mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
Added support for FlightPlan in win32 SiTL and fixed line endings in Python files,
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2411 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
cwabbott
cwabbott
parent
6eda470786
commit
db9bc06a08
@ -95,6 +95,11 @@ extern "C" {
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#define PM_GOTO_IF_ERROR(retval, target) if ((retval) != PM_RET_OK) \
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goto target
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//Dirty hack to resolve conflicts with winnt.h on Windows
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#if defined(C_ASSERT)
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#undef C_ASSERT
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#endif
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#if __DEBUG__
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/** If the boolean expression fails, return the ASSERT error code */
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#define C_ASSERT(boolexpr) \
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@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD
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USE_THUMB_MODE = YES
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# List of modules to include
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MODULES = Telemetry Actuator Stabilization Guidance ManualControl
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MODULES = Telemetry Actuator Stabilization Guidance ManualControl# FlightPlan
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#MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
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#MODULES = Telemetry Example
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#MODULES = Telemetry MK/MKSerial
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@ -90,6 +90,8 @@ OPUAVOBJ = ./UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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OPMODULEDIR = ./Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOS = ../PiOS.win32
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PIOSINC = $(PIOS)/inc
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PIOSWIN32 = $(PIOS)/win32
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@ -98,6 +100,16 @@ RTOSDIR = $(APPLIBDIR)/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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DOXYGENDIR = ../Doc/Doxygen
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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@ -191,6 +203,14 @@ SRC += $(RTOSSRCDIR)/tasks.c
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SRC += $(RTOSSRCDIR)/portable/GCC/Win32/port.c
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SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
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## PyMite files
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#SRC += $(wildcard ${PYMITEVM}/*.c)
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#SRC += $(wildcard ${PYMITEPLAT}/*.c)
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#SRC += $(OUTDIR)/pmlib_img.c
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#SRC += $(OUTDIR)/pmlib_nat.c
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#SRC += $(OUTDIR)/pmlibusr_img.c
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#SRC += $(OUTDIR)/pmlibusr_nat.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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@ -223,6 +243,7 @@ EXTRAINCDIRS += $(MININIDIR)
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EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Win32
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EXTRAINCDIRS += $(PYMITEINC)
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
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@ -355,6 +376,7 @@ OBJDUMP = objdump
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SIZE = size
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NM = nm
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REMOVE = $(REMOVE_CMD) -f
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PYTHON = python
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###SHELL = sh
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###COPY = cp
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@ -382,6 +404,7 @@ MSG_CLEANING = ${quote}Cleaning project:${quote}
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MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
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MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
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MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
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MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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@ -439,6 +462,13 @@ ${OUTDIR}/InitMods.c: Makefile.win32
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@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
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# Generate code for PyMite
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#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h $(OPMODULEDIR)/FlightPlan/flightplan.c: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
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# @echo ${MSG_PYMITEINIT}
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# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
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# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
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# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
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# Eye candy.
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begin:
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## @echo
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@ -1,6 +1,6 @@
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import uavobjects
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import sys
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uavobjects.FlightPlanStatusUpdate(12)
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import uavobjects
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import sys
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uavobjects.FlightPlanStatusUpdate(12)
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@ -1,26 +1,25 @@
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"""__NATIVE__
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#include "openpilot.h"
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#include "flightplanstatus.h"
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"""
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def FlightPlanStatusUpdate(val):
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"""__NATIVE__
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pPmObj_t pobj;
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FlightPlanStatusData status;
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pobj = NATIVE_GET_LOCAL(0);
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if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_INT )
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status.Debug = ((pPmInt_t) pobj)->val;
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else if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_FLT )
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status.Debug = ((pPmFloat_t) pobj)->val;
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FlightPlanStatusSet(&status);
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return PM_RET_OK;
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"""
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pass
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"""__NATIVE__
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#include "openpilot.h"
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#include "flightplanstatus.h"
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"""
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def FlightPlanStatusUpdate(val):
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"""__NATIVE__
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pPmObj_t pobj;
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FlightPlanStatusData status;
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pobj = NATIVE_GET_LOCAL(0);
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if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_INT )
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status.Debug = ((pPmInt_t) pobj)->val;
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else if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_FLT )
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status.Debug = ((pPmFloat_t) pobj)->val;
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FlightPlanStatusSet(&status);
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return PM_RET_OK;
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"""
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pass
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