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Unverified Commit 2756c766 authored by Daniel Agar's avatar Daniel Agar Committed by GitHub
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mixer lib delete old multi_tables.py and cleanup cmake (#8658)

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src/lib/mixer/CMakeLists.txt
+ 37
− 47
View file @ 2756c766
......@@ -31,30 +31,28 @@
#
############################################################################
include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(geometry_files
quad_x.toml
quad_h.toml
quad_plus.toml
quad_wide.toml
quad_deadcat.toml
quad_vtail.toml
quad_s250aq.toml
quad_y.toml
quad_x_pusher.toml
hex_x.toml
hex_plus.toml
dodeca_bottom_cox.toml
dodeca_top_cox.toml
hex_cox.toml
hex_plus.toml
hex_t.toml
octa_x.toml
octa_plus.toml
hex_x.toml
octa_cox.toml
octa_cox_wide.toml
twin_engine.toml
octa_plus.toml
octa_x.toml
quad_deadcat.toml
quad_h.toml
quad_plus.toml
quad_s250aq.toml
quad_vtail.toml
quad_wide.toml
quad_x.toml
quad_x_pusher.toml
quad_y.toml
tri_y.toml
dodeca_top_cox.toml
dodeca_bottom_cox.toml
twin_engine.toml
)
set(geometries_list)
......@@ -62,39 +60,34 @@ foreach(geom_file ${geometry_files})
list(APPEND geometries_list ${CMAKE_CURRENT_SOURCE_DIR}/geometries/${geom_file})
endforeach()
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py -f ${geometries_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py ${geometries_list}
)
add_custom_target(mixer_gen
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
DEPENDS ${geometries_list})
set(MIXER_TOOLS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools)
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py --normalize -f ${geometries_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py ${geometries_list}
# generate mixers and normalize
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py -f ${geometries_list} -o mixer_multirotor.generated.h
DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
)
add_custom_target(mixer_gen_norm
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
DEPENDS ${geometries_list})
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py --sixdof -f ${geometries_list} -o ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/geometries/tools/px_generate_mixers.py ${geometries_list}
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --normalize -f ${geometries_list} -o mixer_multirotor_normalized.generated.h
DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
)
add_custom_target(mixer_gen_6dof
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
DEPENDS ${geometries_list})
add_custom_target(mixer_gen DEPENDS mixer_multirotor.generated.h ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_normalized.generated.h)
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/multi_tables.py > ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/multi_tables.py
# 6DOF mixers
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_6dof.generated.h
COMMAND ${PYTHON_EXECUTABLE} ${MIXER_TOOLS}/px_generate_mixers.py --sixdof -f ${geometries_list} -o mixer_multirotor_6dof.generated.h
DEPENDS ${MIXER_TOOLS}/px_generate_mixers.py ${geometries_list}
)
add_custom_target(mixer_gen_legacy
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h)
add_custom_target(mixer_gen_6dof DEPENDS mixer_multirotor_6dof.generated.h)
px4_add_module(
MODULE lib__mixer
INCLUDES
${CMAKE_CURRENT_BINARY_DIR}
SRCS
mixer.cpp
mixer_group.cpp
......@@ -103,10 +96,7 @@ px4_add_module(
mixer_multirotor.cpp
mixer_simple.cpp
DEPENDS
platforms__common
mixer_gen
mixer_gen_norm
mixer_gen_6dof
mixer_gen_legacy
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/lib/mixer/multi_tables.py deleted 100755 → 0
+ 0
− 284
View file @ 385212f2
#!/usr/bin/env python
############################################################################
#
# Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
#
# for python2.7 compatibility
from __future__ import print_function
import math
print("/*")
print("* This file is automatically generated by multi_tables - do not edit.")
