From 6d7e063148e2172edc41ebe5432794d4d39206f8 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 22 May 2015 22:22:12 +0200
Subject: [PATCH] Added GIT version which recompiles on each build
---
Makefile | 4 ++-
msg/vehicle_status.msg | 2 --
src/modules/mavlink/mavlink_main.cpp | 37 ++++++++++++++++++++--
src/modules/sdlog2/module.mk | 2 --
src/modules/sdlog2/sdlog2.c | 3 +-
src/modules/systemlib/.gitignore | 1 +
src/modules/systemlib/git_version.h | 46 ++++++++++++++++++++++++++++
src/modules/systemlib/module.mk | 3 +-
src/modules/uavcan/module.mk | 2 +-
src/modules/uavcan/uavcan_main.cpp | 3 +-
src/systemcmds/ver/module.mk | 2 --
src/systemcmds/ver/ver.c | 3 +-
12 files changed, 94 insertions(+), 14 deletions(-)
create mode 100644 src/modules/systemlib/.gitignore
create mode 100644 src/modules/systemlib/git_version.h
diff --git a/Makefile b/Makefile
index 201187e021..3715beb6ba 100644
--- a/Makefile
+++ b/Makefile
@@ -48,7 +48,9 @@ GIT_DESC := $(shell git log -1 --pretty=format:%H)
ifneq ($(words $(GIT_DESC)),1)
GIT_DESC := "unknown_git_version"
endif
-export GIT_DESC
+
+$(shell echo "#include \"git_version.h\"" > src/modules/systemlib/git_version.c)
+$(shell echo "const char* px4_git_version = \"$(GIT_DESC)\";" >> src/modules/systemlib/git_version.c)
#
# Canned firmware configurations that we (know how to) build.
diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 4913a02f57..c5d5ee9a16 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -97,8 +97,6 @@ int32 system_type # system type, inspired by MAVLink's VEHICLE_TYPE enum
int32 system_id # system id, inspired by MAVLink's system ID field
int32 component_id # subsystem / component id, inspired by MAVLink's component ID field
-uint64 autopilot_capabilites # bitmask which gives info about autopilot capabilites
-
bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
bool is_vtol # True if the system is VTOL capable
bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index b30ab6fc64..3a0d1c1f68 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -66,6 +66,8 @@
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
+#include <systemlib/mcu_version.h>
+#include <systemlib/git_version.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <mathlib/mathlib.h>
@@ -918,8 +920,39 @@ void Mavlink::send_autopilot_capabilites() {
MavlinkOrbSubscription *status_sub = this->add_orb_subscription(ORB_ID(vehicle_status));
if (status_sub->update(&status)) {
- mavlink_autopilot_version_t msg;
- msg.capabilities = status.autopilot_capabilites;
+ mavlink_autopilot_version_t msg = {};
+
+ const char* git_version = px4_git_version;
+
+ msg.capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMMAND_INT;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
+ msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
+ msg.flight_sw_version = 0;
+ msg.middleware_sw_version = 0;
+ msg.os_sw_version = 0;
+ msg.board_version = 0;
+ memcpy(&msg.flight_custom_version, git_version, sizeof(msg.flight_custom_version));
+ memcpy(&msg.middleware_custom_version, git_version, sizeof(msg.middleware_custom_version));
+ memset(&msg.os_custom_version, 0, sizeof(msg.os_custom_version));
+ #ifdef CONFIG_CDCACM_VENDORID
+ msg.vendor_id = CONFIG_CDCACM_VENDORID;
+ #else
+ msg.vendor_id = 0;
+ #endif
+ #ifdef CONFIG_CDCACM_PRODUCTID
+ msg.product_id = CONFIG_CDCACM_PRODUCTID;
+ #else
+ msg.product_id = 0;
+ #endif
+ uint32_t uid[3];
+ mcu_unique_id(uid);
+ msg.uid = (((uint64_t)uid[1]) << 32) | uid[2];
+
this->send_message(MAVLINK_MSG_ID_AUTOPILOT_VERSION, &msg);
}
}
diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index 6964acf339..08dddf219b 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -47,5 +47,3 @@ MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
EXTRACFLAGS = -Wframe-larger-than=1400
