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Code Issues Releases Activity

UAVObjects: Allow Generation and Initialisation of individual UAVObjects

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per target as defined in Makefile (and/or Make include file) For
OpenPilot this is flight/OpenPilot/UAVObjects.inc For sim_posix and
sim_win32 needs rebuild of uavobjectgenerator and uavobjects!

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2736 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2011-02-05 22:17:40 +00:00 committed by corvus
parent 250e154067
commit afdaf88d4a
6 changed files with 103 additions and 21 deletions
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3
flight/OpenPilot/Makefile
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@ -170,7 +170,8 @@ endif
## UAVOBJECTS ## UAVOBJECTS
ifndef TESTAPP ifndef TESTAPP
include $(UAVOBJSYNTHDIR)/Makefile.inc #include $(UAVOBJSYNTHDIR)/Makefile.inc
include ./UAVObjects.inc
SRC += $(UAVOBJSRC) SRC += $(UAVOBJSRC)
endif endif

5
flight/OpenPilot/Makefile.posix
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@ -154,8 +154,10 @@ endif
## UAVOBJECTS ## UAVOBJECTS
ifndef TESTAPP ifndef TESTAPP
include $(UAVOBJSYNTHDIR)/Makefile.inc #include $(UAVOBJSYNTHDIR)/Makefile.inc
include ./UAVObjects.inc
SRC += $(UAVOBJSRC) SRC += $(UAVOBJSRC)
CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
endif endif
## PIOS Hardware (posix) ## PIOS Hardware (posix)
@ -298,6 +300,7 @@ ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG CFLAGS = -g$(DEBUGF) -DDEBUG
endif endif
CFLAGS += $(CFLAGS_UAVOBJECTS)
CFLAGS += -DARCH_POSIX CFLAGS += -DARCH_POSIX
CFLAGS += -O$(OPT) CFLAGS += -O$(OPT)
CFLAGS += -mtune=$(MCU) CFLAGS += -mtune=$(MCU)

5
flight/OpenPilot/Makefile.win32
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@ -151,8 +151,10 @@ endif
## UAVOBJECTS ## UAVOBJECTS
ifndef TESTAPP ifndef TESTAPP
include $(UAVOBJSYNTHDIR)/Makefile.inc #include $(UAVOBJSYNTHDIR)/Makefile.inc
include ./UAVObjects.inc
SRC += $(UAVOBJSRC) SRC += $(UAVOBJSRC)
CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
endif endif
## PIOS Hardware (win32) ## PIOS Hardware (win32)
@ -288,6 +290,7 @@ ifeq ($(DEBUG),YES)
CFLAGS = -g CFLAGS = -g
endif endif
CFLAGS += $(CFLAGS_UAVOBJECTS)
CFLAGS += -DARCH_WIN32 CFLAGS += -DARCH_WIN32
CFLAGS += -O$(OPT) CFLAGS += -O$(OPT)
CFLAGS += -mtune=$(MCU) CFLAGS += -mtune=$(MCU)

