You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
496 lines
19 KiB
496 lines
19 KiB
#!/usr/bin/env python3 |
|
""" Script to generate actuators.json metadata from module.yaml config file(s) |
|
""" |
|
|
|
import argparse |
|
import lzma #to create .xz file |
|
import json |
|
import os |
|
import sys |
|
|
|
from output_groups_from_timer_config import get_timer_groups, get_output_groups |
|
|
|
try: |
|
import yaml |
|
except ImportError as e: |
|
print("Failed to import yaml: " + str(e)) |
|
print("") |
|
print("You may need to install it using:") |
|
print(" pip3 install --user pyyaml") |
|
print("") |
|
sys.exit(1) |
|
|
|
parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)') |
|
|
|
parser.add_argument('--config-files', type=str, nargs='*', default=[], |
|
help='YAML module config file(s)') |
|
parser.add_argument('--output-file', type=str, action='store', |
|
help='JSON output file', required=True) |
|
parser.add_argument('--compress', action='store_true', help='Add a compressed output file') |
|
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', |
|
help='Verbose Output') |
|
parser.add_argument('--timer-config', type=str, action='store', |
|
help='board-specific timer_config.cpp file') |
|
parser.add_argument('--board', type=str, action='store', |
|
help='board name, e.g. ') |
|
parser.add_argument('--board-with-io', dest='board_with_io', action='store_true', |
|
help='Indicate that the board as an IO for extra PWM', |
|
default=False) |
|
|
|
args = parser.parse_args() |
|
|
|
compress = args.compress |
|
verbose = args.verbose |
|
output_file = args.output_file |
|
timer_config_file = args.timer_config |
|
board_with_io = args.board_with_io |
|
board = args.board |
|
|
|
root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..") |
|
output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml") |
|
|
|
def save_compressed(filename): |
|
#create lzma compressed version |
|
xz_filename=filename+'.xz' |
|
with lzma.open(xz_filename, 'wt', preset=9) as f: |
|
with open(filename, 'r') as content_file: |
|
f.write(content_file.read()) |
|
|
|
def load_yaml_file(file_name): |
|
with open(file_name, 'r') as stream: |
|
try: |
|
return yaml.safe_load(stream) |
|
except yaml.YAMLError as exc: |
|
print(exc) |
|
raise |
|
|
|
# functions |
|
output_functions_yaml = load_yaml_file(output_functions_file) |
|
output_functions = output_functions_yaml['functions'] |
|
functions = {} |
|
|
|
def add_function(functions, index, name, function_obj=None): |
|
functions[index] = { |
|
"label": name |
|
} |
|
if function_obj is not None: |
|
if function_obj.get('exclude_from_actuator_testing', False): |
|
functions[index]['exclude-from-actuator-testing'] = True |
|
if 'note' in function_obj: |
|
functions[index]['note'] = function_obj['note'] |
|
|
|
for group_key in output_functions: |
|
group = output_functions[group_key] |
|
for function_name in group: |
|
function_name_label = function_name.replace('_', ' ') |
|
if isinstance(group[function_name], int): |
|
add_function(functions, group[function_name], function_name_label) |
|
elif not 'count' in group[function_name]: |
|
add_function(functions, group[function_name]['start'], function_name_label, group[function_name]) |
|
else: |
|
start = group[function_name]['start'] |
|
count = group[function_name]['count'] |
|
for i in range(count): |
|
add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name]) |
|
|
|
# outputs |
|
outputs = [] |
|
|
|
def process_module_name(module_name): |
|
if module_name == '${PWM_MAIN_OR_AUX}': |
|
if board_with_io: return 'PWM AUX' |
|
return 'PWM MAIN' |
|
if '${' in module_name: |
|
raise Exception('unhandled variable in {:}'.format(module_name)) |
|
return module_name |
|
|
|
def process_param_prefix(param_prefix): |
|
if param_prefix == '${PWM_MAIN_OR_AUX}': |
|
if board_with_io: return 'PWM_AUX' |
|
return 'PWM_MAIN' |
|
if '${' in param_prefix: |
|
raise Exception('unhandled variable in {:}'.format(param_prefix)) |
|
return param_prefix |
|
|
|
def process_channel_label(module_name, channel_label, no_prefix): |
|
if channel_label == '${PWM_MAIN_OR_AUX_CAP}': |
|
return 'CAP' |
|
