Merge pull request #1530 from paparazzi/flight_plan_variables

[flight_plan] allow variable declaration from flight plan

Makefile.ac

@@ -56,6 +56,7 @@ SETTINGS_XML=$(AIRCRAFT_BUILD_DIR)/settings.xml
 SETTINGS_MODULES=$(AIRCRAFT_BUILD_DIR)/settings_modules.xml
 SETTINGS_TELEMETRY=$(AIRCRAFT_BUILD_DIR)/settings_telemetry.xml
 SETTINGS_AUTOPILOT=$(AIRCRAFT_BUILD_DIR)/settings_autopilot.xml
+SETTINGS_FLIGHTPLAN=$(AIRCRAFT_BUILD_DIR)/settings_flightplan.xml
 MAKEFILE_AC=$(AIRCRAFT_BUILD_DIR)/Makefile.ac
 MODULES_H=$(AC_GENERATED)/modules.h
 MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/
@@ -186,7 +187,7 @@ $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(GENERATORS)/gen_flight_p
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
 	@echo GENERATE $@ from $(FLIGHT_PLAN)
 	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)$(GENERATORS)/gen_flight_plan.out $< > $($@_TMP)
+	$(Q)$(GENERATORS)/gen_flight_plan.out -settings $(SETTINGS_FLIGHTPLAN) $< > $($@_TMP)
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 	$(Q)cp $< $(AIRCRAFT_CONF_DIR)/flight_plans
@@ -202,7 +203,7 @@ $(SETTINGS_H) : $(SETTINGS_XMLS_DEP) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
 	@echo GENERATE $@
 	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)$(GENERATORS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_TELEMETRY) $(SETTINGS_XMLS) $(SETTINGS_MODULES) > $($@_TMP)
+	$(Q)$(GENERATORS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_TELEMETRY) $(SETTINGS_XMLS) $(SETTINGS_FLIGHTPLAN) $(SETTINGS_MODULES) > $($@_TMP)
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 	$(Q)cp $(SETTINGS_XMLS_DEP) $(AIRCRAFT_CONF_DIR)/settings
@@ -222,6 +223,7 @@ autopilot_h : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_autopilot.out $(CONF)/au
 
 $(SETTINGS_MODULES) : $(MODULES_H)
 $(SETTINGS_TELEMETRY) : $(PERIODIC_H)
+$(SETTINGS_FLIGHTPLAN) : $(FLIGHT_PLAN_H)
 
 %.ac_h : $(GENERATORS)/gen_aircraft.out
 	$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi

conf/flight_plans/flight_plan.dtd

@@ -1,6 +1,6 @@
 <!-- Paparazzi flight plan DTD -->
 
-<!ELEMENT flight_plan (header?,waypoints,sectors?,includes?,exceptions?,blocks)>
+<!ELEMENT flight_plan (header?,waypoints,sectors?,variables?,includes?,exceptions?,blocks)>
 
 <!ELEMENT procedure (param*,header?,waypoints?,sectors?,exceptions?,blocks?)>
 
@@ -14,6 +14,9 @@
 <!ELEMENT corner EMPTY>
 <!ELEMENT kml EMPTY>
 
+<!ELEMENT variables (variable*)>
+<!ELEMENT variable EMPTY>
+
 <!ELEMENT includes (include*)>
 
 <!ELEMENT exceptions (exception*)>
@@ -86,6 +89,22 @@ name CDATA #REQUIRED>
 <!ATTLIST kml
 file CDATA #REQUIRED>
 
+<!ATTLIST variables>
+
+<!ATTLIST variable
+var CDATA #REQUIRED
+type CDATA #IMPLIED
+init CDATA #IMPLIED
+shortname CDATA #IMPLIED
+min CDATA #IMPLIED
+max CDATA #IMPLIED
+step CDATA #IMPLIED
+unit CDATA #IMPLIED
+alt_unit CDATA #IMPLIED
+alt_unit_coef CDATA #IMPLIED
+values CDATA #IMPLIED>
+
+
 <!ATTLIST blocks>
 
