diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67698a9167b0e2165c19580f24cf4eeb2b4422a8..95f32fd8ffddab44bd0f3a9cd144c2aae8e1e882 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -273,6 +273,7 @@ if (CATKIN_DEVEL_PREFIX)
endif()
find_package(PythonInterp REQUIRED)
+px4_find_python_module(jinja2 REQUIRED)
#=============================================================================
# cmake testing
@@ -401,7 +402,7 @@ px4_generate_messages(TARGET msg_gen
)
px4_generate_parameters_xml(OUT parameters.xml
BOARD ${BOARD}
- SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+ MODULES ${config_module_list}
OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
add_custom_target(xml_gen
diff --git a/Tools/px4params/__init__.py b/Tools/px4params/__init__.py
index 653b53bbf19c595d857f82864b1af0c8d7d22b7e..a1142bff0976308426be3fcae97ca767febf8f6e 100644
--- a/Tools/px4params/__init__.py
+++ b/Tools/px4params/__init__.py
@@ -1 +1 @@
-__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc", "cmakeparser", "scope"]
+__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc", "scope"]
diff --git a/Tools/px4params/cmakeparser.py b/Tools/px4params/cmakeparser.py
deleted file mode 100644
index 80ce9e29236aa956ec0b45872795d8201af9c110..0000000000000000000000000000000000000000
--- a/Tools/px4params/cmakeparser.py
+++ /dev/null
@@ -1,37 +0,0 @@
-import re
-import codecs
-import sys
-
-class CMakeParser(object):
- """
- Parses provided data and stores all found paths in scope.
- """
- re_split_lines = re.compile(r'[\r\n]+')
- re_comment = re.compile(r'^\#')
- re_start = re.compile(r'set\s*\(\s*config_module_list')
- re_end = re.compile(r'\)\s*')
-
- def Parse(self, scope, contents):
- """
- Incrementally parse cmake file contents and append all found path scope
- to scope.
- """
- # This code is essentially a comment-parsing grammar. "state"
- # represents parser state. It contains human-readable state
- # names.
- state = None
- for line in self.re_split_lines.split(contents):
- line = line.strip()
- # Ignore empty lines
- if line == "":
- continue
- if self.re_comment.match(line):
- continue
- elif self.re_start.match(line):
- state = "gather"
- continue
- elif state is not None and state == "gather":
- if self.re_end.match(line):
- return True
- scope.Add(line)
- return False
diff --git a/Tools/px_generate_params.py b/Tools/px_generate_params.py
index bcbcc4b87600cbd2abad32ec737aa1edcc950698..4777510aef1b5616dfe722afbbd9f818efec7aea 100755
--- a/Tools/px_generate_params.py
+++ b/Tools/px_generate_params.py
@@ -1,107 +1,63 @@
#!/usr/bin/env python
-import xml.etree.ElementTree as ET
-import os
-import re
-import codecs
-
-from px4params import scope, cmakeparser
-
-if len(os.sys.argv) < 2:
- print("Error in %s" % os.sys.argv[0])
- print("Usage: %s <parameters.xml> [cmake-file-scoping] " % os.sys.argv[0])
- raise SystemExit
-
-cmake_scope = scope.Scope()
-if len(os.sys.argv) == 3:
- with codecs.open(os.sys.argv[2], 'r', 'utf-8') as f:
- try:
- contents = f.read()
- f.close()
- parser = cmakeparser.CMakeParser()
- parser.Parse(cmake_scope, contents)
- except:
- contents = ''
- print('Failed reading file: %s, skipping scoping.' % os.sys.argv[2])
- pass
-
-fp_header = open("px4_parameters.h", "w")
-fp_src = open("px4_parameters.c", "w")
-
-tree = ET.parse(os.sys.argv[1])
-root = tree.getroot()
-
-# Generate the header file content
-header = """
-#include <stdint.h>
-#include <systemlib/param/param.h>
-
-// DO NOT EDIT
-// This file is autogenerated from parameters.xml
-
-__BEGIN_DECLS
-
-struct px4_parameters_t {
"""
-params = []
-for group in root:
- if group.tag == "group" and "no_code_generation" not in group.attrib:
- for param in group:
- scope_ = param.find('scope').text
- if not cmake_scope.Has(scope_):
- continue
- params.append(param)
-
-params = sorted(params, key=lambda name: name.attrib["name"])
-for param in params:
- header += """
- const struct param_info_s __param__%s;""" % param.attrib["name"]
-
-header += """
- const unsigned int param_count;
-};
-
-extern const struct px4_parameters_t px4_parameters;
-"""
-
-# Generate the C file content
-src = """
-#include <px4_parameters.h>
-
-// DO NOT EDIT
-// This file is autogenerated from paramaters.xml
-
-const
-#ifndef __PX4_DARWIN
-__attribute__((used, section("__param")))
-#endif
-struct px4_parameters_t px4_parameters = {
+Param source code generation script.