if channel_label == '${PWM_MAIN_OR_AUX}': |
|
if board_with_io: return 'AUX' |
|
return 'MAIN' |
|
if '${' in channel_label: |
|
raise Exception('unhandled variable in {:}'.format(channel_label)) |
|
if no_prefix: return channel_label |
|
return channel_label |
|
|
|
def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose): |
|
""" parse the actuator_output section from the yaml config file |
|
""" |
|
if not 'actuator_output' in yaml_config: |
|
return None |
|
|
|
|
|
actuator_output_yaml = yaml_config['actuator_output'] |
|
output_groups = actuator_output_yaml['output_groups'] |
|
module_name = process_module_name(yaml_config['module_name']) |
|
group_idx = 0 |
|
|
|
if verbose: print('processing module: {}'.format(module_name)) |
|
|
|
actuator_output = { |
|
'label': module_name |
|
} |
|
if 'show_subgroups_if' in actuator_output_yaml: |
|
actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if'] |
|
|
|
# config parameters |
|
def get_config_params(param_list): |
|
""" convert config parameter list (per group or per subgroup) """ |
|
parameters = [] |
|
for config_param in param_list: |
|
if verbose: |
|
print('config param: {}'.format(config_param)) |
|
param = { |
|
'name': config_param['param'], |
|
} |
|
if 'label' in config_param: |
|
param['label'] = config_param['label'] |
|
if 'function' in config_param: |
|
param['function'] = config_param['function'] |
|
parameters.append(param) |
|
return parameters |
|
|
|
parameters = get_config_params(actuator_output_yaml.get('config_parameters', [])) |
|
if len(parameters) > 0: |
|
actuator_output['parameters'] = parameters |
|
|
|
subgroups = [] |
|
|
|
while group_idx < len(output_groups): |
|
group = output_groups[group_idx] |
|
group_idx += 1 |
|
|
|
if verbose: print("processing group: {:}".format(group)) |
|
|
|
# Check for generator and generate additional data. |
|
if 'generator' in group: |
|
if group['generator'] == 'pwm': |
|
param_prefix = process_param_prefix(group['param_prefix']) |
|
no_prefix = not group.get('channel_label_module_name_prefix', True) |
|
channel_labels = [process_channel_label(module_name, label, no_prefix) |
|
for label in group['channel_labels']] |
|
standard_params = group.get('standard_params', []) |
|
extra_function_groups = group.get('extra_function_groups', []) |
|
pwm_timer_param = group.get('pwm_timer_param', None) |
|
if 'timer_config_file' in group: |
|
timer_config_file = os.path.join(root_dir, group['timer_config_file']) |
|
if timer_config_file is None: |
|
raise Exception('trying to generate pwm outputs, but --timer-config not set') |
|
timer_groups = get_timer_groups(timer_config_file, verbose) |
|
timer_output_groups, timer_params = get_output_groups(timer_groups, |
|
param_prefix, channel_labels, |
|
standard_params, extra_function_groups, pwm_timer_param, |
|
verbose=verbose) |
|
output_groups.extend(timer_output_groups) |
|
else: |
|
raise Exception('unknown generator {:}'.format(group['generator'])) |
|
continue |
|
|
|
subgroup = {} |
|
|
|
# supported actions |
|
if 'supported_actions' in group: |
|
actions = {} |
|
for action_name in group['supported_actions']: |
|
action = group['supported_actions'][action_name] |
|
action_name = action_name.replace('_', '-') |
|
actions[action_name] = {} |
|
if 'supported_if' in action: |
|
actions[action_name]['supported-if'] = action['supported_if'] |
|
if 'actuator_types' in action: |
|
actions[action_name]['actuator-types'] = action['actuator_types'] |
|
subgroup['supported-actions'] = actions |
|
|
|
# channels |
|
num_channels = group['num_channels'] |
|
no_prefix = not group.get('channel_label_module_name_prefix', True) |
|
channel_label = process_channel_label(module_name, group['channel_label'], no_prefix) |
|
instance_start = group.get('instance_start', 1) |
|
instance_start_label = group.get('instance_start_label', instance_start) |
|
channels = [] |
|
for channel in range(num_channels): |
|
channels.append({ |
|
'label': channel_label + ' ' +str(channel+instance_start_label), |
|
'param-index': channel+instance_start |
|
}) |
|
subgroup['channels'] = channels |
|
|
|
if 'group_label' in group: |
|
