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cleanup trailing whitespaces in gen_* files

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This commit is contained in:
Felix Ruess
2010-11-30 14:34:09 +01:00
parent 166c3a40ed
commit a926164fba
5 changed files with 531 additions and 532 deletions
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sw/tools/gen_aircraft.ml
+186 -186
View File
@@ -41,35 +41,35 @@ let check_unique_id_and_name = fun conf ->
let ids = Hashtbl.create 5 let ids = Hashtbl.create 5
and names = Hashtbl.create 5 in and names = Hashtbl.create 5 in
List.iter List.iter
(fun x -> (fun x ->
if String.lowercase (Xml.tag x) = "aircraft" then if String.lowercase (Xml.tag x) = "aircraft" then
let id = ExtXml.attrib x "ac_id" let id = ExtXml.attrib x "ac_id"
and name = ExtXml.attrib x "name" in and name = ExtXml.attrib x "name" in
if Hashtbl.mem ids id then begin if Hashtbl.mem ids id then begin
let other_name = Hashtbl.find ids id in let other_name = Hashtbl.find ids id in
failwith (sprintf "Error: A/C Id '%s' duplicated in %s (%s and %s)" id conf_xml name other_name) failwith (sprintf "Error: A/C Id '%s' duplicated in %s (%s and %s)" id conf_xml name other_name)
end; end;
if Hashtbl.mem names name then begin if Hashtbl.mem names name then begin
let other_id = Hashtbl.find names name in let other_id = Hashtbl.find names name in
failwith (sprintf "Error: A/C name '%s' duplicated in %s (ids %s and %s)" name conf_xml id other_id) failwith (sprintf "Error: A/C name '%s' duplicated in %s (ids %s and %s)" name conf_xml id other_id)
end; end;
Hashtbl.add ids id name; Hashtbl.add ids id name;
Hashtbl.add names name id) Hashtbl.add names name id)
(Xml.children conf) (Xml.children conf)
let pipe_regexp = Str.regexp "|" let pipe_regexp = Str.regexp "|"
let targets_of_field = fun field -> let targets_of_field = fun field ->
try try
Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim")
with with
_ -> [] _ -> []
(** singletonize a sorted list *) (** singletonize a sorted list *)
let rec singletonize = fun l -> let rec singletonize = fun l ->
match l with match l with
[] | [_] -> l [] | [_] -> l
| x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt | x :: ((y :: t) as yt) -> if x = y then singletonize yt else x :: singletonize yt
(** union of two lists *) (** union of two lists *)
@@ -87,28 +87,28 @@ let union_of_lists = fun l ->
let get_modules = fun dir xml -> let get_modules = fun dir xml ->
(* extract all "modules" sections *) (* extract all "modules" sections *)
let modules = List.map (fun x -> let modules = List.map (fun x ->
match String.lowercase (Xml.tag x) with match String.lowercase (Xml.tag x) with
"modules" -> Xml.children x "modules" -> Xml.children x
| _ -> [] | _ -> []
) (Xml.children xml) in ) (Xml.children xml) in
(* flatten the list (result is a list of "load" xml nodes) *) (* flatten the list (result is a list of "load" xml nodes) *)
let modules = List.flatten modules in let modules = List.flatten modules in
(* build a list (file name, (xml, xml list of flags)) *) (* build a list (file name, (xml, xml list of flags)) *)
let extract = List.map (fun m -> let extract = List.map (fun m ->
match String.lowercase (Xml.tag m) with match String.lowercase (Xml.tag m) with
"load" -> let file = dir // ExtXml.attrib m "name" in "load" -> let file = dir // ExtXml.attrib m "name" in
(file, (ExtXml.parse_file file, Xml.children m)) (file, (ExtXml.parse_file file, Xml.children m))
| tag -> failwith (sprintf "Warning: tag load is undefined; found '%s'" tag) | tag -> failwith (sprintf "Warning: tag load is undefined; found '%s'" tag)
) modules in ) modules in
(* return a list of name and a list of pairs (xml, xml list) *) (* return a list of name and a list of pairs (xml, xml list) *)
List.split extract List.split extract
(** [get_targets_of_module xml] Returns the list of targets of a module *) (** [get_targets_of_module xml] Returns the list of targets of a module *)
