mixer_module: generate output_functions header from yaml file

src/lib/mixer_module/CMakeLists.txt

@@ -31,9 +31,23 @@
 #
 ############################################################################
 
+set(functions_header ${CMAKE_CURRENT_BINARY_DIR}/output_functions.hpp)
+add_custom_command(OUTPUT ${functions_header}
+	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
+		${CMAKE_CURRENT_SOURCE_DIR}/output_functions.yaml
+		${functions_header}
+	DEPENDS
+		output_functions.yaml
+		generate_function_header.py
+	COMMENT "Generating output_functions.hpp"
+)
+add_custom_target(output_functions_header DEPENDS ${functions_header})
+
 px4_add_library(mixer_module
 	mixer_module.cpp
 	functions.cpp
 	)
+
+add_dependencies(mixer_module output_functions_header)
 target_link_libraries(mixer_module PRIVATE output_limit)
 target_compile_options(mixer_module PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

src/lib/mixer_module/functions.hpp

@@ -35,7 +35,7 @@
 
 #include <limits.h>
 
-#include "output_functions.hpp"
+#include <mixer_module/output_functions.hpp>
 
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
@@ -72,7 +72,7 @@ public:
 };
 
 /**
- * Functions: ConstantMin
+ * Functions: Constant_Min
  */
 class FunctionConstantMin : public FunctionProviderBase
 {
@@ -86,7 +86,7 @@ public:
 };
 
 /**
- * Functions: ConstantMax
+ * Functions: Constant_Max
  */
 class FunctionConstantMax : public FunctionProviderBase
 {
@@ -126,7 +126,7 @@ private:
 };
 
 /**
- * Functions: ActuatorSet1 ... ActuatorSet6
+ * Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6
  */
 class FunctionActuatorSet : public FunctionProviderBase
 {
@@ -135,7 +135,7 @@ public:
 	static FunctionProviderBase *allocate(const Context &context) { return new FunctionActuatorSet(); }
 
 	void update() override;
-	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::ActuatorSet1]; }
+	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; }
 
 private:
 	static constexpr int max_num_actuators = 6;
@@ -143,4 +143,3 @@ private:
 	uORB::Subscription _topic{ORB_ID(vehicle_command)};
 	float _data[max_num_actuators];
 };
-

src/lib/mixer_module/generate_function_header.py

@@ -0,0 +1,75 @@
+#! /usr/bin/env python3
+""" Script to generate header file from YAML file """
+
+import argparse
+import sys
+import os
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+
+parser = argparse.ArgumentParser(description='Generate function header from yaml')
+
+parser.add_argument('yaml_file', type=str, help='YAML config file')
+parser.add_argument('output_file', type=str, help='.hpp header file')
+
+args = parser.parse_args()
+yaml_file = args.yaml_file
+output_file = args.output_file
+
+def load_yaml_file(file_name):
+    with open(file_name, 'r') as stream:
+        try:
+            return yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            raise
+
+document = load_yaml_file(yaml_file)
+functions = document['functions']
+all_indexes=set()
+function_defs = ''
+
+def add_function(index, name, check_duplicate=True):
+    global all_indexes, function_defs
+    if check_duplicate and index in all_indexes:
+        raise Exception('Duplicate function with index {0} ({1})'.format(index, name))
+    all_indexes.add(index)
+
+    function_defs += '\t{0} = {1},\n'.format(name, index)
+
+for group_key in functions:
+    group = functions[group_key]
+    for function_name in group:
+        if isinstance(group[function_name], int):
+            add_function(group[function_name], function_name)
+        else:
+            start = group[function_name]['start']
+            count = group[function_name]['count']
+            for i in range(count):
+                add_function(start+i, function_name+str(i+1))
+            add_function(start+count-1, function_name+'Max', False)
+            function_defs += '\n'
+
+
+with open(output_file, 'w') as outfile:
+    outfile.write('''
+#pragma once
+
+// This file is auto-generated by {0} from {1}
+
+#include <stdint.h>
+
+enum class OutputFunction : int32_t {{
+{2}
+}};
+'''.format(os.path.basename(__file__), yaml_file, function_defs))
+

src/lib/mixer_module/mixer_module.cpp

@@ -55,10 +55,10 @@ struct FunctionProvider {
 
 static const FunctionProvider all_function_providers[] = {
 	// Providers higher up take precedence for subscription callback in case there are multiple
-	{OutputFunction::ConstantMin, &FunctionConstantMin::allocate},
+	{OutputFunction::Constant_Min, &FunctionConstantMin::allocate},
-	{OutputFunction::ConstantMax, &FunctionConstantMax::allocate},
+	{OutputFunction::Constant_Max, &FunctionConstantMax::allocate},
 	{OutputFunction::Motor1, OutputFunction::MotorMax, &FunctionMotors::allocate},
-	{OutputFunction::ActuatorSet1, OutputFunction::ActuatorSet6, &FunctionActuatorSet::allocate},
+	{OutputFunction::Offboard_Actuator_Set1, OutputFunction::Offboard_Actuator_Set6, &FunctionActuatorSet::allocate},
 };
 
 MixingOutput::MixingOutput(uint8_t max_num_outputs, OutputModuleInterface &interface,

src/lib/mixer_module/output_functions.hpp

@@ -1,65 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-// this will be auto-generated...
-
-#include <stdint.h>
-
-enum class OutputFunction : int32_t {
-	Disabled = 0,
-
-	ConstantMin = 1,
-	ConstantMax = 2,
-
-	Motor1 = 101,
-	Motor2 = 102,
-	Motor3 = 103,
-	Motor4 = 104,
-	Motor5 = 105,
-	Motor6 = 106,
-	Motor7 = 107,
-	Motor8 = 108,
-
-	MotorMax = Motor8,
-
-
-	ActuatorSet1 = 300,
-	ActuatorSet2 = 301,
-	ActuatorSet3 = 302,
-	ActuatorSet4 = 303,
-	ActuatorSet5 = 304,
-	ActuatorSet6 = 305,
-
-};

src/lib/mixer_module/output_functions.yaml

@@ -0,0 +1,25 @@
+functions:
+  # Note: do not change the index of existing functions, as it will break
+  # existing setups using it
+  common:
+    Disabled: 0
+
+    Constant_Min: 1
+    Constant_Max: 2
+
+    Motor:
+      start: 101
+      count: 8
+    Servo:
+      start: 201
+      count: 8
+    Offboard_Actuator_Set:
+      start: 301
+      count: 6
+
+    # Add your own here:
+    #MyCustomFunction: 10000
+
+  pwm_fmu: # These only exist on FMU PWM pins
+    Camera_Trigger: 2000
+    Camera_Capture: 2032