Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-10 14:51:15 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

parameters: merge generated files ito single static constexpr header

Browse Source 
- store parameter type and if volatile separately (saves kilobytes of flash)
 - use Bitset for tracking active and changed parameters
 - use atomic for autosave_enabled flag
 - compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
This commit is contained in:
Daniel Agar
2021-02-08 11:32:13 -05:00
parent 71c7c69c9d
commit da1a38b44e
12 changed files with 194 additions and 335 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
-3
View File
@@ -101,9 +101,6 @@ msg/tmp/
msg/topics_sources/
platforms/posix/apps.cpp
platforms/posix/apps.h
src/lib/parameters/px4_parameters.c
src/lib/parameters/px4_parameters.h
src/lib/parameters/px4_parameters_public.h
src/lib/version/build_git_version.h
src/modules/simulator/simulator_config.h
src/systemcmds/topic_listener/listener_generated.cpp
boards/bitcraze/crazyflie/default.cmake
+2
View File
@@ -1,3 +1,5 @@
# workaround for syslink parameter PARAM_DEFINE_INT32(SLNK_RADIO_ADDR2, 3890735079); // 0xE7E7E7E7
add_compile_options(-Wno-narrowing)
px4_add_board(
PLATFORM nuttx
boards/bitcraze/crazyflie21/default.cmake
+2
View File
@@ -1,3 +1,5 @@
# workaround for syslink parameter PARAM_DEFINE_INT32(SLNK_RADIO_ADDR2, 3890735079); // 0xE7E7E7E7
add_compile_options(-Wno-narrowing)
px4_add_board(
PLATFORM nuttx
platforms/common/include/px4_platform_common/param.h
+6 -6
View File
@@ -41,7 +41,7 @@
#include "param_macros.h"
#include <parameters/px4_parameters_public.h>
#include <parameters/px4_parameters.hpp>
/**
* get the parameter handle from a parameter enum
@@ -112,7 +112,7 @@ class Param<float, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
Param()
{
@@ -151,7 +151,7 @@ class Param<float &, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
Param(float &external_val)
: _val(external_val)
@@ -190,7 +190,7 @@ class Param<int32_t, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param()
{
@@ -229,7 +229,7 @@ class Param<int32_t &, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param(int32_t &external_val)
: _val(external_val)
@@ -268,7 +268,7 @@ class Param<bool, p>
{
public:
// static type-check
static_assert(px4::param_types_array[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
Param()
{
src/lib/parameters/CMakeLists.txt
+7 -9
View File
@@ -31,6 +31,8 @@
#
############################################################################
add_compile_options(${MAX_CUSTOM_OPT_LEVEL})
add_subdirectory(tinybson)
if (NOT PARAM_DEFAULT_OVERRIDES)
@@ -113,16 +115,14 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
)
add_custom_target(parameters_xml DEPENDS ${parameters_xml})
# generate px4_parameters.c and px4_parameters{,_public}.h
add_custom_command(OUTPUT px4_parameters.c px4_parameters.h px4_parameters_public.h
# generate px4_parameters.hpp
add_custom_command(OUTPUT px4_parameters.hpp
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS
${PX4_BINARY_DIR}/parameters.xml
px_generate_params.py
templates/px4_parameters.c.jinja
templates/px4_parameters.h.jinja
templates/px4_parameters_public.h.jinja
templates/px4_parameters.hpp.jinja
)
set(SRCS)
@@ -147,10 +147,8 @@ endif()
if (NOT "${PX4_BOARD}" MATCHES "px4_io")
add_library(parameters
${SRCS}
px4_parameters.c
px4_parameters.h
px4_parameters_public.h
)
px4_parameters.hpp
)
if ("${CONFIG_SHMEM}" STREQUAL "1")
target_link_libraries(parameters PRIVATE px4_layer)
src/lib/parameters/param.h
+1 -19
View File
@@ -435,25 +435,7 @@ union param_value_u {
* instead.
*/
struct param_info_s {
const char *name
// GCC 4.8 and higher don't implement proper alignment of static data on
// 64-bit. This means that the 24-byte param_info_s variables are
// 16 byte aligned by GCC and that messes up the assumption that
// sequential items in the __param segment can be addressed as an array.
