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@ -9,154 +9,73 @@ import sys
@@ -9,154 +9,73 @@ import sys
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from jinja2 import Environment, FileSystemLoader |
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try: |
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import yaml |
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except: |
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print("Failed to import yaml.") |
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print("You may need to install it with 'sudo pip install pyyaml'") |
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print("") |
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raise |
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## Configuration |
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# All possible Serial ports and their default param values. |
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# Omitted default values will be set to 0. |
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# All possible Serial ports |
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# Note: do not re-use or change indexes. When adding a port, always use an |
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# index that has never been used before. This is important for compatibility |
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# with QGC (parameter metadata) |
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serial_ports = { |
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"GPS1": { |
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"label": "GPS 1", |
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"defaults": { |
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"CONFIG": 'Main GPS', |
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"BAUD": 0, |
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}, |
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}, |
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"GPS2": { |
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"label": "GPS 2", |
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"defaults": { |
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"CONFIG": 'Disabled', |
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"BAUD": 0, |
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}, |
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}, |
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"TEL1": { |
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# index 0 means disabled |
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"TEL1": { # telemetry link |
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"label": "TELEM 1", |
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"defaults": { |
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"CONFIG": 'MAVLink', |
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"BAUD": 57600, |
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"MAV_MDE": 'Normal', |
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"MAV_R": 1200, |
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"MAV_FWD": 1, |
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}, |
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"index": 1, |
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"default_baudrate": 57600, |
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}, |
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"TEL2": { # companion port |
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"label": "TELEM 2", |
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"defaults": { |
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"CONFIG": 'Disabled', # disabled by default to reduce RAM usage |
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"BAUD": 57600, |
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"MAV_MDE": 'OSD', |
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}, |
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"index": 2, |
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"default_baudrate": 921600, |
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}, |
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"TEL3": { |
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"label": "TELEM 3", |
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"defaults": { |
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"CONFIG": 'Disabled', |
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"BAUD": 57600, |
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"MAV_MDE": 'Normal', |
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}, |
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"index": 3, |
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"default_baudrate": 57600, |
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}, |
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"TEL4": { |
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"label": "TELEM 4", |
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"defaults": { |
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"CONFIG": 'MAVLink', |
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"BAUD": 57600, |
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"MAV_MDE": 'Normal', |
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"MAV_R": 1200, |
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}, |
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"label": "TELEM/SERIAL 4", |
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"index": 4, |
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"default_baudrate": 57600, |
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}, |
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"GPS1": { |
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"label": "GPS 1", |
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"index": 5, |
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"default_baudrate": 0, |
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}, |
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"URT3": { # for Omnibus |
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"label": "UART 3", |
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"defaults": { |
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"CONFIG": 'MAVLink', |
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"BAUD": 57600, |
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"MAV_MDE": 'Normal', |
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"MAV_R": 1200, |
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"MAV_FWD": 1, |
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}, |
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"GPS2": { |
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"label": "GPS 2", |
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"index": 6, |
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"default_baudrate": 0, |
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}, |
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"URT6": { # for Omnibus |
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"label": "UART 6", |
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"defaults": { |
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"CONFIG": 'Main GPS', |
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"BAUD": 0, |
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}, |
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"index": 7, |
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"default_baudrate": 0, |
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}, |
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} |
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# Serial commands: each dict entry is a list with 2 items: |
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# - user-facing label (must be short, will be shown in a drop-down list) |
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# - ROMFS command (can be more than one or any scripting logic). |
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# These variables can be used: |
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# ${SER_DEV} Serial device (e.g. /dev/ttyS1) |
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# ${SER_TAG} Serial tag (e.g. GPS1) |
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# SER_${SER_TAG}_CONFIG Param name for the current configuration |
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# SER_${SER_TAG}_BAUD Param name for the current baudrate |
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# SER_${SER_TAG}_MAV_MDE Param name for the current mavlink mode |
