start to factorize function for generators

sw/tools/gen_aircraft.ml

@@ -66,22 +66,6 @@ let targets_of_field = fun field ->
   with
     _ -> []
 
-(** singletonize a sorted list *)
-let rec singletonize = fun l ->
-  match l with
-    [] | [_] -> l
-  | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt
-
-(** union of two lists *)
-let union = fun l1 l2 ->
-  let l = l1 @ l2 in
-  let sl = List.sort compare l in
-  singletonize sl
-
-let union_of_lists = fun l ->
-  let sl = List.sort compare (List.flatten l) in
-  singletonize sl
-
 (** [get_modules dir xml]
  * [dir] is the conf directory for modules, [xml] is the parsed airframe.xml *)
 let get_modules = fun dir xml ->
@@ -103,21 +87,6 @@ let get_modules = fun dir xml ->
   (* return a list of name and a list of pairs (xml, xml list) *)
   List.split extract
 
-(** [get_targets_of_module xml] Returns the list of targets of a module *)
-let get_targets_of_module = fun m ->
-  let targets = List.map (fun x ->
-    match String.lowercase (Xml.tag x) with
-      "makefile" -> targets_of_field x
-    | _ -> []
-  ) (Xml.children m) in
-  (* return a singletonized list *)
-  singletonize (List.sort compare (List.flatten targets))
-
-(** [get_modules_dir xml] Returns the list of modules directories *)
-let get_modules_dir = fun modules ->
-  let dir = List.map (fun (m, _) -> try Xml.attrib m "dir" with _ -> ExtXml.attrib m "name") modules in
-  singletonize (List.sort compare dir)
-
 (**
    Search and dump the module section :
      xml : the parsed airframe.xml

sw/tools/gen_common.ml

@@ -0,0 +1,142 @@
+(*
+ * $Id$
+ *
+ * generic tools for modules
+ *
+ * Copyright (C) 2010 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ *)
+
+open Printf
+
+let paparazzi_conf = Env.paparazzi_home // "conf"
+let modules_dir = paparazzi_conf // "modules"
+
+(** remove all duplicated elements of a list *)
+let singletonize = fun l ->
+  let rec loop = fun l ->
+    match l with
+      [] | [_] -> l
+    | x::((x'::_) as xs) ->
+    if x = x' then loop xs else x::loop xs in
+  loop (List.sort compare l)
+
+(** union of two lists *)
+let union = fun l1 l2 ->
+  let l = l1 @ l2 in
+  let sl = List.sort compare l in
+  singletonize sl
+
+(** union of a list of list *)
+let union_of_lists = fun l ->
+  let sl = List.sort compare (List.flatten l) in
+  singletonize sl
+
+(* gm *)
+let get_modules = fun dir m ->
+  match Xml.tag m with
+    "load" -> begin
+      let name = ExtXml.attrib m "name" in
+      let xml = Xml.parse_file (dir^name) in
+      xml
+        end
+  | _ -> xml_error "load"
+
+let unload_unused_modules = fun modules ->
+  let target = try Sys.getenv "TARGET" with _ -> "" in
+  let is_target_in_module = fun m ->
+    let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in
+    if not target_is_in_module then
+      Printf.fprintf stderr "Module %s unloaded, target %s not supported\n" (Xml.attrib m "name") target;
+    target_is_in_module
+  in
+  if String.length target = 0 then
+    modules
+  else
+    List.find_all is_target_in_module modules
+
+
+(* gp *)
+(** [get_targets_of_module xml] Returns the list of targets of a module *)
+let get_targets_of_module = fun m ->
+  let pipe_regexp = Str.regexp "|" in
+  let targets_of_field = fun field -> try 
+    Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in
+  let targets = List.map (fun x ->
+    match String.lowercase (Xml.tag x) with
+      "makefile" -> targets_of_field x
+    | _ -> []
+  ) (Xml.children m) in
+  (* return a singletonized list *)
+  singletonize (List.sort compare (List.flatten targets))
+
+let unload_unused_modules = fun modules ->
+  let target = try Sys.getenv "TARGET" with _ -> "" in
+  let is_target_in_module = fun m ->
+    let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in
+    target_is_in_module
+  in
+  if String.length target = 0 then
+    modules
+  else
+    List.find_all is_target_in_module modules
+
+(** [get_modules_name dir xml] Returns a list of modules name *)
+let get_modules_name = fun dir xml ->
+  (* extract all "modules" sections *)
+  let modules = List.map (fun x ->
+    match String.lowercase (Xml.tag x) with
+      "modules" -> Xml.children x
+    | _ -> []
+    ) (Xml.children xml) in
+  (* flatten the list (result is a list of "load" xml nodes) *)
+  let modules = List.flatten modules in
+  (* parse modules *)
+  let modules = List.map (fun m -> ExtXml.parse_file (dir // ExtXml.attrib m "name")) modules in
+  (* filter the list if target is not supported *)
+  let modules = unload_unused_modules modules in
+  (* return a list of modules name *)
+  List.map (fun m -> ExtXml.attrib m "name") modules
+
+(* ga *)
+  (* extract all "modules" sections *)
+  let modules = List.map (fun x ->
+    match String.lowercase (Xml.tag x) with
+      "modules" -> Xml.children x
+    | _ -> []
+    ) (Xml.children xml) in
+  (* flatten the list (result is a list of "load" xml nodes) *)
+  let modules = List.flatten modules in
+
+(** [get_targets_of_module xml] Returns the list of targets of a module *)
+let get_targets_of_module = fun m ->
+  let targets = List.map (fun x ->
+    match String.lowercase (Xml.tag x) with
+      "makefile" -> targets_of_field x
+    | _ -> []
+  ) (Xml.children m) in
+  (* return a singletonized list *)
+  singletonize (List.sort compare (List.flatten targets))
+
+(** [get_modules_dir xml] Returns the list of modules directories *)
+let get_modules_dir = fun modules ->
+  let dir = List.map (fun (m, _) -> try Xml.attrib m "dir" with _ -> ExtXml.attrib m "name") modules in
+  singletonize (List.sort compare dir)
+

