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factorize most of the modules tools
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@gautierhattenberger
gautierhattenberger committed Dec 24, 2010
1 parent 9d2421a commit e945dc8
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Showing 7 changed files with 75 additions and 113 deletions.
3 changes: 1 addition & 2 deletions Makefile.ac
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,6 @@ TUNING_H=$(AC_GENERATED)/tuning.h
SUPERVISION=./paparazzi
MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
MODULES_H=$(AC_GENERATED)/modules.h
MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/
AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5

# "make Q=''" to get full echo
Expand Down Expand Up @@ -132,7 +131,7 @@ $(TUNING_H) : $(SETTINGS_XMLS) $(CONF_XML) $(TOOLS)/gen_tuning.out
$(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_modules.out $(CONF)/modules/*.xml
$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
@echo BUILD $@
$(Q)$(TOOLS)/gen_modules.out $(MODULES_DIR) $(SETTINGS_MODULES) $< > $@
$(Q)$(TOOLS)/gen_modules.out $(SETTINGS_MODULES) $< > $@
$(Q)chmod a+r $@

$(SETTINGS_MODULES) : $(MODULES_H)
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4 changes: 2 additions & 2 deletions sw/tools/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring)
OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc

all: gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out find_free_msg_id.out
all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out find_free_msg_id.out

FP_CMO = fp_proc.cmo gen_flight_plan.cmo
ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
Expand All @@ -46,7 +46,7 @@ gen_flight_plan.cmo : fp_proc.cmi

%.out : %.ml Makefile
@echo OC $<
$(Q)$(OCAMLC) $(INCLUDES) -o $@ unix.cma str.cma ivy-ocaml.cma xml-light.cma lib-pprz.cma $<
$(Q)$(OCAMLC) $(INCLUDES) -o $@ unix.cma str.cma ivy-ocaml.cma xml-light.cma lib-pprz.cma gen_common.cmo $<
@cat ../../pprz_src_test.sh > $@
@echo '$(OCAML) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES) -I $$PAPARAZZI_SRC/sw/lib/ocaml unix.cma str.cma ivy-ocaml.cma xml-light.cma $(OCAMLNETCMA) lib-pprz.cma $$PAPARAZZI_BIN/$< $$*' >> $@
@chmod a+x $@
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33 changes: 7 additions & 26 deletions sw/tools/gen_aircraft.ml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,12 +26,12 @@

open Printf
module U = Unix
module GC = Gen_common

let (//) = Filename.concat

let paparazzi_conf = Env.paparazzi_home // "conf"
let conf_xml = paparazzi_conf // "conf.xml"
let modules_dir = paparazzi_conf // "modules"

let mkdir = fun d ->
assert (Sys.command (sprintf "mkdir -p %s" d) = 0)
Expand Down Expand Up @@ -59,31 +59,12 @@ let check_unique_id_and_name = fun conf ->



let pipe_regexp = Str.regexp "|"
let targets_of_field = fun field ->
try
Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim")
with
_ -> []

(** [get_modules dir xml]
* [dir] is the conf directory for modules, [xml] is the parsed airframe.xml *)
let get_modules = 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
let modules = GC.get_modules_of_airframe xml in
(* build a list (file name, (xml, xml list of flags)) *)
let extract = List.map (fun m ->
match String.lowercase (Xml.tag m) with
"load" -> let file = dir // ExtXml.attrib m "name" in
(file, (ExtXml.parse_file file, Xml.children m))
| tag -> failwith (sprintf "Warning: tag load is undefined; found '%s'" tag)
) modules in
let extract = List.map GC.get_full_module_conf modules in
(* return a list of name and a list of pairs (xml, xml list) *)
List.split extract

