[build] expand airframe includes so firmware sections are parsed

fix #1863

Makefile.ac

@@ -212,7 +212,7 @@ $(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(FLIGHT_PLAN_XML) $(GENERATORS)/gen_modu
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
 	@echo GENERATE $@
 	$(eval $@_TMP := $(shell $(MKTEMP)))
-	$(Q)$(GENERATORS)/gen_modules.out $(SETTINGS_MODULES) $(DEFAULT_MODULES_FREQUENCY) $(FLIGHT_PLAN_XML) $< > $($@_TMP)
+	$(Q)$(GENERATORS)/gen_modules.out $(AC_ID) $(SETTINGS_MODULES) $(DEFAULT_MODULES_FREQUENCY) $(FLIGHT_PLAN_XML) $< > $($@_TMP)
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 

sw/lib/ocaml/gen_common.ml

@@ -178,6 +178,26 @@ let rec get_autoloaded_modules = fun m ->
 let test_targets = fun target targets ->
   eval_bool target targets
 
+(** [expand_includes ac_id xml]
+ * Expand xml airframe file if it contains 'include' nodes
+ *)
+let expand_includes = fun ac_id xml ->
+  match xml with
+  | Xml.PCData d -> Xml.PCData d
+  | Xml.Element (tag, attrs, children) ->
+      Xml.Element (tag, attrs,
+      List.fold_left (fun x c ->
+        if Xml.tag c = "include" then begin
+          let filename = Str.global_replace (Str.regexp "\\$AC_ID") ac_id (ExtXml.attrib c "href") in
+          let filename =
+            if Filename.is_relative filename then Env.paparazzi_home // filename
+            else filename in
+          let subxml = ExtXml.parse_file filename in
+          x @ (Xml.children subxml)
+        end
+        else x @ [c]
+      ) [] children)
+
 exception Firmware_Found of string
 (** [get_modules_of_airframe xml]
  * Returns a list of module configuration from airframe file *)
@@ -235,6 +255,10 @@ let rec get_modules_of_airframe = fun ?target xml ->
             List.fold_left
               (fun acc xml -> iter_modules targets acc xml) modules children
         | _ -> modules end
+    | Xml.Element (tag, _attrs, _children) when tag = "include" ->
+        let filename = ExtXml.attrib xml "href" in
+        let subxml = ExtXml.parse_file filename in
+        iter_modules targets modules subxml
     | Xml.Element (tag, _attrs, children) ->
         let (targets, use_fallback) =
           if tag = "modules" then (targets_of_field xml "", false) else (targets, true) in
@@ -307,18 +331,18 @@ let singletonize_modules = fun ?(verbose=false) ?target xml ->
 (** [get_modules_of_config ?target flight_plan airframe]
  * Returns a list of pair (modules ("load" node), targets) from airframe file and flight plan.
  * The modules are singletonized and options are merged *)
-let get_modules_of_config = fun ?target ?verbose af_xml fp_xml ->
+let get_modules_of_config = fun ?target ?verbose ac_id af_xml fp_xml ->
-  let af_modules = get_modules_of_airframe ?target af_xml
+  let af_modules = get_modules_of_airframe ?target (expand_includes ac_id af_xml)
   and fp_modules = get_modules_of_flight_plan fp_xml in
   (* singletonize modules list *)
   singletonize_modules ?verbose ?target (af_modules @ fp_modules)
 
 (** [get_modules_name xml]
  * Returns a list of loaded modules' name *)
-let get_modules_name = fun xml ->
+let get_modules_name = fun ac_id xml ->
   let target = try Sys.getenv "TARGET" with _ -> "" in
   (* extract all modules sections for a given target *)
-  let modules = get_modules_of_airframe ~target xml in
+  let modules = get_modules_of_airframe ~target (expand_includes ac_id xml) in
   (* return a list of modules name *)
   List.map (fun m -> ExtXml.attrib m.xml "name") modules
 

sw/lib/ocaml/gen_common.mli

@@ -54,6 +54,11 @@ exception Subsystem of string
 val module_name : Xml.xml -> string
 val get_module : Xml.xml -> bool_expr -> module_conf
 
+(** [expand_includes ac_id xml]
+ * Expand xml airframe file if it contains 'include' nodes
+ *)
+val expand_includes : string -> Xml.xml -> Xml.xml
+  
 (** [get_modules_of_airframe xml]
  * Returns a list of pair (modules ("load" node), targets) from airframe file *)
 val get_modules_of_airframe : ?target: string -> Xml.xml -> module_conf list
@@ -62,10 +67,10 @@ val get_modules_of_airframe : ?target: string -> Xml.xml -> module_conf list
  * Returns a list of module configuration from flight plan file *)
 val get_modules_of_flight_plan : Xml.xml -> module_conf list
 