sw/tools/gen_modules.ml

@@ -97,14 +97,6 @@ let print_init_functions = fun modules ->
   left ();
   lprintf out_h "}\n"
 
-let remove_dup = fun l ->
-  let rec loop = fun l ->
-    match l with
-      [] | [_] -> l
-    | x::((x'::_) as xs) ->
-    if x = x' then loop xs else x::loop xs in
-  loop (List.sort compare l)
-
 let print_periodic_functions = fun modules ->
   let min_period = 1. /. float !freq
   and max_period = 65536. /. float !freq
@@ -131,7 +123,7 @@ let print_periodic_functions = fun modules ->
         ((x, module_name), min 65535 (max 1 (int_of_float (float_of_int !freq /. f))))
       )
     periodic) modules) in
-  let modulos = remove_dup (List.map snd functions_modulo) in
+  let modulos = singletonize (List.map snd functions_modulo) in
   (** Print modulos *)
   List.iter (fun modulo ->
     let v = sprintf "i%d" modulo in
@@ -261,15 +253,6 @@ let parse_modules modules =
   nl ();
   fprintf out_h "#endif // MODULES_DATALINK_C\n"
 
-let get_modules = fun dir m ->
-  match Xml.tag m with
-    "load" -> begin
-      let name = ExtXml.attrib m "name" in
-      let xml = Xml.parse_file (dir^name) in
-      xml
-        end
-  | _ -> xml_error "load"
-
 let test_section_modules = fun xml ->
   List.fold_right (fun x r -> ExtXml.tag_is x "modules" || r) (Xml.children xml) false
 
@@ -324,36 +307,6 @@ let write_settings = fun xml_file out_set modules ->
   fprintf out_set " </dl_settings>\n";
   fprintf out_set "</settings>\n"
 