Expand All @@ -94,14 +75,14 @@ let get_modules = fun dir xml ->
**)
let dump_module_section = fun xml f ->
(* get modules *)
let (files, modules) = get_modules modules_dir xml in
let (files, modules) = get_modules GC.modules_dir xml in
(* print modules directories and includes for all targets *)
fprintf f "\n####################################################\n";
fprintf f "# modules makefile section\n";
fprintf f "####################################################\n";
fprintf f "\n# include modules directory for all targets\n";
(* get dir and target list *)
let dir_list = get_modules_dir modules in
let dir_list = GC.get_modules_dir modules in
(**
let target_list = union_of_lists (List.map (fun (m,_) -> get_targets_of_module m) modules) in
List.iter (fun target -> fprintf f "%s.CFLAGS += -I modules -I arch/$(ARCH)/modules\n" target) target_list;
Expand All @@ -115,7 +96,7 @@ let dump_module_section = fun xml f ->
let dir = try Xml.attrib m "dir" with _ -> name in
let dir_name = (String.uppercase dir)^"_DIR" in
(* get the list of all the targets for this module *)
let module_target_list = get_targets_of_module m in
let module_target_list = GC.get_targets_of_module m in
(* print global flags as compilation defines and flags *)
fprintf f "\n# makefile for module %s in modules/%s\n" name dir;
List.iter (fun flag ->
Expand All @@ -135,7 +116,7 @@ let dump_module_section = fun xml f ->
(* Look for makefile section *)
List.iter (fun l ->
if ExtXml.tag_is l "makefile" then begin
let targets = targets_of_field l in
let targets = GC.targets_of_field l in
(* Look for defines, flags, files, ... *)
List.iter (fun field ->
match String.lowercase (Xml.tag field) with
Expand Down
21 changes: 0 additions & 21 deletions sw/tools/gen_airframe.ml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@ let max_pprz = 9600. (* !!!! MAX_PPRZ From paparazzi.h !!!! *)
open Printf
open Xml2h


type channel = { min : float; max : float; neutral : float }
type control = { failsafe_value : int; foo : int }

Expand Down Expand Up @@ -217,26 +216,6 @@ let parse_ap_only_commands = fun ap_only ->
printf " commands[COMMAND_%s] = ap_commands[COMMAND_%s];\\\n" com com
| _ -> xml_error "copy"

(**
let parse_subsystem_defines = fun options ->
match Xml.tag options with
"param" ->
printf "// -param: %s\n" (ExtXml.attrib options "name")
| "define" ->
printf "#define %s %s\n" (ExtXml.attrib options "name") (ExtXml.attrib options "value")
| _ -> xml_error "define|param"
let parse_subsystems = fun subsystem ->
match Xml.tag subsystem with
"param" ->
printf "// subsystem parameter: %s\n" (ExtXml.attrib subsystem "name")
| "subsystem" ->
printf "// -%s:\n" (ExtXml.attrib subsystem "name");
List.iter parse_subsystem_defines (Xml.children subsystem)
| _ -> xml_error "subsystem"
**)

let parse_command = fun command no ->
let command_name = "COMMAND_"^ExtXml.attrib command "name" in
define command_name (string_of_int no);
Expand Down
98 changes: 53 additions & 45 deletions sw/tools/gen_common.ml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@

open Printf

let (//) = Filename.concat

let paparazzi_conf = Env.paparazzi_home // "conf"
let modules_dir = paparazzi_conf // "modules"

Expand All @@ -49,31 +51,32 @@ let union_of_lists = fun l ->
let sl = List.sort compare (List.flatten l) in
singletonize sl

(* gm *)
let get_modules = fun dir m ->
(** [get_modules_of_airframe xml]
* Returns a list of modules ("load" node) from airframe file *)
let get_modules_of_airframe = fun 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) *)
List.flatten modules

(** [get_full_module_conf module] Parse module configuration file
* Returns module file name and a pair (xml, xml list): parsed file, children *)
let get_full_module_conf = fun 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
"load" -> let file = modules_dir // ExtXml.attrib m "name" in
(file, (ExtXml.parse_file file, Xml.children m))
| _ -> Xml2h.xml_error "load"

(** [get_module_conf module] Parse module configuration file
* Returns parsed xml file *)
let get_module_conf = fun m ->
let (_ , (conf, _)) = get_full_module_conf m in
conf

(* 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
Expand All @@ -87,45 +90,49 @@ let get_targets_of_module = fun m ->
(* return a singletonized list *)
singletonize (List.sort compare (List.flatten targets))

let unload_unused_modules = fun modules ->
(* gm *)
(** [unload_unused_modules modules ?print_error]
* Returns a list of [modules] where unused modules are removed
* If [print_error] is true, a warning is printed *)
let unload_unused_modules = fun modules print_error ->
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 print_error && 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

(** [get_modules_name dir xml] Returns a list of modules name *)
let get_modules_name = fun dir xml ->