let get_targets_of_module = fun m -> let get_targets_of_module = fun m ->
let targets = List.map (fun x -> let targets = List.map (fun x ->
match String.lowercase (Xml.tag x) with match String.lowercase (Xml.tag x) with
"makefile" -> targets_of_field x "makefile" -> targets_of_field x
| _ -> [] | _ -> []
) (Xml.children m) in ) (Xml.children m) in
(* return a singletonized list *) (* return a singletonized list *)
singletonize (List.sort compare (List.flatten targets)) singletonize (List.sort compare (List.flatten targets))
@@ -120,8 +120,8 @@ let get_modules_dir = fun modules ->
(** (**
Search and dump the module section : Search and dump the module section :
xml : the parsed airframe.xml xml : the parsed airframe.xml
f : makefile.ac f : makefile.ac
**) **)
let dump_module_section = fun xml f -> let dump_module_section = fun xml f ->
(* get modules *) (* get modules *)
@@ -142,71 +142,71 @@ let dump_module_section = fun xml f ->
List.iter (fun dir -> let dir_name = (String.uppercase dir)^"_DIR" in fprintf f "%s = modules/%s\n" dir_name dir) dir_list; List.iter (fun dir -> let dir_name = (String.uppercase dir)^"_DIR" in fprintf f "%s = modules/%s\n" dir_name dir) dir_list;
(* parse each module *) (* parse each module *)
List.iter (fun (m, flags) -> List.iter (fun (m, flags) ->
let name = ExtXml.attrib m "name" in let name = ExtXml.attrib m "name" in
let dir = try Xml.attrib m "dir" with _ -> name in let dir = try Xml.attrib m "dir" with _ -> name in
let dir_name = (String.uppercase dir)^"_DIR" in let dir_name = (String.uppercase dir)^"_DIR" in
(* get the list of all the targets for this module *) (* get the list of all the targets for this module *)
let module_target_list = get_targets_of_module m in let module_target_list = get_targets_of_module m in
(* print global flags as compilation defines and flags *) (* print global flags as compilation defines and flags *)
fprintf f "\n# makefile for module %s in modules/%s\n" name dir; fprintf f "\n# makefile for module %s in modules/%s\n" name dir;
List.iter (fun flag -> List.iter (fun flag ->
match String.lowercase (Xml.tag flag) with match String.lowercase (Xml.tag flag) with
"define" -> "define" ->
let value = Xml.attrib flag "value" let value = Xml.attrib flag "value"
and name = Xml.attrib flag "name" in and name = Xml.attrib flag "name" in
fprintf f "%s = %s\n" name value fprintf f "%s = %s\n" name value
| "flag" | "param" -> | "flag" | "param" ->
List.iter (fun target -> List.iter (fun target ->
let name = ExtXml.attrib flag "name" let name = ExtXml.attrib flag "name"
and value = try "="^(Xml.attrib flag "value") with _ -> "" in and value = try "="^(Xml.attrib flag "value") with _ -> "" in
fprintf f "%s.CFLAGS += -D%s%s\n" target name value fprintf f "%s.CFLAGS += -D%s%s\n" target name value
) module_target_list ) module_target_list
| _ -> () | _ -> ()
) flags; ) flags;
(* Look for makefile section *) (* Look for makefile section *)
List.iter (fun l -> List.iter (fun l ->
if ExtXml.tag_is l "makefile" then begin if ExtXml.tag_is l "makefile" then begin
let targets = targets_of_field l in let targets = targets_of_field l in
(* Look for defines, flags, files, ... *) (* Look for defines, flags, files, ... *)
List.iter (fun field -> List.iter (fun field ->
match String.lowercase (Xml.tag field) with match String.lowercase (Xml.tag field) with
"flag" -> "flag" ->
List.iter (fun target -> List.iter (fun target ->
let value = try "="^(Xml.attrib field "value") with _ -> "" let value = try "="^(Xml.attrib field "value") with _ -> ""
and name = Xml.attrib field "name" in and name = Xml.attrib field "name" in
let flag_type = match (ExtXml.attrib_or_default field "type" "define") with let flag_type = match (ExtXml.attrib_or_default field "type" "define") with
"define" | "D" -> "D" "define" | "D" -> "D"
| "include" | "I" -> "I" | "include" | "I" -> "I"
| _ -> "D" in | _ -> "D" in
fprintf f "%s.CFLAGS += -%s%s%s\n" target flag_type name value fprintf f "%s.CFLAGS += -%s%s%s\n" target flag_type name value