-(** [get_modules_of_config ?target flight_plan airframe]
+(** [get_modules_of_config ?target ac_id flight_plan airframe]
  * Returns a list of pair (modules ("load" node), targets) from airframe file and flight plan.
  * The modules are singletonized and options are merged *)
-val get_modules_of_config : ?target:string -> ?verbose:bool -> Xml.xml -> Xml.xml -> module_conf list
+val get_modules_of_config : ?target:string -> ?verbose:bool -> string -> Xml.xml -> Xml.xml -> module_conf list
 
 (** [test_targets target targets]
  * Test if [target] is allowed [targets]
@@ -75,9 +80,9 @@ val test_targets : string -> bool_expr -> bool
 (** [get_targets_of_module xml] Returns the boolean expression of targets of a module *)
 val get_targets_of_module : Xml.xml -> bool_expr
 
-(** [get_modules_name xml]
+(** [get_modules_name ac_id xml]
  * Returns a list of loaded modules' name *)
-val get_modules_name : Xml.xml -> string list
+val get_modules_name : string -> Xml.xml -> string list
 
 (** [get_modules_dir xml]
  * Returns the list of modules directories *)

sw/supervision/pc_aircraft.ml

@@ -165,9 +165,9 @@ let save_callback = fun ?user_save gui ac_combo tree tree_modules () ->
 type selected_t = Selected | Unselected | Unknown
 
 (* Get the settings (string list) with current modules *)
-let get_settings_modules = fun ac_xml fp_xml settings_modules ->
+let get_settings_modules = fun ac_id ac_xml fp_xml settings_modules ->
   (* get modules *)
-  let modules = Gen_common.get_modules_of_config ac_xml fp_xml in
+  let modules = Gen_common.get_modules_of_config ac_id ac_xml fp_xml in
   let modules = List.map (fun m -> m.Gen_common.xml, m.Gen_common.file ) modules in
   (* get list of settings files *)
   let settings = List.fold_left (fun l (m, f) ->
@@ -318,8 +318,9 @@ let ac_combo_handler = fun gui (ac_combo:Gtk_tools.combo) target_combo flash_com
       in
       let fp_file = (Env.paparazzi_home // "conf" // (Xml.attrib aircraft "flight_plan")) in
       let fp_xml = ExtXml.parse_file fp_file in
+      let ac_id = ExtXml.attrib aircraft "ac_id" in
       let settings_modules = try
-        get_settings_modules af_xml fp_xml (ExtXml.attrib_or_default aircraft "settings_modules" "")
+        get_settings_modules ac_id af_xml fp_xml (ExtXml.attrib_or_default aircraft "settings_modules" "")
       with
       | Failure x -> prerr_endline x; []
       | _ -> []
@@ -338,8 +339,7 @@ let ac_combo_handler = fun gui (ac_combo:Gtk_tools.combo) target_combo flash_com
           let names = Str.split regexp_space (value a) in
           List.iter (Gtk_tools.add_to_tree t) names;
       ) ac_files;
-      let ac_id = ExtXml.attrib aircraft "ac_id"
+      let gui_color = ExtXml.attrib_or_default aircraft "gui_color" "white" in
-      and gui_color = ExtXml.attrib_or_default aircraft "gui_color" "white" in
       gui#button_clean#misc#set_sensitive true;
       gui#button_build#misc#set_sensitive true;
       gui#button_upload#misc#set_sensitive true;

sw/tools/generators/gen_aircraft.ml

@@ -187,8 +187,8 @@ let module_xml2mk = fun f target firmware m ->
         ) section
     ) m.xml
 
-let modules_xml2mk = fun f target xml fp ->
+let modules_xml2mk = fun f target ac_id xml fp ->
-  let modules = Gen_common.get_modules_of_config ~target ~verbose:true xml fp in
+  let modules = Gen_common.get_modules_of_config ~target ~verbose:true ac_id xml fp in
   (* print modules directories and includes for all targets *)
   fprintf f "\n# include modules directory for all targets\n";
   (* get dir list *)
@@ -247,7 +247,7 @@ let fallback_subsys_xml2mk = fun f global_targets firmware target xml ->
     ignore(Gen_common.get_module xml global_targets)
   with Gen_common.Subsystem _file -> subsystem_xml2mk f firmware xml
 