"""
-i=0
-for param in params:
- val_str = "#error UNKNOWN PARAM TYPE, FIX px_generate_params.py"
- if (param.attrib["type"] == "FLOAT"):
- val_str = ".val.f = "
- elif (param.attrib["type"] == "INT32"):
- val_str = ".val.i = "
- i+=1
- src += """
- {
- "%s",
- PARAM_TYPE_%s,
- %s%s
- },
-""" % (param.attrib["name"], param.attrib["type"], val_str, param.attrib["default"])
-src += """
- %d
-};
-
-//extern const struct px4_parameters_t px4_parameters;
-
-__END_DECLS
-
-""" % i
+from __future__ import print_function
+import xml.etree.ElementTree as ET
+import codecs
+import argparse
+from jinja2 import Environment, FileSystemLoader
+import os
-fp_header.write(header)
-fp_src.write(src)
-fp_header.close()
-fp_src.close()
+def generate(xml_file, dest='.', modules=None):
+ """
+ Generate px4 param source from xml.
+
+ @param xml_file: input parameter xml file
+ @param dest: Destination directory for generated files
+ @param modules: The list of px4 modules to search for params.
+ None means to scan everything.
+ """
+ # pylint: disable=broad-except
+ tree = ET.parse(xml_file)
+ root = tree.getroot()
+
+ params = []
+ for group in root:
+ if group.tag == "group" and "no_code_generation" not in group.attrib:
+ for param in group:
+ scope_ = param.find('scope').text
+ if (modules is not None) and (not scope_ in modules):
+ continue
+ params.append(param)
+
+ params = sorted(params, key=lambda name: name.attrib["name"])
+
+ script_path = os.path.dirname(os.path.realpath(__file__))
+
+ # for jinja docs see: http://jinja.pocoo.org/docs/2.9/api/
+ env = Environment(
+ loader=FileSystemLoader(os.path.join(script_path, 'templates')))
+
+ if not os.path.isdir(dest):
+ os.path.mkdir(dest)
+
+ template_files = [
+ 'px4_parameters.h.jinja',
+ 'px4_parameters.c.jinja',
+ ]
+ for template_file in template_files:
+ template = env.get_template(template_file)
+ with open(os.path.join(
+ dest, template_file.replace('.jinja','')), 'w') as fid:
+ fid.write(template.render(params=params))
+
+if __name__ == "__main__":
+ arg_parser = argparse.ArgumentParser()
+ arg_parser.add_argument("--xml", help="parameter xml file")
+ arg_parser.add_argument("--modules", help="px4 module list", default=None)
+ arg_parser.add_argument("--dest", help="destination path", default=os.path.curdir)
+ args = arg_parser.parse_args()
+ generate(xml_file=args.xml, modules=args.modules, dest=args.dest)
+
+# vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
diff --git a/Tools/px_process_params.py b/Tools/px_process_params.py
index 2f950e47242aa13076199d473f1923fb5c07284a..0013517e225ee14f6fdfcb3c9bafb60373cf5aed 100644
--- a/Tools/px_process_params.py
+++ b/Tools/px_process_params.py
@@ -50,7 +50,7 @@ from __future__ import print_function
import sys
import os
import argparse
-from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc, scope, cmakeparser
+from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc
import re
import json
@@ -112,11 +112,12 @@ def main():
default="Automagically updated parameter documentation from code.",
help="DokuWiki page edit summary")
parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
- parser.add_argument('--scope', default=None, action='store', help="pass the scope (list of compiled modules)")
parser.add_argument("-o", "--overrides",
default="{}",
metavar="OVERRIDES",
help="a dict of overrides in the form of a json string")
+ parser.add_argument('--modules', default=None, action='store', help="list of compiled modules")
+
args = parser.parse_args()
@@ -133,22 +134,8 @@ def main():
# Scan directories, and parse the files
if (args.verbose): print("Scanning source path " + args.src_path)
- use_scope = False
- cmake_scope = scope.Scope();
-
- if args.scope:
- with codecs.open(args.scope, 'r', 'utf-8') as f:
- try:
- contents = f.read()
- f.close()