) targets ) targets
| "file" -> | "file" ->
let name = Xml.attrib field "name" in let name = Xml.attrib field "name" in
List.iter (fun target -> fprintf f "%s.srcs += $(%s)/%s\n" target dir_name name) targets List.iter (fun target -> fprintf f "%s.srcs += $(%s)/%s\n" target dir_name name) targets
| "file_arch" -> | "file_arch" ->
let name = Xml.attrib field "name" in let name = Xml.attrib field "name" in
List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets
| "file_hw" -> | "file_hw" ->
let name = Xml.attrib field "name" in let name = Xml.attrib field "name" in
List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets List.iter (fun target -> fprintf f "%s.srcs += arch/$(ARCH)/$(%s)/%s\n" target dir_name name) targets
| "define" -> | "define" ->
let value = Xml.attrib field "value" let value = Xml.attrib field "value"
and name = Xml.attrib field "name" in and name = Xml.attrib field "name" in
fprintf f "%s = %s\n" name value fprintf f "%s = %s\n" name value
| "raw" -> | "raw" ->
begin match Xml.children field with begin match Xml.children field with
[Xml.PCData s] -> fprintf f "%s\n" s [Xml.PCData s] -> fprintf f "%s\n" s
| _ -> fprintf stderr "Warning: wrong makefile section in module '%s'\n" name | _ -> fprintf stderr "Warning: wrong makefile section in module '%s'\n" name
end end
| _ -> () | _ -> ()
) (Xml.children l) ) (Xml.children l)
end) (Xml.children m) end) (Xml.children m)
) modules; ) modules;
(** returns a list of modules file name *) (** returns a list of modules file name *)
files files
(** (**
Search and dump the makefile sections Search and dump the makefile sections
**) **)
let dump_makefile_section = fun xml makefile_ac airframe_infile location -> let dump_makefile_section = fun xml makefile_ac airframe_infile location ->
List.iter (fun x -> List.iter (fun x ->
@@ -220,7 +220,7 @@ let dump_makefile_section = fun xml makefile_ac airframe_infile location ->
| _ -> failwith (sprintf "Warning: wrong makefile section in '%s': %s\n" airframe_infile (Xml.to_string_fmt x)) | _ -> failwith (sprintf "Warning: wrong makefile section in '%s': %s\n" airframe_infile (Xml.to_string_fmt x))
end end
| (_, _) -> () | (_, _) -> ()
end) end)
(Xml.children xml) (Xml.children xml)
(** (**
@@ -326,10 +326,10 @@ let is_older = fun target_file dep_files ->
not (Sys.file_exists target_file) || not (Sys.file_exists target_file) ||
let target_file_time = (U.stat target_file).U.st_mtime in let target_file_time = (U.stat target_file).U.st_mtime in
let rec loop = function let rec loop = function
[] -> false [] -> false
| f::fs -> | f::fs ->
target_file_time < (U.stat f).U.st_mtime || target_file_time < (U.stat f).U.st_mtime ||
loop fs in loop fs in
loop dep_files loop dep_files
@@ -339,115 +339,115 @@ let make_element = fun t a c -> Xml.Element (t,a,c)
(******************************* MAIN ****************************************) (******************************* MAIN ****************************************)
let () = let () =
try try
if Array.length Sys.argv <> 2 then if Array.length Sys.argv <> 2 then
failwith (sprintf "Usage: %s <A/C ident (conf.xml)>" Sys.argv.(0)); failwith (sprintf "Usage: %s <A/C ident (conf.xml)>" Sys.argv.(0));
let aircraft = Sys.argv.(1) in let aircraft = Sys.argv.(1) in
let conf = Xml.parse_file conf_xml in let conf = Xml.parse_file conf_xml in
check_unique_id_and_name conf; check_unique_id_and_name conf;
let aircraft_xml = let aircraft_xml =
try try
ExtXml.child conf ~select:(fun x -> Xml.attrib x "name" = aircraft) "aircraft" ExtXml.child conf ~select:(fun x -> Xml.attrib x "name" = aircraft) "aircraft"
with with
Not_found -> failwith (sprintf "Aircraft '%s' not found in '%s'" aircraft conf_xml) Not_found -> failwith (sprintf "Aircraft '%s' not found in '%s'" aircraft conf_xml)
in in
let value = fun attrib -> ExtXml.attrib aircraft_xml attrib in let value = fun attrib -> ExtXml.attrib aircraft_xml attrib in
