PyMite: add a new 'openpilot_sitl' platform which allows for stdio to the console and make it the default platform for win32 SiTL.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2436 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/Libraries/PyMite/platform/openpilot_sitl/SConscript

@@ -0,0 +1,67 @@
+import os
+import glob
+
+TCHAIN = "arm-eabi"
+#TCHAIN = "arm-elf"
+#TCHAIN = "arm-none-eabi"
+
+Import("vars")
+
+vars.Add("PM_UART_BAUD", "Baud rate of the ipm serial connection.", "19200")
+vars.Add("IPM", "Add the interactive library to the standard lib", True)
+vars.Add("MCU", "Type of ARM device; the arg to -mcpu.", "cortex-m3")
+vars.Add("NM", "", "arm-eabi-nm")
+vars.Add("OBJCOPY", "", "%s-objcopy" % TCHAIN)
+vars.Add("OBJDUMP", "", "%s-objdump" % TCHAIN)
+vars.Add("SIZE", "", "%s-size" % TCHAIN)
+#vars.Add("DEBUG","", True)
+
+CFLAGS = " -DUART_BAUD=$PM_UART_BAUD -Dgcc" \
+         " -DUSE_STDPERIPH_DRIVER -DSTM32F10X_HD" \
+         " -Wall -Wimplicit" \
+         " -mcpu=$MCU -mthumb -Os -fomit-frame-pointer -mlittle-endian" \
+         " -ffunction-sections -fdata-sections -fno-strict-aliasing"
+         
+LDFLAGS = "-mcpu=$MCU -mthumb -Wl,-T -Xlinker src/platform/stm32/stm32f10x.ld" \
+          " -u _start-Wl,-e,Reset_Handler -Wl,-static -Wl,--gc-sections" \
+          " -nostartfiles -Wl,--allow-multiple-definition"
+          
+AFLAGS = "-x assembler-with-cpp $_CPPINCFLAGS -mcpu=$MCU -mthumb -Wall -c"
+
+if "DEBUG" in vars.args.keys():
+    CFLAGS = "-g -gstabs -D__DEBUG__=1 " + CFLAGS
+
+SOURCES = ["main.c", "plat.c", "stm32f10x_it.c", "syscalls.c"]
+SOURCES += glob.glob("FWlib/src/*.c")
+SOURCES += glob.glob("FWlib/src/*.s")
+
+PY_SOURCES = ["main.py"]
+PM_LIB_ROOT = ["pmvm_%s" % vars.args["PLATFORM"]]
+
+env = Environment(variables = vars,
+                  CPPPATH = ["#src/vm", "#src/platform/stm32", "#src/platform/stm32/FWlib/inc"],
+                  CC = "%s-gcc" % TCHAIN,
+                  AS =  "%s-gcc" % TCHAIN,
+                  ASFLAGS = AFLAGS,
+                  CCFLAGS = CFLAGS,
+                  CXX = "%s-g++" % TCHAIN,
+                  AR = "%s-ar" % TCHAIN,
+                  ARFLAGS = "rcs",
+                  RANLIB = "%s-ranlib" % TCHAIN,
+                  LINKFLAGS = LDFLAGS,
+                  ENV = os.environ)
+                
+vmlib = SConscript(["../../vm/SConscript"], ["env", "vars"])
+
+pmfeatures = env.Command(["pmfeatures.h"], ["pmfeatures.py"], 
+    "src/tools/pmGenPmFeatures.py $SOURCE > $TARGET")
+
+img_sources = env.Command(["main_img.c", "main_nat.c"], [PY_SOURCES],
+    "src/tools/pmImgCreator.py -f src/platform/stm32/pmfeatures.py -c -u " \
+    "-o src/platform/stm32/main_img.c " \
+    "--native-file=src/platform/stm32/main_nat.c $SOURCES")
+
+elf = env.Program("main.elf", SOURCES + img_sources + vmlib,
+                  LIBS = [PM_LIB_ROOT,"c","gcc","m"], LIBPATH = ["../../vm"])
+
+bin = env.Command("main.bin", "main.elf", "$OBJCOPY -O binary $SOURCE $TARGET")