(* gp *)
(** [get_modules_name xml]
* Returns a list of loaded modules' name *)
let get_modules_name = fun 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
let modules = get_modules_of_airframe xml in
(* parse modules *)
let modules = List.map (fun m -> ExtXml.parse_file (dir // ExtXml.attrib m "name")) modules in
let modules = List.map (fun m -> ExtXml.parse_file (modules_dir // ExtXml.attrib m "name")) modules in
(* filter the list if target is not supported *)
let modules = unload_unused_modules modules in
let modules = unload_unused_modules modules false 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
(** [targets_of_field]
* Returns the targets of a makefile node in modules
* Default "ap|sim" *)
let pipe_regexp = Str.regexp "|"
let targets_of_field = fun field ->
try
Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim")
with
_ -> []

(** [get_targets_of_module xml] Returns the list of targets of a module *)
(** [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
Expand All @@ -135,7 +142,8 @@ let get_targets_of_module = fun m ->
(* return a singletonized list *)
singletonize (List.sort compare (List.flatten targets))

(** [get_modules_dir xml] Returns the list of modules directories *)
(** [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)
Expand Down
16 changes: 8 additions & 8 deletions sw/tools/gen_modules.ml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@

open Printf
open Xml2h
module GC = Gen_common

(** Default main frequency = 60Hz *)
let freq = ref 60
Expand Down Expand Up @@ -123,7 +124,7 @@ 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 = singletonize (List.map snd functions_modulo) in
let modulos = GC.singletonize (List.map snd functions_modulo) in
(** Print modulos *)
List.iter (fun modulo ->
let v = sprintf "i%d" modulo in
Expand Down Expand Up @@ -310,11 +311,10 @@ let write_settings = fun xml_file out_set modules ->
let h_name = "MODULES_H"

let () =
if Array.length Sys.argv <> 4 then
failwith (Printf.sprintf "Usage: %s conf_modules_dir out_settings_file xml_file" Sys.argv.(0));
let xml_file = Sys.argv.(3)
and out_set = open_out Sys.argv.(2)
and modules_dir = Sys.argv.(1) in
if Array.length Sys.argv <> 3 then
failwith (Printf.sprintf "Usage: %s out_settings_file xml_file" Sys.argv.(0));
let xml_file = Sys.argv.(2)
and out_set = open_out Sys.argv.(1) in
try
let xml = start_and_begin xml_file h_name in
fprintf out_h "#define MODULES_IDLE 0\n";
Expand All @@ -331,8 +331,8 @@ let () =
let modules = try (ExtXml.child xml "modules") with _ -> Xml.Element("modules",[],[]) in
let main_freq = try (int_of_string (Xml.attrib modules "main_freq")) with _ -> !freq in
freq := main_freq;
let modules_list = List.map (get_modules modules_dir) (Xml.children modules) in
let modules_list = unload_unused_modules modules_list in
let modules_list = List.map GC.get_module_conf (Xml.children modules) in
let modules_list = GC.unload_unused_modules modules_list false in
let modules_name =
(List.map (fun l -> try Xml.attrib l "name" with _ -> "") (Xml.children modules)) @
(List.map (fun m -> try Xml.attrib m "name" with _ -> "") modules_list) in
Expand Down
13 changes: 4 additions & 9 deletions sw/tools/gen_periodic.ml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,10 @@
*)

open Printf
module GC = Gen_common

let (//) = Filename.concat

let paparazzi_conf = Env.paparazzi_home // "conf"
let modules_dir = paparazzi_conf // "modules"


let margin = ref 0
let step = 2

Expand All @@ -42,9 +39,7 @@ let lprintf = fun c f ->
fprintf c "%s" (String.make !margin ' ');
fprintf c f

(**let freq = ref 60 *)

let output_modes = fun avr_h process_name channel_name modes freq modules ->
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
(** For each mode in this process *)
Expand All @@ -65,7 +60,7 @@ 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 = singletonize (List.map snd messages) in
let modulos = GC.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
Expand Down Expand Up @@ -111,7 +106,7 @@ let _ =
with Dtd.Check_error e -> failwith (Dtd.check_error e)

in
let modules_name = get_modules_name modules_dir (ExtXml.parse_file Sys.argv.(1)) in
let modules_name = GC.get_modules_name (ExtXml.parse_file Sys.argv.(1)) in

let avr_h = stdout in

Expand Down

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