let aircraft_dir = Env.paparazzi_home // "var" // aircraft in let aircraft_dir = Env.paparazzi_home // "var" // aircraft in
let aircraft_conf_dir = aircraft_dir // "conf" in let aircraft_conf_dir = aircraft_dir // "conf" in
mkdir (Env.paparazzi_home // "var"); mkdir (Env.paparazzi_home // "var");
mkdir aircraft_dir; mkdir aircraft_dir;
mkdir (aircraft_dir // "fbw"); mkdir (aircraft_dir // "fbw");
mkdir (aircraft_dir // "autopilot"); mkdir (aircraft_dir // "autopilot");
mkdir (aircraft_dir // "sim"); mkdir (aircraft_dir // "sim");
mkdir aircraft_conf_dir; mkdir aircraft_conf_dir;
mkdir (aircraft_conf_dir // "airframes"); mkdir (aircraft_conf_dir // "airframes");
mkdir (aircraft_conf_dir // "flight_plans"); mkdir (aircraft_conf_dir // "flight_plans");
mkdir (aircraft_conf_dir // "radios"); mkdir (aircraft_conf_dir // "radios");
mkdir (aircraft_conf_dir // "settings"); mkdir (aircraft_conf_dir // "settings");
mkdir (aircraft_conf_dir // "telemetry"); mkdir (aircraft_conf_dir // "telemetry");
let settings = let settings =
try value "settings" with try value "settings" with
_ -> _ ->
fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/basic.xml'\n\n%!" aircraft; fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/basic.xml'\n\n%!" aircraft;
"settings/basic.xml" in "settings/basic.xml" in
(** Expands the configuration of the A/C into one single file *) (** Expands the configuration of the A/C into one single file *)
let conf_aircraft = Env.expand_ac_xml aircraft_xml in let conf_aircraft = Env.expand_ac_xml aircraft_xml in
let configuration = let configuration =
make_element make_element
"configuration" "configuration"
[] []
[make_element "conf" [] [conf_aircraft]; Pprz.messages_xml ()] in [make_element "conf" [] [conf_aircraft]; Pprz.messages_xml ()] in
let conf_aircraft_file = aircraft_conf_dir // "conf_aircraft.xml" in let conf_aircraft_file = aircraft_conf_dir // "conf_aircraft.xml" in
let f = open_out conf_aircraft_file in let f = open_out conf_aircraft_file in
Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration); Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
close_out f; close_out f;
(** Computes and store a signature of the configuration *) (** Computes and store a signature of the configuration *)
let md5sum = Digest.to_hex (Digest.file conf_aircraft_file) in let md5sum = Digest.to_hex (Digest.file conf_aircraft_file) in
let md5sum_file = aircraft_conf_dir // "aircraft.md5" in let md5sum_file = aircraft_conf_dir // "aircraft.md5" in
(* Store only if different from previous one *) (* Store only if different from previous one *)
if not (Sys.file_exists md5sum_file if not (Sys.file_exists md5sum_file
&& md5sum = input_line (open_in md5sum_file)) then begin && md5sum = input_line (open_in md5sum_file)) then begin
let f = open_out md5sum_file in let f = open_out md5sum_file in
Printf.fprintf f "%s\n" md5sum; Printf.fprintf f "%s\n" md5sum;
close_out f; close_out f;
(** Save the configuration for future use *) (** Save the configuration for future use *)
let d = U.localtime (U.gettimeofday ()) in let d = U.localtime (U.gettimeofday ()) in
let filename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_%s_%s.conf" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) md5sum aircraft in let filename = sprintf "%02d_%02d_%02d__%02d_%02d_%02d_%s_%s.conf" (d.U.tm_year mod 100) (d.U.tm_mon+1) (d.U.tm_mday) (d.U.tm_hour) (d.U.tm_min) (d.U.tm_sec) md5sum aircraft in
let d = Env.paparazzi_home // "var" // "conf" in let d = Env.paparazzi_home // "var" // "conf" in
mkdir d; mkdir d;
let f = open_out (d // filename) in let f = open_out (d // filename) in
Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration); Printf.fprintf f "%s\n" (ExtXml.to_string_fmt configuration);
close_out f end; close_out f end;
let airframe_file = value "airframe" in let airframe_file = value "airframe" in
let airframe_dir = Filename.dirname airframe_file in let airframe_dir = Filename.dirname airframe_file in