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# SER_${SER_TAG}_MAV_R Param name for the current mavlink rate |
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# SER_${SER_TAG}_MAV_FWD Param name for current mavlink forwarding |
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# ${DUAL_GPS_ARGS} Arguments passed to the gps to start the secondary GPS |
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# ${MAV_ARGS} Mavlink arguments (baudrate, mode and rate) |
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# |
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# Note: do NOT re-use or change indexes. When adding a command, always use an |
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# index that has never been used before. This is important for compatibility |
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# with QGC |
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serial_commands = { |
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0: ["Disabled", ""], |
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# MAVLink & RTPS |
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1: ["MAVLink", "mavlink start -d ${SER_DEV} ${MAV_ARGS} -x"], |
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2: ["MAVLink over Syslink", ''' |
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syslink start |
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mavlink start -d /dev/bridge0 ${MAV_ARGS} |
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'''], |
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3: ["MAVLink over Iridium", ''' |
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iridiumsbd start -d ${SER_DEV} |
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mavlink start -d /dev/iridium -b 19200 -m iridium -r 10 |
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'''], |
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4: ["MAVLink + FastRTPS", ''' |
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protocol_splitter start ${SER_DEV} |
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mavlink start -d /dev/mavlink ${MAV_ARGS} -x |
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micrortps_client start -d /dev/rtps -b p:SER_${SER_TAG}_BAUD -l -1 |
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'''], |
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5: ["FastRTPS", "micrortps_client start -d ${SER_DEV} -b p:SER_${SER_TAG}_BAUD -l -1"], |
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# GPS |
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50: ["Main GPS", "gps start -d ${SER_DEV} ${DUAL_GPS_ARGS}"], |
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51: ["Secondary GPS", ""], # special handling for the command |
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# Telemetry |
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100: ["FrSky Telemetry", "frsky_telemetry start -d ${SER_DEV}"], |
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101: ["HoTT Telemetry", "hott_telemetry start -d ${SER_DEV}"], |
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# Sensor drivers |
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200: ["LeddarOne Rangefinder", "leddar_one start -d ${SER_DEV}"], |
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201: ["Benewake TFmini Rangefinder", "tfmini start -d ${SER_DEV}"], |
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202: ["Lightware Laser Rangefinder", "sf0x start -d ${SER_DEV}"], |
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} |
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mavlink_modes = { |
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0: "Normal", |
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1: "Custom", |
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2: "Onboard", |
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3: "OSD", |
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4: "Magic", |
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5: "Config", |
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6: "Iridium", |
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7: "Minimal", |
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} |
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parser = argparse.ArgumentParser(description='Generate Serial params & startup script') |
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parser.add_argument('--serial-ports', type=str, nargs='*', metavar="TAG:DEVICE", |
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default=[], |
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help='Serial ports: mappings from the tag name to the device (e.g. GPS1:/dev/ttyS1)') |
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parser.add_argument('--config-files', type=str, nargs='*', default=[], |
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help='YAML module config file(s)') |
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parser.add_argument('--all-ports', action='store_true', |
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help='Generate output for all known ports (params file only)') |
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parser.add_argument('--rc-file', type=str, action='store', |
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help='ROMFS output script', default=None) |
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parser.add_argument('--constrained-flash', action='store_true', |
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help='Reduce verbosity in ROMFS scripts to reduce flash size') |
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parser.add_argument('--rc-dir', type=str, action='store', |
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help='ROMFS output directory', default=None) |
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parser.add_argument('--params-file', type=str, action='store', |
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help='Parameter output file', default=None) |
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parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', |
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@ -166,11 +85,13 @@ args = parser.parse_args()
@@ -166,11 +85,13 @@ args = parser.parse_args()
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arg_board_serial_ports = args.serial_ports |
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verbose = args.verbose |
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rc_serial_output_file = args.rc_file |
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rc_serial_output_dir = args.rc_dir |
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rc_serial_template = 'rc.serial.jinja' |
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rc_serial_port_template = 'rc.serial_port.jinja' |
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serial_params_output_file = args.params_file |
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serial_params_template = 'serial_params.c.jinja' |
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generate_for_all_ports = args.all_ports |
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constrained_flash = args.constrained_flash |
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if generate_for_all_ports: |
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board_ports = [(key, "") for key in serial_ports] |
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@ -179,28 +100,109 @@ else:
@@ -179,28 +100,109 @@ else:
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board_ports = [tuple(port.split(":")) for port in arg_board_serial_ports] |
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if rc_serial_output_file is None and serial_params_output_file is None: |
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raise Exception("At least one of --rc-file (e.g. rc.serial) or --params-file " |
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if rc_serial_output_dir is None and serial_params_output_file is None: |
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raise Exception("At least one of --rc-dir or --params-file " |
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"(e.g. serial_params.c) needs to be specified") |
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# replace strings in defaults with their numerical value |
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for key in serial_ports: |
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defaults = serial_ports[key]["defaults"] |
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if "CONFIG" in defaults and isinstance(defaults["CONFIG"], str): |
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config_index_list = [ key for key in serial_commands \ |
