[generators] autopilot modes exported in xml settings file

for a future use

Makefile.ac

@@ -45,6 +45,7 @@ SETTINGS_XMLS=$(patsubst %,$(CONF)/%,$(SETTINGS))
 SETTINGS_XML=$(AIRCRAFT_BUILD_DIR)/settings.xml
 SETTINGS_MODULES=$(AIRCRAFT_BUILD_DIR)/settings_modules.xml
 SETTINGS_TELEMETRY=$(AIRCRAFT_BUILD_DIR)/settings_telemetry.xml
+SETTINGS_AUTOPILOT=$(AIRCRAFT_BUILD_DIR)/settings_autopilot.xml
 MAKEFILE_AC=$(AIRCRAFT_BUILD_DIR)/Makefile.ac
 MODULES_H=$(AC_GENERATED)/modules.h
 MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/
@@ -182,8 +183,8 @@ $(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_modules.out $(CONF)/mod
 
 autopilot_h : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_autopilot.out $(CONF)/autopilot/*.xml
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo GENERATE $@
-	$(Q)$(GENERATORS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $(AUTOPILOT_DIR)
+	@echo GENERATE autopilots in $(AUTOPILOT_DIR)
+	$(Q)$(GENERATORS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $(AUTOPILOT_DIR) $(SETTINGS_AUTOPILOT)
 
 $(SETTINGS_MODULES) : $(MODULES_H)
 $(SETTINGS_TELEMETRY) : $(PERIODIC_H)

conf/autopilot/autopilot.dtd

@@ -22,7 +22,9 @@ name CDATA #IMPLIED>
 
 <!ATTLIST state_machine
 name CDATA #REQUIRED
-freq CDATA #REQUIRED>
+freq CDATA #REQUIRED
+gcs_mode CDATA #IMPLIED
+settings_mode CDATA #IMPLIED>
 
 <!ATTLIST control_block
 name CDATA #REQUIRED>
@@ -30,7 +32,9 @@ name CDATA #REQUIRED>
 <!ATTLIST mode
 name CDATA #REQUIRED
 start CDATA #IMPLIED
-stop CDATA #IMPLIED>
+stop CDATA #IMPLIED
+gcs_name CDATA #IMPLIED
+settings CDATA #IMPLIED>
 
 <!ATTLIST exceptions>
 

conf/autopilot/fixedwing_autopilot.xml

@@ -2,12 +2,16 @@
 
 <autopilot name="Fixed Wing Autopilot">
 
-  <state_machine name="ap" freq="CONTROL_FREQUENCY">
+  <state_machine name="ap" freq="CONTROL_FREQUENCY" gcs_mode="true" settings_mode="true">
 
     <!--modules>
       <load name=""/>
     </modules-->
 
+    <includes>
+      <!-- <include href=""/> -->
+    </includes>
+
     <control_block name="actuators_ap">
       <call fun="SetCommandsFromAP(commands)"/>
       <call fun="SetActuatorsFromCommands(commands)"/>
@@ -22,7 +26,7 @@
       <exception cond="too_far_from_home" deroute="HOME"/>
     </exceptions>
 
-    <mode name="MANUAL">
+    <mode name="MANUAL" gcs_name="MANU">
       <select cond="RCMode0()"/>
       <control>
         <call fun="SetCommandsFromRC(commands, rc_values)"/>
@@ -57,7 +61,7 @@
       <exception cond="GPSLost()" deroute="GPS_LOST"/>
     </mode>
 
-    <mode name="HOME">
+    <mode name="HOME" settings="hide">
       <control freq="4">
         <call fun="nav_home()"/>
       </control>
@@ -68,7 +72,7 @@
       <exception cond="GPSLost()" deroute="GPS_LOST"/>
     </mode>
 
-    <mode name="GPS_LOST">
+    <mode name="GPS_LOST" gcs_name="NOGPS" settings="hide">
       <control freq="4">
         <call fun="nav_gps_lost()"/>
       </control>

sw/tools/generators/gen_autopilot.ml

@@ -59,6 +59,12 @@ let get_includes = fun sm ->
   try ExtXml.child sm "includes"
   with _ -> Xml.Element ("includes", [], [])
 
+let has_modules = fun sm ->
+  try
+    let m = ExtXml.child sm "modules" in
+    List.length (Xml.children m) > 0
+  with _ -> false
+
 let get_mode_exceptions = fun mode ->
   List.filter (fun m -> (Xml.tag m) = "exception") (Xml.children mode)
 