let var_airframe_dir = aircraft_conf_dir // airframe_dir in let var_airframe_dir = aircraft_conf_dir // airframe_dir in
mkdir var_airframe_dir; mkdir var_airframe_dir;
assert (Sys.command (sprintf "cp %s %s" (paparazzi_conf // airframe_file) var_airframe_dir) = 0); assert (Sys.command (sprintf "cp %s %s" (paparazzi_conf // airframe_file) var_airframe_dir) = 0);
(** Calls the Makefile with target and options *) (** Calls the Makefile with target and options *)
let make = fun target options -> let make = fun target options ->
let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s %s" aircraft (value "ac_id") airframe_file (value "telemetry") settings md5sum options target in let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME_XML=%s TELEMETRY=%s SETTINGS=\"%s\" MD5SUM=\"%s\" %s %s" aircraft (value "ac_id") airframe_file (value "telemetry") settings md5sum options target in
begin (** Quiet is speficied in the Makefile *) begin (** Quiet is speficied in the Makefile *)
try if Sys.getenv "Q" <> "@" then raise Not_found with try if Sys.getenv "Q" <> "@" then raise Not_found with
Not_found -> prerr_endline c Not_found -> prerr_endline c
end; end;
let returned_code = Sys.command c in let returned_code = Sys.command c in
if returned_code <> 0 then if returned_code <> 0 then
exit returned_code in exit returned_code in
(** Calls the makefile if the optional attribute is available *) (** Calls the makefile if the optional attribute is available *)
let make_opt = fun target var attr -> let make_opt = fun target var attr ->
try try
let value = Xml.attrib aircraft_xml attr in let value = Xml.attrib aircraft_xml attr in
make target (sprintf "%s=%s" var value) make target (sprintf "%s=%s" var value)
with with
Xml.No_attribute _ -> () in Xml.No_attribute _ -> () in
let temp_makefile_ac = Filename.temp_file "Makefile.ac" "tmp" in let temp_makefile_ac = Filename.temp_file "Makefile.ac" "tmp" in
let abs_airframe_file = paparazzi_conf // airframe_file in let abs_airframe_file = paparazzi_conf // airframe_file in
let modules_files = extract_makefile abs_airframe_file temp_makefile_ac in let modules_files = extract_makefile abs_airframe_file temp_makefile_ac in
(* Create Makefile.ac only if needed *) (* Create Makefile.ac only if needed *)
let makefile_ac = aircraft_dir // "Makefile.ac" in let makefile_ac = aircraft_dir // "Makefile.ac" in
if is_older makefile_ac (abs_airframe_file :: modules_files) then begin if is_older makefile_ac (abs_airframe_file :: modules_files) then begin
assert(Sys.command (sprintf "mv %s %s" temp_makefile_ac makefile_ac) = 0) assert(Sys.command (sprintf "mv %s %s" temp_makefile_ac makefile_ac) = 0)
end; end;
(* Get TARGET env, needed to build modules.h according to the target *) (* Get TARGET env, needed to build modules.h according to the target *)
let t = Printf.sprintf "TARGET=%s" (try Sys.getenv "TARGET" with _ -> "") in let t = Printf.sprintf "TARGET=%s" (try Sys.getenv "TARGET" with _ -> "") in
make "all_ac_h" t; 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" make_opt "flight_plan_ac_h" "FLIGHT_PLAN" "flight_plan"
with with
Failure f -> Failure f ->
prerr_endline f; prerr_endline f;
exit 1 exit 1
sw/tools/gen_airframe.ml
+18 -18
View File
@@ -2,7 +2,7 @@
* $Id$ * $Id$
* *
* XML preprocessing for airframe parameters * XML preprocessing for airframe parameters
* *
* Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -20,7 +20,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
* *
*) *)
@@ -59,7 +59,7 @@ let define_macro name n x =
| 2 -> printf "x1,x2) (%s*(x1)+ %s*(x2))\n" (a "coeff1") (a "coeff2") | 2 -> printf "x1,x2) (%s*(x1)+ %s*(x2))\n" (a "coeff1") (a "coeff2")
| 3 -> printf "x1,x2,x3) (%s*(x1)+ %s*(x2)+%s*(x3))\n" (a "coeff1") (a "coeff2") (a "coeff3") | 3 -> printf "x1,x2,x3) (%s*(x1)+ %s*(x2)+%s*(x3))\n" (a "coeff1") (a "coeff2") (a "coeff3")
| _ -> failwith "define_macro" | _ -> failwith "define_macro"
let define_integer name v n = let define_integer name v n =