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if serial_commands[key][0] == defaults["CONFIG"]] |
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if len(config_index_list) == 0: |
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raise Exception("Config mode {:} not found".format(defaults["CONFIG"])) |
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defaults["CONFIG"] = config_index_list[0] |
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if "MAV_MDE" in defaults and isinstance(defaults["MAV_MDE"], str): |
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mode_index_list = [ key for key in mavlink_modes \ |
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if mavlink_modes[key] == defaults["MAV_MDE"]] |
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if len(mode_index_list) == 0: |
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raise Exception("Mavlink mode {:} not found".format(defaults["MAV_MDE"])) |
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defaults["MAV_MDE"] = mode_index_list[0] |
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# parse the YAML files |
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serial_commands = [] |
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additional_params = "" |
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def parse_yaml_serial_config(yaml_config): |
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""" parse the serial_config section from the yaml config file """ |
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if 'serial_config' not in yaml_config: |
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return [] |
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ret = [] |
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module_name = yaml_config['module_name'] |
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for serial_config in yaml_config['serial_config']: |
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if 'label' not in serial_config: |
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serial_config['label'] = module_name |
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ret.append(serial_config) |
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return ret |
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def parse_yaml_parameters_config(yaml_config): |
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""" parse the parameters section from the yaml config file """ |
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if 'parameters' not in yaml_config: |
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return '' |
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parameters_section_list = yaml_config['parameters'] |
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for parameters_section in parameters_section_list: |
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if 'definitions' not in parameters_section: |
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return '' |
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definitions = parameters_section['definitions'] |
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ret = '' |
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param_group = parameters_section.get('group', None) |
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for param_name in definitions: |
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param = definitions[param_name] |
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num_instances = param.get('num_instances', 1) |
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instance_start = param.get('instance_start', 0) # offset |
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# get the type and extract all tags |
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tags = '@group {:}'.format(param_group) |
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if param['type'] == 'enum': |
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param_type = 'INT32' |
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for key in param['values']: |
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tags += '\n * @value {:} {:}'.format(key, param['values'][key]) |
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elif param['type'] == 'boolean': |
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param_type = 'INT32' |
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tags += '\n * @boolean' |
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elif param['type'] == 'int32': |
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param_type = 'INT32' |
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elif param['type'] == 'float': |
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param_type = 'FLOAT' |
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else: |
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raise Exception("unknown param type {:}".format(param['type'])) |
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for tag in ['decimal', 'increment', 'category', 'volatile', 'bit', |
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'min', 'max', 'unit', 'reboot_required']: |
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if tag in param: |
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tags += '\n * @{:} {:}'.format(tag, param[tag]) |
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for i in range(num_instances): |
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# default value |
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default_value = 0 |
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if 'default' in param: |
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# default can be a list of num_instances or a single value |
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if type(param['default']) == list: |
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assert len(param['default']) == num_instances |
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default_value = param['default'][i] |
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else: |
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default_value = param['default'] |
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if type(default_value) == bool: |
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default_value = int(default_value) |
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# output the existing C-style format |
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ret += ''' |
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/** |
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* {short_descr} |
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* |
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* {long_descr} |
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* |
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* {tags} |
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*/ |
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PARAM_DEFINE_{param_type}({name}, {default_value}); |
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'''.format(short_descr=param['description']['short'].replace("\n", "\n * "), |
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long_descr=param['description']['long'].replace("\n", "\n * "), |
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tags=tags, |
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param_type=param_type, |
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name=param_name, |
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default_value=default_value, |
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).replace('${i}', str(i+instance_start)) |
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return ret |
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for yaml_file in args.config_files: |
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with open(yaml_file, 'r') as stream: |
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try: |
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yaml_config = yaml.load(stream) |
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serial_commands.extend(parse_yaml_serial_config(yaml_config)) |
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# TODO: additional params should be parsed in a separate script |
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additional_params += parse_yaml_parameters_config(yaml_config) |
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except yaml.YAMLError as exc: |
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print(exc) |
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raise |
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# sanity check (makes sure the param names don't exceed the max length of 16 chars) |
