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[fix] fix dep solver to recursively check suggested module (#3009)

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* [fix] fix dep solver to recursively check suggested module

the issue was that suggested modules can depend on modules that should
be found from the suggested list

also enforce that an autopilot should have at least an ins or a ahrs

* move dep to targets
This commit is contained in:
Gautier Hattenberger
2023-03-08 12:42:31 +01:00
committed by GitHub
parent 62646d68de
commit 03238c1639
4 changed files with 47 additions and 37 deletions
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conf/modules/ins_nps.xml
+1 -1
View File
@@ -8,7 +8,7 @@
</doc>
<dep>
<depends>@imu,@gps</depends>
<provides>ins</provides>
<provides>ins,ahrs</provides>
</dep>
<header>
<file name="ins_gps_passthrough.h"/>
conf/modules/targets/ap.xml
+1 -1
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@@ -5,7 +5,7 @@
<description>AP target specific module</description>
</doc>
<dep>
<depends>system_core,electrical,settings,baro_board</depends>
<depends>system_core,electrical,settings,baro_board,@ins|@ahrs</depends>
</dep>
<makefile target="ap">
<define name="AP"/>
conf/modules/targets/nps.xml
+1 -1
View File
@@ -11,7 +11,7 @@
</description>
</doc>
<dep>
<depends>system_core,electrical,settings</depends>
<depends>system_core,electrical,settings,@ins|@ahrs</depends>
<provides>baro,airspeed,sonar,incidence,temperature</provides>
<suggests>gps_nps,imu_nps,ins_nps,actuators_nps,telemetry_nps</suggests>
</dep>
sw/lib/ocaml/aircraft.ml
+44 -34
View File
@@ -265,42 +265,52 @@ let resolve_modules_dep = fun config_by_target firmware user_target ->
Module.dependencies = Some root_dep;
Module.makefiles = [Module.empty_makefile]
} in
(* found initial solution *)
let solution = dep_resolve (init_sort_result ()) root_module target UserLoad in
(* test for conflicts functionalities and option if requested *)
if (not (user_target = "")) && (target = user_target) then begin
(* check conflicts for resolved modules *)
List.iter (fun (c, cname) ->
List.iter (fun (name, _) ->
if name = c then
failwith (Printf.sprintf "Error [Aircraft]: find conflict with module '%s' while loading '%s' in target '%s'" cname name target)
) solution.resolved;
List.iter (fun (name, _) ->
if name = c then
failwith (Printf.sprintf "Error [Aircraft]: find conflict with funcionality while loading '%s' for '%s' in target '%s'" name cname target)
) solution.provided
) solution.conflicts;
end;
(* chek that all required functionalities or modules are provided
* if not, search suggested list of modules, fail if nothing found
*)
let modules_and_func = (fst (List.split solution.provided)) @ (fst (List.split solution.resolved)) in
let selection = List.fold_left (fun s (r, name) ->
if (List.exists (fun p -> GC.eval_bool p r) modules_and_func) then s (* functionality is provided *)
else
let select = Hashtbl.fold (fun p m l -> if GC.eval_bool p r then m :: l else l) solution.suggested [] in
if List.length select = 0 && (not (user_target = "")) && (target = user_target) then
failwith (Printf.sprintf "Error [Aircraft]: functionality '%s' is not provided for '%s' in target '%s'" (GC.sprint_expr r) name target)
(** function to recursively solve suggested modules and check solution *)
let rec resolve_suggested = fun sol suggested ->
(* test for conflicts functionalities and option if requested *)
if (not (user_target = "")) && (target = user_target) then begin
(* check conflicts for resolved modules *)
List.iter (fun (c, cname) ->
List.iter (fun (name, _) ->
if name = c then
failwith (Printf.sprintf "Error [Aircraft]: find conflict with module '%s' while loading '%s' in target '%s'" cname name target)
) sol.resolved;
List.iter (fun (name, _) ->
if name = c then
failwith (Printf.sprintf "Error [Aircraft]: find conflict with funcionality while loading '%s' for '%s' in target '%s'" name cname target)
) sol.provided
) sol.conflicts;
end;
(* chek that all required functionalities or modules are provided
* if not, search suggested list of modules, fail if nothing found
*)
let modules_and_func = (fst (List.split sol.provided)) @ (fst (List.split sol.resolved)) in
let selection = List.fold_left (fun s (r, name) ->
if (List.exists (fun p -> GC.eval_bool p r) modules_and_func) then s (* functionality is provided *)
else
s @ select (* return selection *)
) [] solution.required in
let solution = match selection with
| [] -> solution (* nothing to change *)
| _ ->
(* add selection to root dep *)
let root_dep = { root_dep with Module.suggests = (List.map (fun m -> m.Module.name) selection) } in
let root_module = { root_module with Module.dependencies = Some root_dep } in
dep_resolve (init_sort_result ()) root_module target UserLoad
in
let select = Hashtbl.fold (fun p m l -> if GC.eval_bool p r then m :: l else l) sol.suggested [] in
if List.length select = 0 && (not (user_target = "")) && (target = user_target) then
failwith (Printf.sprintf "Error [Aircraft]: functionality '%s' is not provided for '%s' in target '%s'" (GC.sprint_expr r) name target)
else
s @ select (* return selection *)
) suggested sol.required in
let selection = GC.singletonize ~compare:(fun a b -> compare a.Module.name b.Module.name) selection in
let sol = match selection with
| [] -> sol (* nothing to change *)
| _ ->
(* add selection to root dep *)
let root_dep = { root_dep with Module.suggests = (List.map (fun m -> m.Module.name) selection) } in
let root_module = { root_module with Module.dependencies = Some root_dep } in
dep_resolve (init_sort_result ()) root_module target UserLoad
in
if (List.length suggested) = (List.length selection) then sol
else resolve_suggested sol selection
in
let solution = resolve_suggested solution [] in
(* find final order *)
let solution = dep_order solution in
(* add configure, defines and modules to conf for all resolved modules *)