-let get_targets_of_module = fun m ->
-  let pipe_regexp = Str.regexp "|" in
-  let targets_of_field = fun field -> try
-    Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in
-  let rec singletonize = fun l ->
-    match l with
-      [] | [_] -> l
-    | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt
-  in
-  let targets = List.map (fun x ->
-    match String.lowercase (Xml.tag x) with
-      "makefile" -> targets_of_field x
-    | _ -> []
-  ) (Xml.children m) in
-  (* return a singletonized list *)
-  singletonize (List.sort compare (List.flatten targets))
-
-let unload_unused_modules = fun modules ->
-  let target = try Sys.getenv "TARGET" with _ -> "" in
-  let is_target_in_module = fun m ->
-    let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in
-    if not target_is_in_module then
-      Printf.fprintf stderr "Module %s unloaded, target %s not supported\n" (Xml.attrib m "name") target;
-    target_is_in_module
-  in
-  if String.length target = 0 then
-    modules
-  else
-    List.find_all is_target_in_module modules
-
 let h_name = "MODULES_H"
 
 let () =

sw/tools/gen_periodic.ml

@@ -44,15 +44,6 @@ let lprintf = fun c f ->
 
 (**let freq = ref 60 *)
 
-let remove_dup = fun l ->
-  let rec loop = fun l ->
-    match l with
-      [] | [_] -> l
-    | x::((x'::_) as xs) ->
-	if x = x' then loop xs else x::loop xs in
-  loop (List.sort compare l)
-
-
 let output_modes = fun avr_h process_name channel_name modes freq modules ->       
   let min_period = 1./.float freq in
   let max_period = 65536. /. float freq in
@@ -74,7 +65,7 @@ let output_modes = fun avr_h process_name channel_name modes freq modules ->
           fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name");
         (x, min 65535 (max 1 (int_of_float (p*.float_of_int freq))))
         ) filtered_msg in
-      let modulos = remove_dup (List.map snd messages) in
+      let modulos = singletonize (List.map snd messages) in
       List.iter (fun m ->
         let v = sprintf "i%d" m in
         let _type = if m >= 256 then "uint16_t" else "uint8_t" in
@@ -107,52 +98,6 @@ let output_modes = fun avr_h process_name channel_name modes freq modules ->
       lprintf avr_h "}\\\n")
     modes
 
-(** [get_targets_of_module xml] Returns the list of targets of a module *)
-let get_targets_of_module = fun m ->
-  let pipe_regexp = Str.regexp "|" in
-  let targets_of_field = fun field -> try 
-    Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in
-  let rec singletonize = fun l ->
-    match l with
-      [] | [_] -> l
-    | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt
-  in
-  let targets = List.map (fun x ->
-    match String.lowercase (Xml.tag x) with
-      "makefile" -> targets_of_field x
-    | _ -> []
-  ) (Xml.children m) in
-  (* return a singletonized list *)
-  singletonize (List.sort compare (List.flatten targets))
-
-let unload_unused_modules = fun modules ->
-  let target = try Sys.getenv "TARGET" with _ -> "" in
-  let is_target_in_module = fun m ->
-    let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in
-    target_is_in_module
-  in
-  if String.length target = 0 then
-    modules
-  else
-    List.find_all is_target_in_module modules
-
-(** [get_modules_name dir xml] Returns a list of modules name *)
-let get_modules_name = fun dir xml ->
-  (* extract all "modules" sections *)
-  let modules = List.map (fun x ->
-    match String.lowercase (Xml.tag x) with
-      "modules" -> Xml.children x
-    | _ -> []
-    ) (Xml.children xml) in
-  (* flatten the list (result is a list of "load" xml nodes) *)
-  let modules = List.flatten modules in
-  (* parse modules *)
-  let modules = List.map (fun m -> ExtXml.parse_file (dir // ExtXml.attrib m "name")) modules in
-  (* filter the list if target is not supported *)
-  let modules = unload_unused_modules modules in
-  (* return a list of modules name *)
-  List.map (fun m -> ExtXml.attrib m "name") modules
-
 
 let _ =
   if Array.length Sys.argv <> 5 then begin