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@ -217,23 +219,41 @@ for tag, device in board_ports:
@@ -217,23 +219,41 @@ for tag, device in board_ports:
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serial_devices.append({ |
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'tag': tag, |
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'device': device, |
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'label': serial_ports[tag]["label"] |
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'label': serial_ports[tag]["label"], |
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'index': serial_ports[tag]["index"], |
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'default_baudrate': serial_ports[tag]["default_baudrate"] |
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}) |
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# construct commands based on selected board |
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commands = [] |
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disabled_commands = [] # e.g. ["HoTT Telemetry"] TODO: do we need support for that and configure it from the board config? |
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for key in serial_commands: |
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if serial_commands[key][0] in disabled_commands: |
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continue |
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label = serial_commands[key][0] |
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command = serial_commands[key][1] |
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commands.append({ |
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'value': key, |
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'command': command, |
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'label': label |
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}) |
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for serial_command in serial_commands: |
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num_instances = serial_command.get('num_instances', 1) |
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# TODO: use a loop in the script instead of explicitly enumerating all instances |
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for i in range(num_instances): |
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port_config = serial_command['port_config_param'] |
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port_param_name = port_config['name'].replace('${i}', str(i)) |
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default_port = 0 # disabled |
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if 'default' in port_config: |
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if type(port_config['default']) == list: |
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assert len(port_config['default']) == num_instances |
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default_port_str = port_config['default'][i] |
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else: |
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default_port_str = port_config['default'] |
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if default_port_str != "": |
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if default_port_str not in serial_ports: |
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raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label'])) |
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default_port = serial_ports[default_port_str]['index'] |
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commands.append({ |
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'command': serial_command['command'], |
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'label': serial_command['label'], |
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'instance': i, |
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'multi_instance': num_instances > 1, |
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'port_param_name': port_param_name, |
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'default_port': default_port, |
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'param_group': port_config['group'] |
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}) |
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if verbose: |
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print("Serial Devices: {:}".format(serial_devices)) |
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@ -244,9 +264,11 @@ jinja_env = Environment(loader=FileSystemLoader(
@@ -244,9 +264,11 @@ jinja_env = Environment(loader=FileSystemLoader(
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os.path.dirname(os.path.realpath(__file__)))) |
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# generate the ROMFS script using a jinja template |
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if rc_serial_output_file is not None: |
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if rc_serial_output_dir is not None: |
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if generate_for_all_ports: |
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raise Exception("Cannot create rc file for --all-ports") |
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rc_serial_output_file = os.path.join(rc_serial_output_dir, "rc.serial") |
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rc_serial_port_output_file = os.path.join(rc_serial_output_dir, "rc.serial_port") |
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if verbose: print("Generating {:}".format(rc_serial_output_file)) |
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if len(serial_devices) == 0: |
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@ -255,13 +277,15 @@ if rc_serial_output_file is not None:
@@ -255,13 +277,15 @@ if rc_serial_output_file is not None:
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else: |
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template = jinja_env.get_template(rc_serial_template) |
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with open(rc_serial_output_file, 'w') as fid: |
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secondary_gps_value = 51 |
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# sanity-check |
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if serial_commands[secondary_gps_value][0] != "Secondary GPS": |
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raise Exception("Unexpected value for Secondary GPS") |
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fid.write(template.render(serial_devices=serial_devices, |
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secondary_gps_value=secondary_gps_value, |
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commands=commands)) |
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commands=commands, |
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constrained_flash=constrained_flash)) |
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if verbose: print("Generating {:}".format(rc_serial_port_output_file)) |
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template = jinja_env.get_template(rc_serial_port_template) |
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with open(rc_serial_port_output_file, 'w') as fid: |
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fid.write(template.render(serial_devices=serial_devices, |
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constrained_flash=constrained_flash)) |
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# parameter definitions |
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if serial_params_output_file is not None: |
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@ -269,6 +293,6 @@ if serial_params_output_file is not None:
@@ -269,6 +293,6 @@ if serial_params_output_file is not None:
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template = jinja_env.get_template(serial_params_template) |
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with open(serial_params_output_file, 'w') as fid: |
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fid.write(template.render(serial_devices=serial_devices, |
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commands=commands, mavlink_modes=mavlink_modes, |
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serial_ports=serial_ports)) |
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commands=commands, serial_ports=serial_ports, |
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additional_definitions=additional_params)) |
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Beat Küng
7 years ago