[modules][ocaml] implement module dependency (paparazzi#2669)

- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
FlyTheThings · Mar 16, 2021 · e4d9e10 · e4d9e10
1 parent 97fa1d7
commit e4d9e10
Show file tree

Hide file tree

Showing 149 changed files with 589 additions and 284 deletions.
diff --git a/conf/airframes/ENAC/fixed-wing/tawaki.xml b/conf/airframes/ENAC/fixed-wing/tawaki.xml
@@ -55,9 +55,9 @@
     </module>
 
     <!--configure name="SDLOG_USE_RTC" value="FALSE"/-->
-    <module name="tlsf"/>
+    <!--module name="tlsf"/>
     <module name="pprzlog"/>
-    <module name="logger" type="sd_chibios"/>
+    <module name="logger" type="sd_chibios"/-->
     <module name="flight_recorder"/>
   </firmware>
 
@@ -216,7 +216,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="JSBSIM_LAUNCHSPEED" value="15"/>
     <define name="JSBSIM_MODEL" value="easystar" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_wind_estimator.h" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
 

diff --git a/conf/modules/AOA_pwm.xml b/conf/modules/AOA_pwm.xml
@@ -37,7 +37,9 @@
     </dl_settings>
   </settings>
 
-  <depends>pwm_meas</depends>
+  <dep>
+    <depends>pwm_meas</depends>
+  </dep>
   <header>
     <file name="aoa_pwm.h" />
   </header>

diff --git a/conf/modules/ahrs_float_cmpl_rmat.xml b/conf/modules/ahrs_float_cmpl_rmat.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ahrs_flat_cmpl_rmat" dir="ahrs">
+<module name="ahrs_float_cmpl_rmat" dir="ahrs">
   <doc>
     <description>
       AHRS using complementary filter in floating point.

diff --git a/conf/modules/ahrs_float_invariant.xml b/conf/modules/ahrs_float_invariant.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ahrs_float_dcm" dir="ahrs">
+<module name="ahrs_float_invariant" dir="ahrs">
   <doc>
     <description>
       AHRS using invariant filter.

diff --git a/conf/modules/ahrs_infrared.xml b/conf/modules/ahrs_infrared.xml
@@ -10,7 +10,9 @@
     - ADC channels can be used for gyros.
     </description>
   </doc>
-  <depends>infrared_adc</depends>
+  <dep>
+    <depends>infrared_adc</depends>
+  </dep>
   <header>
     <file name="ahrs_infrared.h"/>
   </header>

diff --git a/conf/modules/auto1_commands.xml b/conf/modules/auto1_commands.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="auto1_cmd" dir="switching">
+<module name="auto1_commands" dir="switching">
   <doc>
     <description>AUTO1 FLAPS/HATCH COMMANDS.
       Enable RC controlled HATCH and BRAKE/FLAPS in both MANUAL and AUTO1, while automatic in AUTO2.

diff --git a/conf/modules/baro_MS5534A.xml b/conf/modules/baro_MS5534A.xml
@@ -7,14 +7,16 @@
   <header>
     <file name="baro_MS5534A.h"/>
   </header>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
   <init fun="baro_MS5534A_init()"/>
   <periodic fun="baro_MS5534A_send()" freq="20"/>
   <event fun="baro_MS5534A_event()"/>
   <makefile target="ap">
     <file name="baro_MS5534A.c"/>
     <define name="USE_BARO_MS5534A"/>
     <define name="USE_SPI_SLAVE0"/>
-    <define name="SPI_MASTER"/>
     <configure name="BARO_MS5534A_W1" value="0xAC20"/>
     <configure name="BARO_MS5534A_W2" value="0x87D9"/>
     <configure name="BARO_MS5534A_W3" value="0x8D9C"/>

diff --git a/conf/modules/baro_bmp280_i2c.xml b/conf/modules/baro_bmp280_i2c.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="baro_bmp280" dir="sensors">
+<module name="baro_bmp280_i2c" dir="sensors">
   <doc>
     <description>
       Bosch-Sensortech BMP280xx pressure sensor

