogger;  //!< BSK Logging
}fswConfig;

But when I try to link the input message up with subscribeTo() i get the following error in Python

FSWmodel = fsw.fsw()
FSWmodel.imu_unit[0].subscribeTo(msg)

    FSWmodel.imu_unit[0].subscribeTo(msg)
TypeError: 'IMUUnitMsg_C' object is not subscriptable

Am I misusing the interface here for C modules and is this only possible for C++ Modules?

[bbercoviciUspace]

Hi Jens,

Your module .if file is most likely missing a STRUCTASLIST

Something like this should do the trick

%include "ExternalModules/msgPayloadDefC/IMUUnitMsgPayload.h"
struct IMUUnitMsg_C;
STRUCTASLIST(IMUUnitMsg_C)

[nens90]

Thank you so much 🥳
It's works. I also found inspiration from the inertialUKF module.