- cmake_parser = cmakeparser.CMakeParser()
- cmake_parser.Parse(cmake_scope, contents)
- use_scope = True
- except:
- use_scope = False
- pass
- if use_scope and len(cmake_scope.scope) > 0:
- if not scanner.ScanDir([os.path.join(args.src_path, p) for p in cmake_scope.scope], parser):
+ if args.modules is not None:
+ if not scanner.ScanDir([os.path.join(args.src_path, p) for p in args.modules.split(',')], parser):
sys.exit(1)
else:
if not scanner.ScanDir([args.src_path], parser):
diff --git a/Tools/templates/px4_parameters.c.jinja b/Tools/templates/px4_parameters.c.jinja
new file mode 100644
index 0000000000000000000000000000000000000000..60a160abc896d7e8a20b3767c5971c94a061e506
--- /dev/null
+++ b/Tools/templates/px4_parameters.c.jinja
@@ -0,0 +1,33 @@
+{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
+#include <px4_parameters.h>
+
+// DO NOT EDIT
+// This file is autogenerated from paramaters.xml
+
+__BEGIN_DECLS
+
+const
+#ifndef __PX4_DARWIN
+__attribute__((used, section("__param")))
+#endif
+
+struct px4_parameters_t px4_parameters = {
+{% for param in params %}
+ {
+ "{{ param.attrib["name"] }}",
+ PARAM_TYPE_{{ param.attrib["type"] }},
+ {%- if param.attrib["type"] == "FLOAT" %}
+ .val.f = {{ param.attrib["default"] }}
+ {%- elif param.attrib["type"] == "INT32" %}
+ .val.i = {{ param.attrib["default"] }}
+ {%- endif %}
+ },
+{% endfor %}
+ {{ params | length }}
+};
+
+//extern const struct px4_parameters_t px4_parameters;
+
+__END_DECLS
+
+{# vim: set noet ft=jinja fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : #}
diff --git a/Tools/templates/px4_parameters.h.jinja b/Tools/templates/px4_parameters.h.jinja
new file mode 100644
index 0000000000000000000000000000000000000000..bf6758e7c97d839b6a923d3f78c1a816e5047bd8
--- /dev/null
+++ b/Tools/templates/px4_parameters.h.jinja
@@ -0,0 +1,21 @@
+{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
+#include <stdint.h>
+#include <systemlib/param/param.h>
+
+// DO NOT EDIT
+// This file is autogenerated from parameters.xml
+
+__BEGIN_DECLS
+
+struct px4_parameters_t {
+{%- for param in params %}
+ const struct param_info_s __param__{{ param.attrib["name"] }};
+{%- endfor %}
+ const unsigned int param_count;
+};
+
+extern const struct px4_parameters_t px4_parameters;
+
+__END_DECLS
+
+{# vim: set noet ft=jinja fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : #}
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index e6917585a57da14a7aedbcb08a8b33b803f3c396..6a2d552478d039cb691b272341f7410627b8c7dd 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -1008,6 +1008,9 @@ endfunction()
#
# Input:
# BOARD : the board
+# MODULES : a list of px4 modules used to limit scope of the paramaters
+# OVERRIDES : A json dict with param names as keys and param default
+# overrides as values
#
# Output:
# OUT : the generated xml file
@@ -1018,8 +1021,9 @@ endfunction()
function(px4_generate_parameters_xml)
px4_parse_function_args(
NAME px4_generate_parameters_xml
- ONE_VALUE OUT BOARD SCOPE OVERRIDES
- REQUIRED OUT BOARD
+ ONE_VALUE OUT BOARD OVERRIDES
+ MULTI_VALUE MODULES
+ REQUIRED MODULES OUT BOARD
ARGN ${ARGN})
set(path ${PX4_SOURCE_DIR}/src)
file(GLOB_RECURSE param_src_files
@@ -1028,10 +1032,11 @@ function(px4_generate_parameters_xml)
if (NOT OVERRIDES)
set(OVERRIDES "{}")
endif()
+ px4_join(OUT module_list LIST ${MODULES} GLUE ",")
add_custom_command(OUTPUT ${OUT}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
- -s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml --scope ${SCOPE}
- --overrides ${OVERRIDES}
+ -s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
+ --overrides ${OVERRIDES} --modules ${module_list}
DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
${PX4_SOURCE_DIR}/Tools/px_generate_params.py
)
@@ -1045,36 +1050,36 @@ endfunction()