73
flight/OpenPilot/UAVObjects.inc Normal file
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@ -0,0 +1,73 @@
#####
# Project: OpenPilot
#
# Makefile for OpenPilot UAVObject code
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
#
# 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
#####
# These are the UAVObjects supposed to be build as part of the OpenPilot target
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += actuatorcommand
UAVOBJSRCFILENAMES += actuatordesired
UAVOBJSRCFILENAMES += actuatorsettings
UAVOBJSRCFILENAMES += ahrscalibration
UAVOBJSRCFILENAMES += ahrssettings
UAVOBJSRCFILENAMES += ahrsstatus
UAVOBJSRCFILENAMES += attitudeactual
UAVOBJSRCFILENAMES += attitudedesired
UAVOBJSRCFILENAMES += attituderaw
# UAVOBJSRCFILENAMES += attitudesettings CC only
UAVOBJSRCFILENAMES += baroaltitude
UAVOBJSRCFILENAMES += batterysettings
UAVOBJSRCFILENAMES += firmwareiapobj
UAVOBJSRCFILENAMES += flightbatterystate
UAVOBJSRCFILENAMES += flightplancontrol
UAVOBJSRCFILENAMES += flightplansettings
UAVOBJSRCFILENAMES += flightplanstatus
UAVOBJSRCFILENAMES += flighttelemetrystats
UAVOBJSRCFILENAMES += gcstelemetrystats
UAVOBJSRCFILENAMES += gpsposition
UAVOBJSRCFILENAMES += gpssatellites
UAVOBJSRCFILENAMES += gpstime
UAVOBJSRCFILENAMES += guidancesettings
UAVOBJSRCFILENAMES += homelocation
UAVOBJSRCFILENAMES += i2cstats
UAVOBJSRCFILENAMES += manualcontrolcommand
UAVOBJSRCFILENAMES += manualcontrolsettings
UAVOBJSRCFILENAMES += mixersettings
UAVOBJSRCFILENAMES += mixerstatus
UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += positionactual
UAVOBJSRCFILENAMES += positiondesired
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += sonaraltitude
UAVOBJSRCFILENAMES += stabilizationsettings
UAVOBJSRCFILENAMES += systemalarms
UAVOBJSRCFILENAMES += systemsettings
UAVOBJSRCFILENAMES += systemstats
UAVOBJSRCFILENAMES += taskinfo
UAVOBJSRCFILENAMES += telemetrysettings
UAVOBJSRCFILENAMES += velocityactual
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

2
flight/UAVObjects/Makefiletemplate.inc
View File

@ -38,4 +38,4 @@
UAVOBJSRCFILENAMES = $(UAVOBJFILENAMES) UAVOBJSRCFILENAMES = $(UAVOBJFILENAMES)
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c ) UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