flight/Libraries/PyMite/platform/openpilot_sitl/plat.c

@@ -0,0 +1,307 @@
+/**
+ * @file       plat.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PyMite platform definitions for OpenPilot
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "pm.h"
+#include "openpilot.h"
+
+PmReturn_t plat_init(void)
+{
+    return PM_RET_OK;
+}
+
+PmReturn_t plat_deinit(void)
+{
+    return PM_RET_OK;
+}
+
+/*
+ * Gets a byte from the address in the designated memory space
+ * Post-increments *paddr.
+ */
+uint8_t plat_memGetByte(PmMemSpace_t memspace, uint8_t const **paddr)
+{
+    uint8_t b = 0;
+
+    switch (memspace)
+    {
+        case MEMSPACE_RAM:
+        case MEMSPACE_PROG:
+            b = **paddr;
+            *paddr += 1;
+            return b;
+        case MEMSPACE_EEPROM:
+        case MEMSPACE_SEEPROM:
+        case MEMSPACE_OTHER0:
+        case MEMSPACE_OTHER1:
+        case MEMSPACE_OTHER2:
+        case MEMSPACE_OTHER3:
+        default:
+            return 0;
+    }
+}
+
+PmReturn_t plat_getByte(uint8_t *b)
+{
+    int c;
+    PmReturn_t retval = PM_RET_OK;
+
+    c = getchar();
+    *b = c & 0xFF;
+
+    if (c == EOF)
+    {
+        PM_RAISE(retval, PM_RET_EX_IO);
+    }
+
+    return retval;
+}
+
+PmReturn_t plat_putByte(uint8_t b)
+{
+    int i;
+    PmReturn_t retval = PM_RET_OK;
+
+    i = putchar(b);
+    fflush(stdout);
+
+    if ((i != b) || (i == EOF))
+    {
+        PM_RAISE(retval, PM_RET_EX_IO);
+    }
+
+    return retval;
+}
+
+PmReturn_t plat_getMsTicks(uint32_t *r_ticks)
+{
+    *r_ticks = xTaskGetTickCount() * portTICK_RATE_MS;
+    return PM_RET_OK;
+}
+
+void plat_reportError(PmReturn_t result)
+{
+#ifdef HAVE_DEBUG_INFO
+#define LEN_FNLOOKUP 26
+#define LEN_EXNLOOKUP 17
+
+    uint8_t res;
+    pPmFrame_t pframe;
+    pPmObj_t pstr;
+    PmReturn_t retval;
+    uint8_t bcindex;
+    uint16_t bcsum;
+    uint16_t linesum;
+    uint16_t len_lnotab;
+    uint8_t const *plnotab;
+    uint16_t i;
+
+    /* This table should match src/vm/fileid.txt */
+    char const * const fnlookup[LEN_FNLOOKUP] = {
+        "<no file>",
+        "codeobj.c",
+        "dict.c",
+        "frame.c",
+        "func.c",
+        "global.c",
+        "heap.c",
+        "img.c",
+        "int.c",
+        "interp.c",
+        "pmstdlib_nat.c",
+        "list.c",
+        "main.c",
+        "mem.c",
+        "module.c",
+        "obj.c",
+        "seglist.c",
+        "sli.c",
+        "strobj.c",
+        "tuple.c",
+        "seq.c",
+        "pm.c",
+        "thread.c",
+        "float.c",
+        "class.c",
+        "bytearray.c",
+    };
+
+    /* This table should match src/vm/pm.h PmReturn_t */
+    char const * const exnlookup[LEN_EXNLOOKUP] = {
+        "Exception",
+        "SystemExit",
+        "IoError",
+        "ZeroDivisionError",
+        "AssertionError",
+        "AttributeError",
+        "ImportError",
+        "IndexError",
+        "KeyError",
+        "MemoryError",
+        "NameError",
+        "SyntaxError",
+        "SystemError",
+        "TypeError",
+        "ValueError",
+        "StopIteration",
+        "Warning",
+    };
+
+    /* Print traceback */
+    printf("Traceback (most recent call first):\n");
+
+    /* Get the top frame */
+    pframe = gVmGlobal.pthread->pframe;
+
+    /* If it's the native frame, print the native function name */
+    if (pframe == (pPmFrame_t)&(gVmGlobal.nativeframe))
+    {
+
+        /* The last name in the names tuple of the code obj is the name */
+        retval = tuple_getItem((pPmObj_t)gVmGlobal.nativeframe.nf_func->
+                               f_co->co_names, -1, &pstr);
+        if ((retval) != PM_RET_OK)
+        {
+            printf("  Unable to get native func name.\n");
+            return;
+        }
+        else
+        {
+            printf("  %s() __NATIVE__\n", ((pPmString_t)pstr)->val);
+        }
+
+        /* Get the frame that called the native frame */