# Generates a source file with all parameters.
#
# Usage:
-# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> [SCOPE <cmake file for scoping>])
+# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> MODULES px4 module list)
#
# Input:
# XML : the parameters.xml file
-# SCOPE : the cmake file used to limit scope of the paramaters
+# MODULES : a list of px4 modules used to limit scope of the paramaters
# DEPS : target dependencies
#
# Output:
# OUT : the generated source files
#
# Example:
-# px4_generate_parameters_source(OUT param_files XML parameters.xml SCOPE ${OS}_${BOARD}_${LABEL}.cmake )
+# px4_generate_parameters_source(OUT param_files XML parameters.xml MODULES lib/controllib modules/ekf2)
#
function(px4_generate_parameters_source)
px4_parse_function_args(
NAME px4_generate_parameters_source
- ONE_VALUE OUT XML SCOPE DEPS
- REQUIRED OUT XML
+ ONE_VALUE OUT XML DEPS
+ MULTI_VALUE MODULES
+ REQUIRED MODULES OUT XML
ARGN ${ARGN})
set(generated_files
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
set_source_files_properties(${generated_files}
PROPERTIES GENERATED TRUE)
- if ("${config_generate_parameters_scope}" STREQUAL "ALL")
- set(SCOPE "")
- endif()
+ px4_join(OUT module_list LIST ${MODULES} GLUE ",")
add_custom_command(OUTPUT ${generated_files}
- COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
- DEPENDS ${XML} ${DEPS} ${SCOPE}
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
+ --xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
+ DEPENDS ${XML} ${DEPS}
)
set(${OUT} ${generated_files} PARENT_SCOPE)
endfunction()
@@ -1259,4 +1264,43 @@ function(px4_add_library target)
set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
endfunction()
+#=============================================================================
+#
+# px4_find_python_module
+#
+# Find a required python module
+#
+# Usage
+# px4_find_python_module(module_name [REQUIRED])
+#
+function(px4_find_python_module module)
+ string(TOUPPER ${module} module_upper)
+ if(NOT PY_${module_upper})
+ if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED")
+ set(PY_${module}_FIND_REQUIRED TRUE)
+ endif()
+ # A module's location is usually a directory, but for binary modules
+ # it's a .so file.
+ execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
+ "import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
+ RESULT_VARIABLE _${module}_status
+ OUTPUT_VARIABLE _${module}_location
+ ERROR_QUIET
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+ if(NOT _${module}_status)
+ set(PY_${module_upper} ${_${module}_location} CACHE STRING
+ "Location of Python module ${module}")
+ endif()
+ endif()
+ find_package_handle_standard_args(PY_${module}
+ "couldn't find python module ${module}:
+ \nfor debian systems try: \
+ \n\tsudo apt-get install python-${module} \
+ \nor for all other OSs/debian: \
+ \n\tpip install ${module}\n" PY_${module_upper})
+ #if (NOT PY_${module}_FOUND)
+ #message(FATAL_ERROR "python module not found, exitting")
+ #endif()
+endfunction(px4_find_python_module)
+
# vim: set noet fenc=utf-8 ff=unix nowrap:
diff --git a/src/modules/param/CMakeLists.txt b/src/modules/param/CMakeLists.txt
index d5e42620c2541ae0184e75a653140ca8e5a9baaf..8882af737520688bc67cdd2e7cb728c9b6dc576e 100644
--- a/src/modules/param/CMakeLists.txt
+++ b/src/modules/param/CMakeLists.txt
@@ -35,7 +35,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_generate_parameters_source(OUT param_files
XML ${PX4_BINARY_DIR}/parameters.xml
- SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+ MODULES ${config_module_list}
DEPS xml_gen
)