print("*/")
print("")
print("#ifndef _MIXER_MULTI_TABLES")
print("#define _MIXER_MULTI_TABLES")
print("")
def rcos(angleInRadians):
return math.cos(math.radians(angleInRadians))
CCW = 1.0
CW = -CCW
quad_x = [
[ 45, CCW],
[-135, CCW],
[-45, CW],
[135, CW],
]
quad_h = [
[ 45, CW],
[-135, CW],
[-45, CCW],
[135, CCW],
]
quad_plus = [
[ 90, CCW],
[ -90, CCW],
[ 0, CW],
[ 180, CW],
]
quad_deadcat = [
[ 60, CCW, 1.0],
[-125, CCW, 0.92],
[ -60, CW, 1.0],
[ 125, CW, 0.92],
]
quad_v = [
[ 18.8, 0.4242],
[ -18.8, 1.0],
[ -18.8, -0.4242],
[ 18.8, -1.0],
]
quad_wide = [
[ 68, CCW],
[ -129, CCW],
[ -68, CW],
[ 129, CW],
]
quad_s250aq = [
[ 59, CCW, 1.0 ],
[ -139, CCW, 0.67],
[ -59, CW, 1.0 ],
[ 139, CW, 0.67],
]
hex_x = [
[ 90, CW],
[ -90, CCW],
[ -30, CW],
[ 150, CCW],
[ 30, CCW],
[-150, CW],
]
hex_plus = [
[ 0, CW],
[ 180, CCW],
[-120, CW],
[ 60, CCW],
[ -60, CCW],
[ 120, CW],
]
hex_cox = [
[ 60, CW],
[ 60, CCW],
[ 180, CW],
[ 180, CCW],
[ -60, CW],
[ -60, CCW],
]
hex_t = [
[ 43.21, CCW],
[ 43.21, CW],
[ 180, CW],
[ 180, CCW],
[ -43.21, CW],
[ -43.21, CCW],
]
octa_x = [
[ 22.5, CW],
[-157.5, CW],
[ 67.5, CCW],
[ 157.5, CCW],
[ -22.5, CCW],
[-112.5, CCW],
[ -67.5, CW],
[ 112.5, CW],
]
octa_plus = [
[ 0, CW],
[ 180, CW],
[ 45, CCW],
[ 135, CCW],
[ -45, CCW],
[-135, CCW],
[ -90, CW],
[ 90, CW],
]
octa_cox = [
[ 45, CCW],
[ -45, CW],
[-135, CCW],
[ 135, CW],
[ -45, CCW],
[ 45, CW],
[ 135, CCW],
[-135, CW],
]
octa_cox_wide = [
[ 68, CCW],
[ -68, CW],
[-129, CCW],
[ 129, CW],
[ -68, CCW],
[ 68, CW],
[ 129, CCW],
[-129, CW],
]
twin_engine = [
[ 90, 0.0],
[-90, 0.0],
]
tri_y = [
[ 60, 0.0],
[ -60, 0.0],
[ 180, 0.0],
]
dodeca_top_cox = [
[ 90, CW],
[ -90, CCW],
[ -30, CW],
[ 150, CCW],
[ 30, CCW],
[-150, CW],
]
dodeca_bottom_cox = [
[ 90, CCW],
[ -90, CW],
[ -30, CCW],
[ 150, CW],
[ 30, CW],
[-150, CCW],
]
tables = [quad_x, quad_h, quad_plus, quad_v, quad_wide, quad_s250aq, quad_deadcat,
hex_x, hex_plus, hex_cox, hex_t,
octa_x, octa_plus, octa_cox, octa_cox_wide,
twin_engine, tri_y,
dodeca_top_cox, dodeca_bottom_cox]
keys = ["4x", "4h", "4+", "4v", "4w", "4s", "4dc",
"6x", "6+", "6c", "6t",
"8x", "8+", "8c", "8cw",
"2-", "3y",
"6m", "6a"]
def variableName(variable):
for variableName, value in list(globals().items()):
if value is variable:
return variableName
def unpackScales(scalesList):
if len(scalesList) == 2:
scalesList += [1.0] #Add thrust scale
return scalesList
def printEnum():
print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
for table in tables:
print("\t{},".format(variableName(table).upper()))
print("\n\tMAX_GEOMETRY")
print("}; // enum class MultirotorGeometry\n")
def printScaleTables():
for table in tables:
print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
for row in table:
angle, yawScale, thrustScale = unpackScales(row)
rollScale = rcos(angle + 90)
pitchScale = rcos(angle)
print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
print("};\n")
def printScaleTablesIndex():
print("const MultirotorMixer::Rotor *_config_index[] = {")
for table in tables:
print("\t&_config_{}[0],".format(variableName(table)))
print("};\n")
def printScaleTablesCounts():
print("const unsigned _config_rotor_count[] = {")
for table in tables:
print("\t{}, /* {} */".format(len(table), variableName(table)))
print("};\n")
def printScaleTablesKeys():
print("const char* _config_key[] = {")
for key, table in zip(keys, tables):
print("\t\"{}\",\t/* {} */".format(key, variableName(table)))
print("};\n")
printEnum()
print("namespace {")
printScaleTables()
printScaleTablesIndex()
printScaleTablesCounts()
printScaleTablesKeys()
print("} // anonymous namespace\n")
print("#endif /* _MIXER_MULTI_TABLES */")
print("")
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