diff --git a/conf/modules/baro_ms5611_spi.xml b/conf/modules/baro_ms5611_spi.xml
@@ -10,6 +10,9 @@
     <configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE0" description="SPI slave select index"/>
     <define name="SENSOR_SYNC_SEND" description="flag to enable sending BARO_MS5611 message on every new measurement"/>
   </doc>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
   <header>
     <file name="baro_ms5611_spi.h"/>
   </header>
@@ -20,9 +23,6 @@
   <makefile target="ap">
     <configure name="MS5611_SPI_DEV" default="spi1" case="upper|lower"/>
     <configure name="MS5611_SLAVE_IDX" default="spi_slave0" case="upper|lower"/>
-    <raw>
-      include $(CFG_SHARED)/spi_master.makefile
-    </raw>
     <define name="USE_$(MS5611_SPI_DEV_UPPER)" />
     <define name="USE_$(MS5611_SLAVE_IDX_UPPER)" />
     <define name="MS5611_SPI_DEV" value="$(MS5611_SPI_DEV_LOWER)" />

diff --git a/conf/modules/baro_scp.xml b/conf/modules/baro_scp.xml
@@ -8,13 +8,14 @@
   <header>
     <file name="baro_scp.h"/>
   </header>
+  <dep>
+    <depends>spi_master</depends>
+  </dep>
   <init fun="baro_scp_init()"/>
   <periodic fun="baro_scp_periodic()" freq="1.8"/>
   <event fun="baro_scp_event()"/>
   <makefile target="ap">
     <file name="baro_scp.c"/>
-    <define name="SPI_MASTER"/>
-    <define name="USE_SPI"/>
   </makefile>
 </module>
 
diff --git a/conf/modules/bebop_cam.xml b/conf/modules/bebop_cam.xml
@@ -53,7 +53,9 @@
     </dl_settings>
   </settings>
 
-  <autoload name="video_thread"/>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="mt9v117.h"/>

diff --git a/conf/modules/board_matek_f405_wing.xml b/conf/modules/board_matek_f405_wing.xml
@@ -12,10 +12,10 @@
       Normal up of the board is on STM32F405 side.
     </description>
   </doc>
+  <dep>
+    <depends>spi_master,osd_max7456,baro_bmp280_i2c</depends>
+  </dep>
   <autoload name="imu" type="mpu6000"/>
-  <autoload name="spi" type="master"/>
-  <autoload name="osd_max7456" />
-  <autoload name="baro_bmp280_i2c" />
 
   <makefile target="!sim|nps|fbw">
     <!-- IMU CONFIGURATION -->

diff --git a/conf/modules/board_matek_f765_wing.xml b/conf/modules/board_matek_f765_wing.xml
@@ -13,11 +13,10 @@
     </description>
     <configure name="BOARD_MATEK_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
   </doc>
+  <dep>
+    <depends>spi_master,osd_max7456,baro_bmp280_i2c,current_sensor</depends>
+  </dep>
   <autoload name="imu" type="mpu6000"/>
-  <autoload name="spi" type="master"/>
-  <autoload name="osd_max7456"/>
-  <autoload name="baro_bmp280_i2c"/>
-  <autoload name="current_sensor"/>
 
   <makefile target="!sim|nps|fbw">
     <!-- IMU CONFIGURATION -->

diff --git a/conf/modules/board_tawaki.xml b/conf/modules/board_tawaki.xml
@@ -12,9 +12,10 @@
     </description>
     <configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
   </doc>
+  <dep>
+    <depends>baro_bmp3,mag_lis3mdl</depends>
+  </dep>
   <autoload name="imu" type="mpu6000"/>
-  <autoload name="baro" type="bmp3"/>
-  <autoload name="mag" type="lis3mdl"/>
   <makefile target="!sim|nps|fbw">
     <define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/>
     <define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/>

diff --git a/conf/modules/cam_segment.xml b/conf/modules/cam_segment.xml
@@ -4,7 +4,9 @@
   <doc>
     <description>Camera control to point a segment</description>
   </doc>
-  <depends>cam_point</depends>
+  <dep>
+    <depends>cam_point</depends>
+  </dep>
   <header>
     <file name="cam_segment.h"/>
   </header>

diff --git a/conf/modules/configure_actuators_mkk_v2.xml b/conf/modules/configure_actuators_mkk_v2.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="config">
+<module name="configure_actuators_mkk_v2" dir="config">
   <doc>
     <description>Configure Mikrokopter MKK v2.0 BLDC motor controllers (requires subsystem actuators_mkk_v2)</description>
   </doc>