let max_val = 1 lsl n in let max_val = 1 lsl n in
let print = fun name num den -> let print = fun name num den ->
@@ -84,11 +84,11 @@ let define_integer name v n =
let parse_element = fun prefix s -> let parse_element = fun prefix s ->
match Xml.tag s with match Xml.tag s with
"define" -> begin "define" -> begin
try try
define (prefix^ExtXml.attrib s "name") (ExtXml.display_entities (ExtXml.attrib s "value")); define (prefix^ExtXml.attrib s "name") (ExtXml.display_entities (ExtXml.attrib s "value"));
define_integer (prefix^(ExtXml.attrib s "name")) (ExtXml.float_attrib s "value") (ExtXml.int_attrib s "integer"); define_integer (prefix^(ExtXml.attrib s "name")) (ExtXml.float_attrib s "value") (ExtXml.int_attrib s "integer");
with _ -> (); with _ -> ();
end end
| "linear" -> | "linear" ->
let name = ExtXml.attrib s "name" let name = ExtXml.attrib s "name"
and n = int_of_string (ExtXml.attrib s "arity") in and n = int_of_string (ExtXml.attrib s "arity") in
@@ -107,7 +107,7 @@ let parse_servo = fun driver c ->
let min = fos (ExtXml.attrib c "min" ) let min = fos (ExtXml.attrib c "min" )
and neutral = fos (ExtXml.attrib c "neutral") and neutral = fos (ExtXml.attrib c "neutral")
and max = fos (ExtXml.attrib c "max" ) in and max = fos (ExtXml.attrib c "max" ) in
let travel_up = (max-.neutral) /. max_pprz let travel_up = (max-.neutral) /. max_pprz
and travel_down = (neutral-.min) /. max_pprz in and travel_down = (neutral-.min) /. max_pprz in
@@ -153,7 +153,7 @@ let parse_command_laws = fun command ->
let var = a "var" let var = a "var"
and value = a "value" in and value = a "value" in
let v = preprocess_value value "values" "COMMAND" in let v = preprocess_value value "values" "COMMAND" in
printf " int16_t _var_%s = %s;\\\n" var v printf " int16_t _var_%s = %s;\\\n" var v
| "define" -> | "define" ->
parse_element "" command parse_element "" command
| _ -> xml_error "set|let" | _ -> xml_error "set|let"
@@ -162,7 +162,7 @@ let parse_csc_fields = fun csc_fields ->
let a = fun s -> ExtXml.attrib csc_fields s in let a = fun s -> ExtXml.attrib csc_fields s in
match Xml.tag csc_fields with match Xml.tag csc_fields with
"field_map" -> "field_map" ->
let servo_id = a "servo_id" let servo_id = a "servo_id"
and field = a "field" in and field = a "field" in
printf " temp.%s = actuators[%s]; \\\n" field servo_id; printf " temp.%s = actuators[%s]; \\\n" field servo_id;
| _ -> xml_error "field_map" | _ -> xml_error "field_map"
@@ -171,8 +171,8 @@ let parse_csc_messages = (let msg_index_ref = ref 0 in fun csc_id csc_messages -
let a = fun s -> ExtXml.attrib csc_messages s in let a = fun s -> ExtXml.attrib csc_messages s in
match Xml.tag csc_messages with match Xml.tag csc_messages with
"msg" -> "msg" ->
let msg_id = a "id" let msg_id = a "id"
and msg_type = a "type" and msg_type = a "type"
and msg_index = msg_index_ref.contents in and msg_index = msg_index_ref.contents in
msg_index_ref.contents <- msg_index + 1; msg_index_ref.contents <- msg_index + 1;
printf "{\\\n struct Csc%s temp; \\\n" msg_type; printf "{\\\n struct Csc%s temp; \\\n" msg_type;
@@ -204,7 +204,7 @@ let parse_rc_commands = fun rc ->
let var = a "var" let var = a "var"
and value = a "value" in and value = a "value" in
let v = preprocess_value value "rc_values" "RADIO" in let v = preprocess_value value "rc_values" "RADIO" in
printf " int16_t _var_%s = %s;\\\n" var v printf " int16_t _var_%s = %s;\\\n" var v
| "define" -> | "define" ->
parse_element "" rc parse_element "" rc
| _ -> xml_error "set|let" | _ -> xml_error "set|let"
@@ -221,7 +221,7 @@ let parse_ap_only_commands = fun ap_only ->
let parse_subsystem_defines = fun options -> let parse_subsystem_defines = fun options ->
match Xml.tag options with match Xml.tag options with
"param" -> "param" ->
printf "// -param: %s\n" (ExtXml.attrib options "name") printf "// -param: %s\n" (ExtXml.attrib options "name")
| "define" -> | "define" ->
