cmake: param refactoring

Use a struct to contain all the parameters so the ordering in
memory is not machine dependent.

Add number of parameters to the param struct. The struct actually
allows direct accessing by the member name if desired.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Tools/px_generate_params.py

@@ -2,52 +2,86 @@
 import xml.etree.ElementTree as ET
 import os
 
-if len(os.sys.argv) != 3:
+if len(os.sys.argv) != 2:
 	print "Error in %s" % os.sys.argv[0]
-	print "Usage: %s <parameters.xml> <parameters.c>"
+	print "Usage: %s <parameters.xml>"
 	raise SystemExit
 
-fp = open(os.sys.argv[2], "w")
+fp_header = open("px4_parameters.h", "w")
+fp_src = open("px4_parameters.c", "w")
 
 tree = ET.parse(os.sys.argv[1])
 root = tree.getroot()
-body = """
+
+# Generate the header file content
+header = """
 #include <stdint.h>
 #include <systemlib/param/param.h>
 
 // DO NOT EDIT
 // This file is autogenerated from paramaters.xml
 
+struct px4_parameters_t {
 """
-
 start_name = ""
 end_name = ""
 
 for group in root:
 	if group.tag == "group":
-		body += "// %s\n" % group.attrib["name"]
+		header += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
 		for param in group:
 			if not start_name:
 				start_name = param.attrib["name"]
 			end_name = param.attrib["name"]
-			body += """ 
+			header += """
-static const
+	const struct param_info_s __param__%s;""" % param.attrib["name"]
-__attribute__((used, section("__param")))
+header += """
-struct param_info_s __param__%s = {
+	const unsigned int param_count;
-	"%s",
-	PARAM_TYPE_%s,
-	.val.f = %s
 };
-""" % (param.attrib["name"], param.attrib["name"], param.attrib["type"], param.attrib["default"])
-body += """
-extern const
-__attribute__((alias("__param__%s")))
-struct param_info_s __param_start;
 
-extern const
+extern const struct px4_parameters_t px4_parameters;
-__attribute__((alias("__param__%s")))
+"""
-struct param_info_s __param_end;
-""" % (start_name, end_name)
 
-fp.write(body)
+# Generate the C file content
+src = """
+#include <px4_parameters.h>
+
+// DO NOT EDIT
+// This file is autogenerated from paramaters.xml
+
+static const 
+__attribute__((used, section("__param")))
+struct px4_parameters_t px4_parameters_impl = {
+"""
+i=0
+for group in root:
+	if group.tag == "group":
+		src += """
+	/*****************************************************************
+	 * %s
+	 ****************************************************************/""" % group.attrib["name"]
+		for param in group:
+			if not start_name:
+				start_name = param.attrib["name"]
+			end_name = param.attrib["name"]
+			i+=1
+			src += """
+	{
+		"%s",
+		PARAM_TYPE_%s,
+		.val.f = %s
+	},
+""" % (param.attrib["name"], param.attrib["type"], param.attrib["default"])
+src += """
+	%d
+};
+
+extern const struct px4_parameters_t px4_parameters __attribute__((alias("px4_parameters_impl")));
+""" % i
+
+fp_header.write(header)
+fp_src.write(src)
 

cmake/common/px4_base.cmake

@@ -681,7 +681,7 @@ function(px4_generate_parameters)
 		)
 
 	execute_process(
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${CMAKE_BINARY_DIR}/parameters.xml ${CMAKE_BINARY_DIR}/parameters.c
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${CMAKE_BINARY_DIR}/parameters.xml
 		)
 endfunction()
 

src/firmware/posix/CMakeLists.txt

@@ -9,7 +9,7 @@ px4_generate_parameters()
 
 add_executable(mainapp
 	${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
-	${CMAKE_BINARY_DIR}/parameters.c
+	${CMAKE_BINARY_DIR}/px4_parameters.c
 	apps.h
 	)
 

src/modules/systemlib/param/param.c

@@ -63,6 +63,7 @@
 
 #include "uORB/uORB.h"
 #include "uORB/topics/parameter_update.h"
+#include "px4_parameters.h"
 
 #if 0
 # define debug(fmt, args...)		do { warnx(fmt, ##args); } while(0)
@@ -86,14 +87,11 @@ extern struct param_info_s	param_array[];
 extern struct param_info_s	*param_info_base;
 extern struct param_info_s	*param_info_limit;
 #else
-extern const struct param_info_s __param_start, __param_end;
-
 // FIXME - start and end are reversed
-static const struct param_info_s *param_info_base = &__param_end;
+static const struct param_info_s *param_info_base = (const struct param_info_s *)&px4_parameters;
-static const struct param_info_s *param_info_limit = &__param_start;
 #endif
 
-#define	param_info_count		((unsigned)(param_info_limit - param_info_base))
+#define	param_info_count		px4_parameters.param_count
 
 /**
  * Storage for modified parameters.