// The assumption is that the address of the second parameter is at
// &param[0]+sizeof(param[0]). When compiled with clang it is
// true, with gcc is is not true.
// See https://llvm.org/bugs/show_bug.cgi?format=multiple&id=18006
// The following hack is for GCC >=4.8 only. Clang works fine without
// this.
#ifdef __PX4_POSIX
__attribute__((aligned(16)));
#else
;
#endif
param_type_t type;
uint16_t volatile_param: 1;
const char *name;
union param_value_u val;
};
src/lib/parameters/parameters.cpp
+126 -202
View File
File diff suppressed because it is too large Load Diff
src/lib/parameters/px_generate_params.py
+1 -3
View File
@@ -50,9 +50,7 @@ def generate(xml_file, dest='.'):
os.path.mkdir(dest)
template_files = [
'px4_parameters.h.jinja',
'px4_parameters_public.h.jinja',
'px4_parameters.c.jinja',
'px4_parameters.hpp.jinja',
]
for template_file in template_files:
template = env.get_template(template_file)
src/lib/parameters/templates/px4_parameters.c.jinja
-35
View File
@@ -1,35 +0,0 @@
{# 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
struct px4_parameters_t px4_parameters = {
{% for param in params %}
{
"{{ param.attrib["name"] }}",
PARAM_TYPE_{{ param.attrib["type"] }},
{%- if param.attrib["volatile"] == "true" %}
.volatile_param = 1,
{%- else %}
.volatile_param = 0,
{%- endif %}
{%- 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 : #}
src/lib/parameters/templates/px4_parameters.h.jinja
-21
View File
@@ -1,21 +0,0 @@
{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
#include <stdint.h>
#include <parameters/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 : #}
src/lib/parameters/templates/px4_parameters.hpp.jinja
+49
View File
@@ -0,0 +1,49 @@
{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
#include <stdint.h>
#include <parameters/param.h>
// DO NOT EDIT
// This file is autogenerated from parameters.xml
namespace px4 { {# wrap the enum in a namespace, otherwise we get shadowing errors for MAV_TYPE #}
/// Enum with all parameters
enum class params : uint16_t {
{# enums are guaranteed to start with 0 (if the value for the first is not
specified), and then incremented by 1 (the implementation depends on that!) #}
{%- for param in params %}
{{ param.attrib["name"] }},
{%- endfor %}
};
static constexpr param_info_s parameters[] = {
{% for param in params %}
{
"{{ param.attrib["name"] }}",
{%- if param.attrib["type"] == "FLOAT" %}
.val = {{ "{" }} .f = {{ param.attrib["default"] }} {{ "}" }},
{%- elif param.attrib["type"] == "INT32" %}
.val = {{ "{" }} .i = {{ param.attrib["default"] }}{{ "}" }},
{%- endif %}
},
{% endfor %}
};
static constexpr param_type_t parameters_type[] = {
{% for param in params %}
PARAM_TYPE_{{ param.attrib["type"] }},
{%- endfor -%}
};
static constexpr params parameters_volatile[] = {
{% for param in params %}
{%- if param.attrib["volatile"] == "true" %}
params::{{ param.attrib["name"] }},
{%- endif -%}
{% endfor %}
};
} // namespace px4
src/lib/parameters/templates/px4_parameters_public.h.jinja
-37
View File
@@ -1,37 +0,0 @@
{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
#include <stdint.h>
#include <parameters/param.h>
// DO NOT EDIT
// This file is autogenerated from parameters.xml
#ifdef __cplusplus
namespace px4 { {# wrap the enum in a namespace, otherwise we get shadowing errors for MAV_TYPE #}
/// Enum with all parameters
enum class params {
{# enums are guaranteed to start with 0 (if the value for the first is not
specified), and then incremented by 1 (the implementation depends on that!) #}
{%- for param in params %}
{{ param.attrib["name"] }},
{%- endfor %}
_COUNT
};
// All parameter types
{# (px4_parameters is marked as extern, so we cannot use it as constexpr) #}
static const constexpr int param_types_array[] = {
{%- for param in params %}
PARAM_TYPE_{{ param.attrib["type"] }}, // {{ param.attrib["name"] }}
{%- endfor %}
};
} // namespace px4
#endif /* __cplusplus */