printf "#define %s %s\n" (ExtXml.attrib options "name") (ExtXml.attrib options "value") printf "#define %s %s\n" (ExtXml.attrib options "name") (ExtXml.attrib options "value")
| _ -> xml_error "define|param" | _ -> xml_error "define|param"
@@ -230,7 +230,7 @@ let parse_subsystem_defines = fun options ->
let parse_subsystems = fun subsystem -> let parse_subsystems = fun subsystem ->
match Xml.tag subsystem with match Xml.tag subsystem with
"param" -> "param" ->
printf "// subsystem parameter: %s\n" (ExtXml.attrib subsystem "name") printf "// subsystem parameter: %s\n" (ExtXml.attrib subsystem "name")
| "subsystem" -> | "subsystem" ->
printf "// -%s:\n" (ExtXml.attrib subsystem "name"); printf "// -%s:\n" (ExtXml.attrib subsystem "name");
List.iter parse_subsystem_defines (Xml.children subsystem) List.iter parse_subsystem_defines (Xml.children subsystem)
@@ -307,7 +307,7 @@ let rec parse_section = fun s ->
() ()
(** Ignoring this section *) (** Ignoring this section *)
| _ -> () | _ -> ()
let h_name = "AIRFRAME_H" let h_name = "AIRFRAME_H"
@@ -319,7 +319,7 @@ let hex_to_bin = fun s ->
b.[4*i] <- '\\'; b.[4*i] <- '\\';
Scanf.sscanf (String.sub s (2*i) 2) "%2x" Scanf.sscanf (String.sub s (2*i) 2) "%2x"
(fun x -> (fun x ->
String.blit (sprintf "%03o" x) 0 b (4*i+1) 3) String.blit (sprintf "%03o" x) 0 b (4*i+1) 3)
done; done;
b b
sw/tools/gen_flight_plan.ml
+283 -284
View File
File diff suppressed because it is too large Load Diff
sw/tools/gen_modules.ml
+11 -11
View File
@@ -2,7 +2,7 @@
* $Id$ * $Id$
* *
* XML preprocessing for modules * XML preprocessing for modules
* *
* Copyright (C) 2009 Gautier Hattenberger * Copyright (C) 2009 Gautier Hattenberger
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -20,7 +20,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
* *
*) *)
@@ -102,7 +102,7 @@ let remove_dup = fun l ->
match l with match l with
[] | [_] -> l [] | [_] -> l
| x::((x'::_) as xs) -> | x::((x'::_) as xs) ->
if x = x' then loop xs else x::loop xs in if x = x' then loop xs else x::loop xs in
loop (List.sort compare l) loop (List.sort compare l)
let print_periodic_functions = fun modules -> let print_periodic_functions = fun modules ->
@@ -117,7 +117,7 @@ let print_periodic_functions = fun modules ->
let functions_modulo = List.flatten (List.map (fun m -> let functions_modulo = List.flatten (List.map (fun m ->
let periodic = List.filter (fun i -> (String.compare (Xml.tag i) "periodic") == 0) (Xml.children m) in let periodic = List.filter (fun i -> (String.compare (Xml.tag i) "periodic") == 0) (Xml.children m) in
let module_name = ExtXml.attrib m "name" in let module_name = ExtXml.attrib m "name" in
List.map (fun x -> List.map (fun x ->
try try
let p = float_of_string (Xml.attrib x "period") in let p = float_of_string (Xml.attrib x "period") in
let _ = try let _ = Xml.attrib x "freq" in fprintf stderr "Warning: both period and freq are defined but only period is used for function %s\n" (ExtXml.attrib x "fun") with _ -> () in let _ = try let _ = Xml.attrib x "freq" in fprintf stderr "Warning: both period and freq are defined but only period is used for function %s\n" (ExtXml.attrib x "fun") with _ -> () in
@@ -178,7 +178,7 @@ let print_periodic_functions = fun modules ->
lprintf out_h "}\n"; lprintf out_h "}\n";
end end
end end
else else
begin begin
if (test_delay func) then begin if (test_delay func) then begin
(** Delay is set by user *) (** Delay is set by user *)
@@ -267,16 +267,16 @@ let get_modules = fun dir m ->
let name = ExtXml.attrib m "name" in let name = ExtXml.attrib m "name" in
let xml = Xml.parse_file (dir^name) in let xml = Xml.parse_file (dir^name) in
xml xml
end end
| _ -> xml_error "load" | _ -> xml_error "load"
let test_section_modules = fun xml -> let test_section_modules = fun xml ->
List.fold_right (fun x r -> ExtXml.tag_is x "modules" || r) (Xml.children xml) false List.fold_right (fun x r -> ExtXml.tag_is x "modules" || r) (Xml.children xml) false
(** Check dependencies *) (** Check dependencies *)