-let parse_firmware = fun makefile_ac ac_xml firmware fp ->
+let parse_firmware = fun makefile_ac ac_id ac_xml firmware fp ->
   let firmware_name = Xml.attrib firmware "name" in
   (* get the configures, targets, subsystems and defines for this firmware *)
   let config, rest = ExtXml.partition_tag "configure" (Xml.children firmware) in
@@ -267,7 +267,7 @@ let parse_firmware = fun makefile_ac ac_xml firmware fp ->
     fprintf makefile_ac "\n###########\n# -target: '%s'\n" target_name;
     fprintf makefile_ac "ifeq ($(TARGET), %s)\n" target_name;
     let target_name = Xml.attrib target "name" in
-    let modules = modules_xml2mk makefile_ac target_name ac_xml fp in
+    let modules = modules_xml2mk makefile_ac target_name ac_id ac_xml fp in
     begin (* Check for "processor" attribute *)
       try
         let proc = Xml.attrib target "processor" in
@@ -295,21 +295,22 @@ let parse_firmware = fun makefile_ac ac_xml firmware fp ->
 
 
 (** Search and dump the firmware section *)
-let dump_firmware = fun f ac_xml firmware fp ->
+let dump_firmware = fun f ac_id ac_xml firmware fp ->
   try
     fprintf f "\n####################################################\n";
     fprintf f   "# makefile firmware '%s'\n" (Xml.attrib firmware "name");
     fprintf f   "####################################################\n";
-    parse_firmware f ac_xml firmware fp
+    parse_firmware f ac_id ac_xml firmware fp
   with Xml.No_attribute _ -> failwith "Warning: firmware name is undeclared"
 
-let dump_firmware_sections = fun makefile_ac fp xml ->
+let dump_firmware_sections = fun makefile_ac ac_id fp xml ->
   ExtXml.iter_tag "firmware"
-    (fun tag -> dump_firmware makefile_ac xml tag fp) xml
+    (fun tag -> dump_firmware makefile_ac ac_id xml tag fp) xml
 
 (** Extracts the makefile sections of an airframe file *)
 let extract_makefile = fun ac_id airframe_file flight_plan_file makefile_ac ->
   let xml = ExtXml.parse_file airframe_file in
+  let xml = Gen_common.expand_includes ac_id xml in
   let fp = ExtXml.parse_file flight_plan_file in
   let f = open_out makefile_ac in
   fprintf f "# This file has been generated by gen_aircraft from %s by %s\n"
@@ -321,7 +322,7 @@ let extract_makefile = fun ac_id airframe_file flight_plan_file makefile_ac ->
   (** Search and dump makefile sections that have a "location" attribute set to "before" or no attribute *)
   dump_makefile_section xml f airframe_file "before";
   (** Search and dump the firmware sections *)
-  dump_firmware_sections f fp xml;
+  dump_firmware_sections f ac_id fp xml;
   (** Search and dump makefile sections that have a "location" attribute set to "after" *)
   dump_makefile_section xml f airframe_file "after";
   close_out f
@@ -379,7 +380,7 @@ let () =
     mkdir (aircraft_conf_dir // "telemetry");
 
     let target = try Sys.getenv "TARGET" with _ -> "" in
-    let modules = Gen_common.get_modules_of_config ~target (ExtXml.parse_file abs_airframe_file) (ExtXml.parse_file abs_flight_plan_file) in
+    let modules = Gen_common.get_modules_of_config ~target (value "ac_id") (ExtXml.parse_file abs_airframe_file) (ExtXml.parse_file abs_flight_plan_file) in
     (* normal settings *)
     let settings = try Env.filter_settings (value "settings") with _ -> "" in
     (* remove settings if not supported for the current target *)

sw/tools/generators/gen_modules.ml

@@ -417,12 +417,13 @@ let write_settings = fun xml_file out_set modules ->
 let h_name = "MODULES_H"
 
 let () =
-  if Array.length Sys.argv <> 5 then
+  if Array.length Sys.argv <> 6 then
-    failwith (Printf.sprintf "Usage: %s out_settings_file default_freq fp_file xml_file" Sys.argv.(0));
+    failwith (Printf.sprintf "Usage: %s ac_id out_settings_file default_freq fp_file xml_file" Sys.argv.(0));
-  let xml_file = Sys.argv.(4)
+  let xml_file = Sys.argv.(5)
-  and fp_file = Sys.argv.(3)
+  and fp_file = Sys.argv.(4)
-  and default_freq = int_of_string(Sys.argv.(2))
+  and default_freq = int_of_string(Sys.argv.(3))
-  and out_set = open_out Sys.argv.(1) in
+  and out_set = open_out Sys.argv.(2)
+  and ac_id = Sys.argv.(1) in
   try
     let xml = start_and_begin xml_file h_name in
     fprintf out_h "#define MODULES_IDLE  0\n";
@@ -446,7 +447,7 @@ let () =
     let modules =
       try
         let target = Sys.getenv "TARGET" in
-        GC.get_modules_of_config ~target xml (ExtXml.parse_file fp_file)
+        GC.get_modules_of_config ~target ac_id xml (ExtXml.parse_file fp_file)
       with
       | Not_found -> failwith "TARTGET env needs to be specified to generate modules files"
     in