36
ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
View File

@ -51,8 +51,10 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString template
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) { for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo* info=parser->getObjectByIndex(objidx); ObjectInfo* info=parser->getObjectByIndex(objidx);
process_object(info); process_object(info);
flightObjInit.append(" " + info->name + "Initialize();\n"); flightObjInit.append("#ifdef UAVOBJ_INIT_" + info->namelc +"\r\n");
objInc.append("#include \"" + info->namelc + ".h\"\n"); flightObjInit.append(" " + info->name + "Initialize();\r\n");
flightObjInit.append("#endif\r\n");
objInc.append("#include \"" + info->namelc + ".h\"\r\n");
objFileNames.append(" " + info->namelc); objFileNames.append(" " + info->namelc);
objNames.append(" " + info->name); objNames.append(" " + info->name);
} }
@ -107,12 +109,12 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
// Append field // Append field
if ( info->fields[n]->numElements > 1 ) if ( info->fields[n]->numElements > 1 )
{ {
fields.append( QString(" %1 %2[%3];\n").arg(type) fields.append( QString(" %1 %2[%3];\r\n").arg(type)
.arg(info->fields[n]->name).arg(info->fields[n]->numElements) ); .arg(info->fields[n]->name).arg(info->fields[n]->numElements) );
} }
else else
{ {
fields.append( QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name) ); fields.append( QString(" %1 %2;\r\n").arg(type).arg(info->fields[n]->name) );
} }
} }
outInclude.replace(QString("$(DATAFIELDS)"), fields); outInclude.replace(QString("$(DATAFIELDS)"), fields);
@ -121,11 +123,11 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
QString enums; QString enums;
for (int n = 0; n < info->fields.length(); ++n) for (int n = 0; n < info->fields.length(); ++n)
{ {
enums.append(QString("// Field %1 information\n").arg(info->fields[n]->name)); enums.append(QString("// Field %1 information\r\n").arg(info->fields[n]->name));
// Only for enum types // Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) if (info->fields[n]->type == FIELDTYPE_ENUM)
{ {
enums.append(QString("/* Enumeration options for field %1 */\n").arg(info->fields[n]->name)); enums.append(QString("/* Enumeration options for field %1 */\r\n").arg(info->fields[n]->name));
enums.append("typedef enum { "); enums.append("typedef enum { ");
// Go through each option // Go through each option
QStringList options = info->fields[n]->options; QStringList options = info->fields[n]->options;
@ -138,14 +140,14 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
.arg(m) ); .arg(m) );
} }
enums.append( QString(" } %1%2Options;\n") enums.append( QString(" } %1%2Options;\r\n")
.arg( info->name ) .arg( info->name )
.arg( info->fields[n]->name ) ); .arg( info->fields[n]->name ) );
} }
// Generate element names (only if field has more than one element) // Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames)
{ {
enums.append(QString("/* Array element names for field %1 */\n").arg(info->fields[n]->name)); enums.append(QString("/* Array element names for field %1 */\r\n").arg(info->fields[n]->name));
enums.append("typedef enum { "); enums.append("typedef enum { ");
// Go through the element names // Go through the element names
QStringList elemNames = info->fields[n]->elementNames; QStringList elemNames = info->fields[n]->elementNames;
@ -159,15 +161,15 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
.arg(m) ); .arg(m) );
} }
enums.append( QString(" } %1%2Elem;\n") enums.append( QString(" } %1%2Elem;\r\n")
.arg( info->name ) .arg( info->name )
.arg( info->fields[n]->name ) ); .arg( info->fields[n]->name ) );
} }
// Generate array information // Generate array information
if (info->fields[n]->numElements > 1) if (info->fields[n]->numElements > 1)
{ {
enums.append(QString("/* Number of elements for field %1 */\n").arg(info->fields[n]->name)); enums.append(QString("/* Number of elements for field %1 */\r\n").arg(info->fields[n]->name));
enums.append( QString("#define %1_%2_NUMELEM %3\n") enums.append( QString("#define %1_%2_NUMELEM %3\r\n")
.arg( info->name.toUpper() ) .arg( info->name.toUpper() )
.arg( info->fields[n]->name.toUpper() ) .arg( info->fields[n]->name.toUpper() )
.arg( info->fields[n]->numElements ) ); .arg( info->fields[n]->numElements ) );
@ -186,19 +188,19 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
{ {
if ( info->fields[n]->type == FIELDTYPE_ENUM ) if ( info->fields[n]->type == FIELDTYPE_ENUM )
{ {
initfields.append( QString("\tdata.%1 = %2;\n") initfields.append( QString("\tdata.%1 = %2;\r\n")
.arg( info->fields[n]->name ) .arg( info->fields[n]->name )
.arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[0] ) ) ); .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[0] ) ) );
} }
else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 )
{ {
initfields.append( QString("\tdata.%1 = %2;\n") initfields.append( QString("\tdata.%1 = %2;\r\n")
.arg( info->fields[n]->name ) .arg( info->fields[n]->name )
.arg( info->fields[n]->defaultValues[0].toFloat() ) ); .arg( info->fields[n]->defaultValues[0].toFloat() ) );
} }
else else
{ {
initfields.append( QString("\tdata.%1 = %2;\n") initfields.append( QString("\tdata.%1 = %2;\r\n")
.arg( info->fields[n]->name ) .arg( info->fields[n]->name )
.arg( info->fields[n]->defaultValues[0].toInt() ) ); .arg( info->fields[n]->defaultValues[0].toInt() ) );
} }
@ -210,21 +212,21 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
{ {
if ( info->fields[n]->type == FIELDTYPE_ENUM ) if ( info->fields[n]->type == FIELDTYPE_ENUM )
{ {
initfields.append( QString("\tdata.%1[%2] = %3;\n") initfields.append( QString("\tdata.%1[%2] = %3;\r\n")
.arg( info->fields[n]->name ) .arg( info->fields[n]->name )
.arg( idx ) .arg( idx )
.arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[idx] ) ) ); .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[idx] ) ) );
} }
else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 )
{ {
initfields.append( QString("\tdata.%1[%2] = %3;\n") initfields.append( QString("\tdata.%1[%2] = %3;\r\n")
.arg( info->fields[n]->name ) .arg( info->fields[n]->name )
.arg( idx ) .arg( idx )
.arg( info->fields[n]->defaultValues[idx].toFloat() ) ); .arg( info->fields[n]->defaultValues[idx].toFloat() ) );
} }
else else
{ {
initfields.append( QString("\tdata.%1[%2] = %3;\n") initfields.append( QString("\tdata.%1[%2] = %3;\r\n")
.arg( info->fields[n]->name ) .arg( info->fields[n]->name )
.arg( idx ) .arg( idx )
.arg( info->fields[n]->defaultValues[idx].toInt() ) ); .arg( info->fields[n]->defaultValues[idx].toInt() ) );