@@ -323,7 +329,7 @@ let parse_and_gen_modes xml_file ap_name main_freq h_dir sm =
     fprintf out_h "\n#ifdef AUTOPILOT_CORE_%s_C\n" name_up;
     (* Print includes and private variables *)
     print_includes (get_includes sm) out_h;
-    fprintf out_h "\n#include \"modules.h\"\n";
+    if has_modules sm then fprintf out_h "\n#include \"modules.h\"\n";
     fprintf out_h "uint8_t private_autopilot_mode_%s;\n" name;
     fprintf out_h "uint8_t last_autopilot_mode_%s;\n\n" name;
     (* Print functions *)
@@ -349,16 +355,66 @@ let parse_and_gen_modes xml_file ap_name main_freq h_dir sm =
       failwith (sprintf "gen_autopilot: fail to move tmp file %s to final location" tmp_file)
   with _ -> Sys.remove tmp_file
 
+(* Output settings xml file *)
+let write_settings = fun xml_file out_set ap ->
+  fprintf out_set "<!-- This file has been generated from %s -->\n" xml_file;
+  fprintf out_set "<!-- Please DO NOT EDIT -->\n\n";
+  fprintf out_set "<settings>\n";
+  fprintf out_set "  <dl_settings>\n";
+  (* Filter state machines that need to be displayed *)
+  let sm_filtered = List.filter (fun sm ->
+    try (String.lowercase (Xml.attrib sm "settings_mode")) = "true" with _ -> false
+    ) (Xml.children ap) in
+  if List.length sm_filtered > 0 then begin
+    (* Create node if there is at least one to display *)
+    fprintf out_set "    <dl_settings name=\"Autopilot\">\n";
+    let write_ap_mode = fun sm ->
+      let modes = get_modes sm in
+      let name = Xml.attrib sm "name" in
+      (* Iter on modes and store min, max and values *)
+      let (_, min, max, values) = List.fold_left (fun (current, min, max, values) m ->
+        let print = try String.lowercase (Xml.attrib m "settings") <> "hide" with _ -> true in
+        let name = Xml.attrib m "name" in
+        if print then begin
+          let min = match min with
+          | None -> Some current
+          | Some x -> Some x
+          in
+          let max = Some current in
+          let values = values @ [name] in
+          (current + 1, min, max, values)
+        end
+        else begin
+          let n = match min with None -> [] | _ -> [name] in
+          (current + 1, min, max, values @ n)
+        end
+      ) (0, None, None, []) modes in
+      (* Print if at least one mode has been found *)
+      match min, max with
+      | Some min_idx, Some max_idx ->
+          fprintf out_set "      <dl_setting min=\"%d\" max=\"%d\" step=\"1\" var=\"autopilot_mode_%s\" shortname=\"%s\" values=\"%s\"/>\n"
+            min_idx max_idx name name (String.concat "|" values)
+      | _, _ -> ()
+    in
+    (* Iter and call print function *)
+    List.iter write_ap_mode sm_filtered;
+    fprintf out_set "    </dl_settings>\n";
+  end;
+  fprintf out_set "  </dl_settings>\n";
+  fprintf out_set "</settings>\n"
+
+
 
 (** Main generation function
   * Usage: main_freq xml_file_input h_dir_output
   *)
-let gen_autopilot main_freq xml_file h_dir =
+let gen_autopilot main_freq xml_file h_dir out_set =
   try
     let ap_xml = Xml.parse_file xml_file in
     let ap_name = ExtXml.attrib_or_default ap_xml "name" "Autopilot" in
     let state_machines = get_state_machines ap_xml in
-    List.iter (parse_and_gen_modes xml_file ap_name main_freq h_dir) state_machines
+    List.iter (parse_and_gen_modes xml_file ap_name main_freq h_dir) state_machines;
+    write_settings xml_file out_set ap_xml
   with
       Xml.Error e -> fprintf stderr "%s: XML error:%s\n" xml_file (Xml.error e); exit 1
     | Dtd.Prove_error e -> fprintf stderr "%s: DTD error:%s\n%!" xml_file (Dtd.prove_error e); exit 1
@@ -367,10 +423,11 @@ let gen_autopilot main_freq xml_file h_dir =
 
 (* Main call *)
 let () =
-  if Array.length Sys.argv <> 3 then
-    failwith (Printf.sprintf "Usage: %s airframe_xml_file out_h_dir" Sys.argv.(0));
+  if Array.length Sys.argv <> 4 then
+    failwith (Printf.sprintf "Usage: %s airframe_xml_file out_h_dir out_settings" Sys.argv.(0));
   let xml_file = Sys.argv.(1)
-  and h_dir = Sys.argv.(2) in
+  and h_dir = Sys.argv.(2)
+  and out_set = open_out Sys.argv.(3) in
   let (autopilot, ap_freq) = try
     Gen_common.get_autopilot_of_airframe (Xml.parse_file xml_file)
     with
@@ -381,7 +438,7 @@ let () =
     | Not_found -> exit 0 (* No autopilot file found *)
   in
   try
-    gen_autopilot ap_freq autopilot h_dir;
-    ()
+    gen_autopilot ap_freq autopilot h_dir out_set;
+    close_out out_set
   with
     _ -> fprintf stderr "gen_autopilot: What the heck? Something went wrong...\n"; exit 1