+        pframe = (pPmFrame_t)gVmGlobal.nativeframe.nf_back;
+    }
+
+    /* Print the remaining frame stack */
+    for (; pframe != C_NULL; pframe = pframe->fo_back)
+    {
+        /* The last name in the names tuple of the code obj is the name */
+        retval = tuple_getItem((pPmObj_t)pframe->fo_func->f_co->co_names,
+                               -1,
+                               &pstr);
+        if ((retval) != PM_RET_OK) break;
+
+        /*
+         * Get the line number of the current bytecode. Algorithm comes from:
+         * http://svn.python.org/view/python/trunk/Objects/lnotab_notes.txt?view=markup
+         */
+        bcindex = pframe->fo_ip - pframe->fo_func->f_co->co_codeaddr;
+        plnotab = pframe->fo_func->f_co->co_lnotab;
+        len_lnotab = mem_getWord(MEMSPACE_PROG, &plnotab);
+        bcsum = 0;
+        linesum = pframe->fo_func->f_co->co_firstlineno;
+        for (i = 0; i < len_lnotab; i += 2)
+        {
+            bcsum += mem_getByte(MEMSPACE_PROG, &plnotab);
+            if (bcsum > bcindex) break;
+            linesum += mem_getByte(MEMSPACE_PROG, &plnotab);
+        }
+        printf("  File \"%s\", line %d, in %s\n",
+               ((pPmFrame_t)pframe)->fo_func->f_co->co_filename,
+               linesum,
+               ((pPmString_t)pstr)->val);
+    }
+
+    /* Print error */
+    res = (uint8_t)result;
+    if ((res > 0) && ((res - PM_RET_EX) < LEN_EXNLOOKUP))
+    {
+        printf("%s", exnlookup[res - PM_RET_EX]);
+    }
+    else
+    {
+        printf("Error code 0x%02X", result);
+    }
+    printf(" detected by ");
+
+    if ((gVmGlobal.errFileId > 0) && (gVmGlobal.errFileId < LEN_FNLOOKUP))
+    {
+        printf("%s:", fnlookup[gVmGlobal.errFileId]);
+    }
+    else
+    {
+        printf("FileId 0x%02X line ", gVmGlobal.errFileId);
+    }
+    printf("%d\n", gVmGlobal.errLineNum);
+
+#else /* HAVE_DEBUG_INFO */
+
+    /* Print error */
+    printf("Error:     0x%02X\n", result);
+    printf("  Release: 0x%02X\n", gVmGlobal.errVmRelease);
+    printf("  FileId:  0x%02X\n", gVmGlobal.errFileId);
+    printf("  LineNum: %d\n", gVmGlobal.errLineNum);
+
+    /* Print traceback */
+    {
+        pPmObj_t pframe;
+        pPmObj_t pstr;
+        PmReturn_t retval;
+
+        printf("Traceback (top first):\n");
+
+        /* Get the top frame */
+        pframe = (pPmObj_t)gVmGlobal.pthread->pframe;
+
+        /* If it's the native frame, print the native function name */
+        if (pframe == (pPmObj_t)&(gVmGlobal.nativeframe))
+        {
+
+            /* The last name in the names tuple of the code obj is the name */
+            retval = tuple_getItem((pPmObj_t)gVmGlobal.nativeframe.nf_func->
+                                   f_co->co_names, -1, &pstr);
+            if ((retval) != PM_RET_OK)
+            {
+                printf("  Unable to get native func name.\n");
+                return;
+            }
+            else
+            {
+                printf("  %s() __NATIVE__\n", ((pPmString_t)pstr)->val);
+            }
+
+            /* Get the frame that called the native frame */
+            pframe = (pPmObj_t)gVmGlobal.nativeframe.nf_back;
+        }
+
+        /* Print the remaining frame stack */
+        for (;
+             pframe != C_NULL;
+             pframe = (pPmObj_t)((pPmFrame_t)pframe)->fo_back)
+        {
+            /* The last name in the names tuple of the code obj is the name */
+            retval = tuple_getItem((pPmObj_t)((pPmFrame_t)pframe)->
+                                   fo_func->f_co->co_names, -1, &pstr);
+            if ((retval) != PM_RET_OK) break;
+
+            printf("  %s()\n", ((pPmString_t)pstr)->val);
+        }
+        printf("  <module>.\n");
+    }
+#endif /* HAVE_DEBUG_INFO */
+
+    /* TODO: Copy error information to UAVObject */
+	/* gVmGlobal.errVmRelease gVmGlobal.errFileId gVmGlobal.errLineNum */
+}