subgroup['label'] = group['group_label'] |
|
|
|
|
|
# per-channel-params |
|
per_channel_params = [] |
|
param_prefix = process_param_prefix(group['param_prefix']) |
|
standard_params = group.get('standard_params', {}) |
|
standard_params_array = [ |
|
( 'function', 'Function', 'FUNC', False ), |
|
( 'disarmed', 'Disarmed', 'DIS', False ), |
|
( 'min', 'Minimum', 'MIN', False ), |
|
( 'max', 'Maximum', 'MAX', False ), |
|
( 'failsafe', 'Failsafe', 'FAIL', True ), |
|
] |
|
for key, label, param_suffix, advanced in standard_params_array: |
|
show_if = None |
|
if key in standard_params and 'show_if' in standard_params[key]: |
|
show_if = standard_params[key]['show_if'] |
|
|
|
if key in standard_params or key == 'function': |
|
param = { |
|
'label': label, |
|
'name': param_prefix+'_'+param_suffix+'${i}', |
|
'function': key, |
|
} |
|
if advanced: param['advanced'] = True |
|
if show_if: param['show-if'] = show_if |
|
per_channel_params.append(param) |
|
|
|
|
|
param = { |
|
'label': 'Rev Range\n(for Servos)', |
|
'name': param_prefix+'_REV', |
|
'index-offset': -1, |
|
'show-as': 'bitset', |
|
} |
|
per_channel_params.append(param) |
|
|
|
# TODO: support non-standard per-channel parameters |
|
|
|
subgroup['per-channel-parameters'] = per_channel_params |
|
|
|
# group config params |
|
parameters = get_config_params(group.get('config_parameters', [])) |
|
if len(parameters) > 0: |
|
subgroup['parameters'] = parameters |
|
|
|
subgroups.append(subgroup) |
|
|
|
actuator_output['subgroups'] = subgroups |
|
return actuator_output |
|
|
|
# Mixers |
|
mixers = None |
|
def get_mixers(yaml_config, output_functions, verbose): |
|
if not 'mixer' in yaml_config: |
|
return None |
|
|
|
actuator_types = {} |
|
for actuator_type_key in yaml_config['mixer']['actuator_types']: |
|
actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key] |
|
actuator_type = { } |
|
if actuator_type_key != 'DEFAULT': |
|
actuator_type['label-index-offset'] = 1 # always 1 |
|
if 'functions' in actuator_type_conf: |
|
function_name = actuator_type_conf['functions'] |
|
# we expect the function to be in 'common' (this is not a requirement, just simplicity) |
|
output_function = output_functions['common'][function_name] |
|
actuator_type['function-min'] = output_function['start'] |
|
actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1 |
|
|
|
values = actuator_type_conf['actuator_testing_values'] |
|
actuator_type['values'] = { |
|
'min': values['min'], |
|
'max': values['max'], |
|
} |
|
if values.get('default_is_nan', False): |
|
actuator_type['values']['default-is-nan'] = True |
|
else: |
|
actuator_type['values']['default'] = values['default'] |
|
if values.get('reversible', False): |
|
actuator_type['values']['reversible'] = True |
|
|
|
# per item params |
|
per_item_params = [] |
|
for per_item_param in actuator_type_conf.get('per_item_parameters', []): |
|
per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()}) |
|
if len(per_item_params) > 0: |
|
actuator_type['per-item-parameters'] = per_item_params |
|
|
|
actuator_types[actuator_type_key] = actuator_type |
|
|
|
if verbose: |
|
print('Actuator types: {}'.format(actuator_types)) |
|
|
|
config = [] |
|
yaml_mixer_config = yaml_config['mixer']['config'] |
|
select_param = yaml_mixer_config['param'] |
|
types = yaml_mixer_config['types'] |
|
for type_index in types: |
|
current_type = types[type_index] |
|
option = select_param + '==' + str(type_index) |
|
mixer_config = { |
|
'option': option, |
|
'help-url': 'https://docs.px4.io/master/en/config/actuators.html', |
|
} |
|
for optional in ['type', 'title']: |
|
if optional in current_type: |
|
mixer_config[optional] = current_type[optional] |
|
actuators = [] |
|
for actuator_conf in current_type['actuators']: |
|
actuator = { |
|
'actuator-type': actuator_conf['actuator_type'], |
|
'required': True, # for now always set as required |
|
} |
|
# sanity check that actuator type exists |
|
if actuator_conf['actuator_type'] not in actuator_types: |
|
raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys())) |
|
|
|
if 'group_label' in actuator_conf: |
|
actuator['group-label'] = actuator_conf['group_label'] |