-
-EXTRADEFINES = -DGIT_VERSION='"$(GIT_DESC)"'
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 37234ca5d3..b88400c276 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -104,6 +104,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
+#include <systemlib/git_version.h>
#include <version/version.h>
#include <mavlink/mavlink_log.h>
@@ -795,7 +796,7 @@ int write_version(int fd)
};
/* fill version message and write it */
- strncpy(log_msg_VER.body.fw_git, GIT_VERSION, sizeof(log_msg_VER.body.fw_git));
+ strncpy(log_msg_VER.body.fw_git, px4_git_version, sizeof(log_msg_VER.body.fw_git));
strncpy(log_msg_VER.body.arch, HW_ARCH, sizeof(log_msg_VER.body.arch));
return write(fd, &log_msg_VER, sizeof(log_msg_VER));
}
diff --git a/src/modules/systemlib/.gitignore b/src/modules/systemlib/.gitignore
new file mode 100644
index 0000000000..58031bb131
--- /dev/null
+++ b/src/modules/systemlib/.gitignore
@@ -0,0 +1 @@
+git_version.c
diff --git a/src/modules/systemlib/git_version.h b/src/modules/systemlib/git_version.h
new file mode 100644
index 0000000000..cd8dc564ed
--- /dev/null
+++ b/src/modules/systemlib/git_version.h
@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file git_version.h
+ *
+ * GIT repository version
+ */
+
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT extern const char* px4_git_version;
+
+__END_DECLS
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index f2499bbb13..40b7723107 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -55,7 +55,8 @@ SRCS = err.c \
pwm_limit/pwm_limit.c \
circuit_breaker.cpp \
circuit_breaker_params.c \
- mcu_version.c
+ mcu_version.c \
+ git_version.c
MAXOPTIMIZATION = -Os
diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk
index 437feb3014..e3fd31a9a1 100644
--- a/src/modules/uavcan/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -63,7 +63,7 @@ SRCS += $(subst $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
INCLUDE_DIRS += $(LIBUAVCAN_INC)
# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-override EXTRADEFINES := $(EXTRADEFINES) -DGIT_VERSION='"$(GIT_DESC)"' -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
#
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index f04ab9f17c..474739bd66 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -42,6 +42,7 @@
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <systemlib/scheduling_priorities.h>
+#include <systemlib/git_version.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@@ -212,7 +213,7 @@ void UavcanNode::fill_node_info()
// Extracting the first 8 hex digits of GIT_VERSION and converting them to int
char fw_git_short[9] = {};
- std::memmove(fw_git_short, GIT_VERSION, 8);
+ std::memmove(fw_git_short, px4_git_version, 8);
assert(fw_git_short[8] == '\0');
char *end = nullptr;
swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
diff --git a/src/systemcmds/ver/module.mk b/src/systemcmds/ver/module.mk
index 4597b5f110..2eeb80b616 100644
--- a/src/systemcmds/ver/module.mk
+++ b/src/systemcmds/ver/module.mk
@@ -42,5 +42,3 @@ SRCS = ver.c
MODULE_STACKSIZE = 1024
MAXOPTIMIZATION = -Os
-
-EXTRADEFINES = -DGIT_VERSION='"$(GIT_DESC)"'
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index b794e8b2fa..a248dfb79c 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -45,6 +45,7 @@
#include <version/version.h>
#include <systemlib/err.h>
#include <systemlib/mcu_version.h>
+#include <systemlib/git_version.h>
/* string constants for version commands */
static const char sz_ver_hw_str[] = "hw";
@@ -101,7 +102,7 @@ int ver_main(int argc, char *argv[])
}
if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
- printf("FW git-hash: %s\n", GIT_VERSION);
+ printf("FW git-hash: %s\n", px4_git_version);
ret = 0;
}
--
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