flight/Libraries/PyMite/platform/openpilot_sitl/plat.h

@@ -0,0 +1,31 @@
+/**
+ * @file       plat.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PyMite platform definitions for OpenPilot
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef _PLAT_H_
+#define _PLAT_H_
+
+#define PM_HEAP_SIZE 0x2000
+#define PM_FLOAT_LITTLE_ENDIAN
+
+#endif /* _PLAT_H_ */

flight/Libraries/PyMite/platform/openpilot_sitl/pmfeatures.py

@@ -0,0 +1,29 @@
+# This file is Copyright 2010 Dean Hall.
+#
+# This file is part of the Python-on-a-Chip program.
+# Python-on-a-Chip is free software: you can redistribute it and/or modify
+# it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1.
+#
+# Python-on-a-Chip is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# A copy of the GNU LESSER GENERAL PUBLIC LICENSE Version 2.1
+# is seen in the file COPYING up one directory from this.
+
+PM_FEATURES = {
+    "HAVE_PRINT": True,
+    "HAVE_GC": True,
+    "HAVE_FLOAT": True,
+    "HAVE_DEL": True,
+    "HAVE_IMPORTS": True,
+    "HAVE_DEFAULTARGS": True,
+    "HAVE_REPLICATION": True,
+    "HAVE_CLASSES": True,
+    "HAVE_ASSERT": True,
+    "HAVE_GENERATORS": True,
+    "HAVE_BACKTICK": False,
+    "HAVE_STRING_FORMAT": False,
+    "HAVE_CLOSURES": False,
+    "HAVE_BYTEARRAY": False,
+    "HAVE_DEBUG_INFO": False,
+}