|
else: |
|
# infer from actuator type |
|
if actuator_conf['actuator_type'] == 'motor': |
|
actuator['group-label'] = 'Motors' |
|
elif actuator_conf['actuator_type'] == 'servo': |
|
actuator['group-label'] = 'Servos' |
|
else: |
|
raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type'])) |
|
|
|
if 'count' in actuator_conf: # possibly dynamic size |
|
actuator['count'] = actuator_conf['count'] |
|
per_item_params = actuator_conf.get('per_item_parameters', {}) |
|
params = [] |
|
if 'standard' in per_item_params: |
|
standard_params = per_item_params['standard'] |
|
index_offset = standard_params.get('index_offset', 0) |
|
if 'position' in standard_params: |
|
params.extend([ |
|
{ |
|
'label': 'Position X', |
|
'function': 'posx', |
|
'name': standard_params['position'][0], |
|
'index-offset': index_offset, |
|
}, |
|
{ |
|
'label': 'Position Y', |
|
'function': 'posy', |
|
'name': standard_params['position'][1], |
|
'index-offset': index_offset, |
|
}, |
|
{ |
|
'label': 'Position Z', |
|
'function': 'posz', |
|
'name': standard_params['position'][2], |
|
'advanced': True, |
|
'index-offset': index_offset, |
|
}, |
|
]) |
|
if 'extra' in per_item_params: |
|
for extra_param in per_item_params['extra']: |
|
params.append({k.replace('_','-'): v for k, v in extra_param.items()}) |
|
actuator['per-item-parameters'] = params |
|
if 'item_label_prefix' in actuator_conf: |
|
actuator['item-label-prefix'] = actuator_conf['item_label_prefix'] |
|
else: # fixed size |
|
labels = [] |
|
pos_x = [] |
|
pos_y = [] |
|
pos_z = [] |
|
for instance in actuator_conf['instances']: |
|
labels.append(instance['name']) |
|
pos_x.append(instance['position'][0]) |
|
pos_y.append(instance['position'][1]) |
|
pos_z.append(instance['position'][2]) |
|
actuator['count'] = len(labels) |
|
actuator['item-label-prefix'] = labels |
|
actuator['per-item-parameters'] = [ |
|
{ |
|
'label': 'Position X', |
|
'function': 'posx', |
|
'value': pos_x, |
|
}, |
|
{ |
|
'label': 'Position Y', |
|
'function': 'posy', |
|
'value': pos_y, |
|
}, |
|
{ |
|
'label': 'Position Z', |
|
'function': 'posz', |
|
'value': pos_z, |
|
'advanced': True, |
|
}, |
|
] |
|
|
|
# actuator parameters |
|
parameters = [] |
|
for param in actuator_conf.get('parameters', []): |
|
parameters.append({k.replace('_','-'): v for k, v in param.items()}) |
|
actuator['parameters'] = parameters |
|
|
|
actuators.append(actuator) |
|
|
|
mixer_config['actuators'] = actuators |
|
config.append(mixer_config) |
|
|
|
if verbose: |
|
print('Mixer configs: {}'.format(config)) |
|
|
|
rules = [] |
|
for rule in yaml_config['mixer'].get('rules', []): |
|
rules.append({k.replace('_','-'): v for k, v in rule.items()}) |
|
|
|
if verbose: |
|
print('Mixer rules: {}'.format(rules)) |
|
|
|
mixers = { |
|
'actuator-types': actuator_types, |
|
'config': config, |
|
'rules': rules, |
|
} |
|
return mixers |
|
|
|
|
|
for yaml_file in args.config_files: |
|
yaml_config = load_yaml_file(yaml_file) |
|
|
|
try: |
|
actuator_output = get_actuator_output(yaml_config, |
|
output_functions, timer_config_file, verbose) |
|
if actuator_output: |
|
outputs.append(actuator_output) |
|
|
|
parsed_mixers = get_mixers(yaml_config, output_functions, verbose) |
|
if parsed_mixers is not None: |
|
if mixers is not None: |
|
# only expected to be configured in one module |
|
raise Exception('multiple "mixer" sections in module config files') |
|
mixers = parsed_mixers |
|
except Exception as e: |
|
print('Exception while parsing {:}:'.format(yaml_file)) |
|
raise e |
|
|
|
if mixers is None: |
|
if len(outputs) > 0: |
|
raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)') |
|
else: |
|
# set a minimal default |
|
mixers = { |
|
'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } }, |
|
'config': [], |
|
} |
|
|
|
actuators = { |
|
'version': 1, |
|
'show-ui-if': 'SYS_CTRL_ALLOC==1', |
|
'outputs_v1': outputs, |
|
'functions_v1': functions, |
|
'mixer_v1': mixers, |
|
} |
|
|
|
with open(output_file, 'w') as outfile: |
|
indent = 2 if verbose else None |
|
json.dump(actuators, outfile, indent=indent) |
|
|
|
if compress: |
|
save_compressed(output_file)
|
|
|