diff --git a/conf/modules/control.xml b/conf/modules/control.xml
@@ -9,7 +9,8 @@
       - guidance_basic_fw
     </description>
   </doc>
-  <autoload name="stabilization_attitude_fw"/>
-  <autoload name="guidance_basic_fw"/>
+  <dep>
+    <depends>stabilization_attitude_fw,guidance_basic_fw</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>
diff --git a/conf/modules/control_adaptive.xml b/conf/modules/control_adaptive.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_adaptive" dir="control">
   <doc>
     <description>
       Adaptive control for fixed-wing aircraft.
@@ -9,7 +9,8 @@
       - guidance_basic_fw
     </description>
   </doc>
-  <autoload name="stabilization_adaptive_fw"/>
-  <autoload name="guidance_basic_fw"/>
+  <dep>
+    <depends>stabilization_adaptive_fw,guidance_basic_fw</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>
diff --git a/conf/modules/control_energy.xml b/conf/modules/control_energy.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_energy" dir="control">
   <doc>
     <description>
       Energy control for fixed-wing aircraft.
@@ -9,7 +9,8 @@
       - guidance_energy
     </description>
   </doc>
-  <autoload name="stabilization_attitude_fw"/>
-  <autoload name="guidance_energy"/>
+  <dep>
+    <depends>stabilization_attitude_fw,guidance_energy</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>
diff --git a/conf/modules/control_energyadaptive.xml b/conf/modules/control_energyadaptive.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_energyadaptive" dir="control">
   <doc>
     <description>
       Energy control for fixed-wing aircraft with adaptive stabilization.
@@ -9,7 +9,8 @@
       - guidance_energy
     </description>
   </doc>
-  <autoload name="stabilization_adaptive_fw"/>
-  <autoload name="guidance_energy"/>
+  <dep>
+    <depends>stabilization_adaptive_fw,guidance_energy</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>
diff --git a/conf/modules/control_new.xml b/conf/modules/control_new.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="control" dir="control">
+<module name="control_new" dir="control">
   <doc>
     <description>
       Full PID control for fixed-wing aircraft.
@@ -9,7 +9,8 @@
       - guidance_full_pid_fw
     </description>
   </doc>
-  <autoload name="stabilization_adaptive_fw"/>
-  <autoload name="guidance_full_pid_fw"/>
+  <dep>
+    <depends>stabilization_adaptive_fw,guidance_full_pid_fw</depends>
+  </dep>
   <makefile target="ap|sim|nps" firmware="fixedwing"/>
 </module>
diff --git a/conf/modules/copilot.xml b/conf/modules/copilot.xml
@@ -24,7 +24,9 @@
   </doc>
 
 
-  <depends>extra_dl</depends>
+  <dep>
+    <depends>extra_dl</depends>
+  </dep>
   <header>
     <file name="copilot.h"/>
   </header>

diff --git a/conf/modules/ctrl_module_innerloop_demo.xml b/conf/modules/ctrl_module_innerloop_demo.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ctrl_module_demo" dir="ctrl">
+<module name="ctrl_module_innerloop_demo" dir="ctrl">
   <doc>
     <description>
         Demo Control Module.

diff --git a/conf/modules/cv_blob_locator.xml b/conf/modules/cv_blob_locator.xml
@@ -32,7 +32,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="cv_blob_locator.h"/>

diff --git a/conf/modules/cv_colorfilter.xml b/conf/modules/cv_colorfilter.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ColorFilter" dir="computer_vision">
+<module name="cv_colorfilter" dir="computer_vision">
   <doc>
     <description>ColorFilter</description>
     <define name="COLORFILTER_CAMERA" value="front_camera|bottom_camera" description="Video device to use"/>
@@ -20,7 +20,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="colorfilter.h"/>

diff --git a/conf/modules/cv_detect_color_object.xml b/conf/modules/cv_detect_color_object.xml
@@ -48,7 +48,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="cv_detect_color_object.h"/>

diff --git a/conf/modules/cv_detect_gate.xml b/conf/modules/cv_detect_gate.xml
@@ -61,7 +61,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
+  <dep>
+    <depends>video_thread</depends>
+  </dep>
 
   <header>
     <file name="detect_gate.h"/>

diff --git a/conf/modules/cv_detect_window.xml b/conf/modules/cv_detect_window.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="detect_window" dir="computer_vision">
+<module name="cv_detect_window" dir="computer_vision">
   <doc>
     <description>
     	Detect window

diff --git a/conf/modules/cv_opticflow.xml b/conf/modules/cv_opticflow.xml
@@ -180,9 +180,9 @@
     </dl_settings>
   </settings>
 
-  <depends>video_thread</depends>
-  <autoload name="agl_dist"/>
-  <autoload name="pose_history"/>
+  <dep>
+    <depends>video_thread,agl_dist,pose_history</depends>
+  </dep>
 
   <header>
     <file name="opticflow_module.h"/>