flight/Libraries/PyMite/platform/windows/main_img.c

@@ -0,0 +1,47 @@
+/**
+ * PyMite library image file.
+ *
+ * Automatically created from:
+ * 	main.py
+ *	img-list-terminator
+ * by pmImgCreator.py on
+ * Tue Jan 11 21:25:50 2011.
+ * 
+ * Byte count: 127
+ * 
+ * Selected memspace type: RAM
+ * 
+ * DO NOT EDIT THIS FILE.
+ * ANY CHANGES WILL BE LOST.
+ */
+
+/* Place the image into RAM */
+#ifdef __cplusplus
+extern
+#endif
+unsigned char const
+usrlib_img[] =
+{
+
+
+/* main.py */
+    0x0A, 0x7E, 0x00, 0x00, 0x40, 0x03, 0x00, 0x00, 
+    0x0C, 0x00, 0x04, 0x03, 0x03, 0x03, 0x00, 0x69, 
+    0x70, 0x6D, 0x03, 0x07, 0x00, 0x67, 0x6C, 0x6F, 
+    0x62, 0x61, 0x6C, 0x73, 0x03, 0x04, 0x00, 0x6D, 
+    0x61, 0x69, 0x6E, 0x03, 0x06, 0x00, 0x05, 0x02, 
+    0x0C, 0x01, 0x10, 0x02, 0x03, 0x08, 0x00, 0x6D, 
+    0x61, 0x69, 0x6E, 0x2E, 0x70, 0x79, 0x00, 0x04, 
+    0x04, 0x03, 0x05, 0x00, 0x48, 0x65, 0x6C, 0x6C, 
+    0x6F, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x03, 
+    0x08, 0x00, 0x47, 0x6F, 0x6F, 0x64, 0x2D, 0x62, 
+    0x79, 0x65, 0x04, 0x00, 0x64, 0x00, 0x00, 0x47, 
+    0x48, 0x64, 0x01, 0x00, 0x64, 0x02, 0x00, 0x6B, 
+    0x00, 0x00, 0x5A, 0x00, 0x00, 0x65, 0x00, 0x00, 
+    0x69, 0x00, 0x00, 0x65, 0x01, 0x00, 0x83, 0x00, 
+    0x00, 0x83, 0x01, 0x00, 0x01, 0x64, 0x03, 0x00, 
+    0x47, 0x48, 0x64, 0x02, 0x00, 0x53, 
+
+/* img-list-terminator */
+    0xFF, 
+};

flight/Libraries/PyMite/platform/windows/main_nat.c

@@ -0,0 +1,37 @@
+#undef __FILE_ID__
+#define __FILE_ID__ 0x0A
+/**
+ * PyMite usr native function file
+ *
+ * automatically created by pmImgCreator.py
+ * on Tue Jan 11 21:25:50 2011
+ *
+ * DO NOT EDIT THIS FILE.
+ * ANY CHANGES WILL BE LOST.
+ *
+ * @file    main_nat.c
+ */
+
+#define __IN_LIBNATIVE_C__
+#include "pm.h"
+
+PmReturn_t
+nat_placeholder_func(pPmFrame_t *ppframe)
+{
+
+    /*
+     * Use placeholder because an index 
+     * value of zero denotes the stdlib.
+     * This function should not be called.
+     */
+    PmReturn_t retval;
+    PM_RAISE(retval, PM_RET_EX_SYS);
+    return retval;
+
+}
+
+/* Native function lookup table */
+pPmNativeFxn_t const usr_nat_fxn_table[] =
+{
+    nat_placeholder_func,
+};

flight/Libraries/PyMite/platform/windows/pmfeatures.h

@@ -0,0 +1,15 @@
+/* Automatically generated by ../../tools/pmGenPmFeatures.py on Tue Jan 11 21:25:50 2011.  DO NOT EDIT. */
+#define HAVE_PRINT
+#define HAVE_CLASSES
+#define HAVE_REPLICATION
+#define HAVE_GENERATORS
+#define HAVE_STRING_FORMAT
+#define HAVE_CLOSURES
+#define HAVE_DEBUG_INFO
+#define HAVE_ASSERT
+#define HAVE_DEFAULTARGS
+#define HAVE_DEL
+#define HAVE_BACKTICK
+#define HAVE_FLOAT
+#define HAVE_GC
+#define HAVE_IMPORTS

flight/OpenPilot/Makefile.win32

@@ -102,7 +102,7 @@ RTOSINCDIR = $(RTOSSRCDIR)/include
 DOXYGENDIR = ../Doc/Doxygen
 PYMITE = $(FLIGHTLIB)/PyMite
 PYMITELIB = $(PYMITE)/lib
-PYMITEPLAT = $(PYMITE)/platform/openpilot
+PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
 PYMITETOOLS = $(PYMITE)/tools
 PYMITEVM = $(PYMITE)/vm
 PYMITEINC = $(PYMITEVM)