 <!ATTLIST block 

conf/flight_plans/versatile.xml

@@ -29,6 +29,9 @@
       <corner name="_4"/>
     </sector>
   </sectors>
+  <variables>
+    <variable var="roll_step" init="15." min="0." max="50." step="1.0"/>
+  </variables>
   <exceptions/>
   <blocks>
     <block name="Wait GPS">
@@ -146,6 +149,12 @@
         <attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
       </while>
     </block>
+    <block name="Steps roll from var">
+      <while cond="TRUE">
+        <attitude alt="250" roll="roll_step" until=" stage_time > 3" vmode="alt"/>
+        <attitude alt="250" roll="-roll_step" until="stage_time > 3" vmode="alt"/>
+      </while>
+    </block>
     <block name="Steps pitch -10, +10">
       <while cond="TRUE">
         <attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>

sw/tools/generators/gen_aircraft.ml

@@ -397,9 +397,9 @@ let () =
 
     (* Get TARGET env, needed to build modules.h according to the target *)
     let t = try Printf.sprintf "TARGET=%s" (Sys.getenv "TARGET") with _ -> "" in
+    make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan";
     make "all_ac_h" t;
-    make_opt "radio_ac_h" "RADIO" "radio";
+    make_opt "radio_ac_h" "RADIO" "radio"
-    make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan"
   with Failure f ->
     prerr_endline f;
     exit 1

sw/tools/generators/gen_flight_plan.ml

@@ -796,12 +796,44 @@ let parse_wpt_sector = fun indexes waypoints xml ->
   (sector_name, List.map p2D_of (Xml.children xml))
 
 
+let parse_variables = fun xml ->
+  List.map (fun var ->
+    let v = ExtXml.attrib var "var"
+    and t = ExtXml.attrib_or_default var "type" "float"
+    and i = ExtXml.attrib_or_default var "init" "0" in
+    (t, v, i)
+  ) xml
+
+let write_settings = fun xml_file out_set variables ->
+  fprintf out_set "<!-- This file has been generated by gen_flight_plan from %s -->\n" xml_file;
+  fprintf out_set "<!-- Version %s -->\n" (Env.get_paparazzi_version ());
+  fprintf out_set "<!-- Please DO NOT EDIT -->\n\n";
+  fprintf out_set "<settings>\n";
+  fprintf out_set " <dl_settings>\n";
+  (* add tab only if their are some variables *)
+  if List.length variables > 0 then
+    fprintf out_set "   <dl_settings name=\"Flight Plan\">\n";
+  List.iter (fun v ->
+    let attribs = Xml.attribs v in
+    (* remove some incompatible attributes *)
+    let attribs = List.filter (fun (a, _) -> not (a = "init")) attribs in
+    let xml = Xml.Element ("dl_setting", attribs @ ["module", "generated/flight_plan"], []) in
+    fprintf out_set "     %s\n" (Xml.to_string xml);
+  ) variables;
+  if List.length variables > 0 then
+    fprintf out_set "   </dl_settings>\n";
+  fprintf out_set " </dl_settings>\n";
+  fprintf out_set "</settings>\n"
+
+
 (************************** MAIN ******************************************)
 let () =
   let xml_file = ref "fligh_plan.xml"
+  and set_file = ref None
   and dump = ref false in
   Arg.parse [ ("-check", Arg.Set check_expressions, "Enable expression checking");
-              ("-dump", Arg.Set dump, "Dump compile result") ]
+              ("-dump", Arg.Set dump, "Dump compile result");
+              ("-settings", Arg.String (fun f -> set_file := Some f), "Settings file for flight plan variables") ]
     (fun f -> xml_file := f)
     "Usage:";
   if !xml_file = "" then
@@ -822,6 +854,7 @@ let () =
 
     let xml = ExtXml.subst_child "blocks" (index_blocks (element "blocks" [] blocks)) xml in
     let waypoints = Xml.children (ExtXml.child xml "waypoints")
+    and variables = try Xml.children (ExtXml.child xml "variables") with _ -> []
     and blocks = Xml.children (ExtXml.child xml "blocks")
     and global_exceptions = try Xml.children (ExtXml.child xml "exceptions") with _ -> [] in
 
@@ -921,8 +954,24 @@ let () =
       Xml2h.define "HOME_MODE_HEIGHT" (sof home_mode_height);
       Xml2h.define "MAX_DIST_FROM_HOME" (sof mdfh);
 
+      (* output settings file if needed *)
+      begin
+        match !set_file with
+        | Some f ->
+            let out_set = open_out f in
+            write_settings !xml_file out_set variables;
+            close_out out_set
+        | None -> ()
+      end;
+      lprintf "\n";
+      let variables = parse_variables variables in
+      List.iter (fun (t, v, _) -> printf "extern %s %s;\n" t v) variables;
+
       lprintf "\n#ifdef NAV_C\n\n";
 
+      List.iter (fun (t, v, i) -> printf "%s %s = %s;\n" t v i) variables;
+      lprintf "\n";
+
       let index_of_waypoints =
         let i = ref (-1) in
         List.map (fun w -> incr i; (name_of w, !i)) waypoints in