let pipe_regexp = Str.regexp "|" let pipe_regexp = Str.regexp "|"
let dep_of_field = fun field att -> let dep_of_field = fun field att ->
try try
Str.split pipe_regexp (Xml.attrib field att) Str.split pipe_regexp (Xml.attrib field att)
with with
_ -> [] _ -> []
@@ -310,7 +310,7 @@ let write_settings = fun xml_file out_set modules ->
match Xml.tag i with match Xml.tag i with
"periodic" -> "periodic" ->
if not (is_status_lock i) then begin if not (is_status_lock i) then begin
if (not !setting_exist) then begin if (not !setting_exist) then begin
fprintf out_set " <dl_settings name=\"Modules\">\n"; fprintf out_set " <dl_settings name=\"Modules\">\n";
setting_exist := true; setting_exist := true;
end; end;
@@ -326,7 +326,7 @@ let write_settings = fun xml_file out_set modules ->
let get_targets_of_module = fun m -> let get_targets_of_module = fun m ->
let pipe_regexp = Str.regexp "|" in let pipe_regexp = Str.regexp "|" in
let targets_of_field = fun field -> try let targets_of_field = fun field -> try
Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in
let rec singletonize = fun l -> let rec singletonize = fun l ->
match l with match l with
@@ -380,7 +380,7 @@ let () =
freq := main_freq; freq := main_freq;
let modules_list = List.map (get_modules modules_dir) (Xml.children modules) in let modules_list = List.map (get_modules modules_dir) (Xml.children modules) in
let modules_list = unload_unused_modules modules_list in let modules_list = unload_unused_modules modules_list in
let modules_name = let modules_name =
(List.map (fun l -> try Xml.attrib l "name" with _ -> "") (Xml.children modules)) @ (List.map (fun l -> try Xml.attrib l "name" with _ -> "") (Xml.children modules)) @
(List.map (fun m -> try Xml.attrib m "name" with _ -> "") modules_list) in (List.map (fun m -> try Xml.attrib m "name" with _ -> "") modules_list) in
check_dependencies modules_list modules_name; check_dependencies modules_list modules_name;
sw/tools/gen_settings.ml
+33 -33
View File
@@ -2,7 +2,7 @@
* $Id$ * $Id$
* *
* XML preprocessing for dynamic tuning * XML preprocessing for dynamic tuning
* *
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin * Copyright (C) 2006 Pascal Brisset, Antoine Drouin
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -20,7 +20,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
* *
*) *)
@@ -44,50 +44,50 @@ let rec flatten = fun xml r ->
match Xml.children xml with match Xml.children xml with
[] -> r [] -> r
| x::xs -> | x::xs ->
List.iter (fun y -> assert(ExtXml.tag_is y (Xml.tag x))) xs; List.iter (fun y -> assert(ExtXml.tag_is y (Xml.tag x))) xs;
List.fold_right flatten (x::xs) r List.fold_right flatten (x::xs) r
module StringSet = Set.Make(struct type t = string let compare = compare end) module StringSet = Set.Make(struct type t = string let compare = compare end)
let print_dl_settings = fun settings -> let print_dl_settings = fun settings ->
let settings = flatten settings [] in let settings = flatten settings [] in
(** include headers **) (** include headers **)
let modules = ref StringSet.empty in let modules = ref StringSet.empty in
List.iter List.iter
(fun s -> (fun s ->
try try
modules := StringSet.add (ExtXml.attrib s "module") !modules modules := StringSet.add (ExtXml.attrib s "module") !modules
with ExtXml.Error e -> () with ExtXml.Error e -> ()
) )
settings; settings;
lprintf "\n"; lprintf "\n";
StringSet.iter (fun m -> lprintf "#include \"%s.h\"\n" m) !modules; StringSet.iter (fun m -> lprintf "#include \"%s.h\"\n" m) !modules;
lprintf "#include \"modules.h\"\n"; lprintf "#include \"modules.h\"\n";
lprintf "\n"; lprintf "\n";
(** Macro to call to set one variable *) (** Macro to call to set one variable *)
lprintf "#define DlSetting(_idx, _value) { \\\n"; lprintf "#define DlSetting(_idx, _value) { \\\n";
right (); right ();
lprintf "switch (_idx) { \\\n"; lprintf "switch (_idx) { \\\n";
right (); right ();
let idx = ref 0 in let idx = ref 0 in
List.iter List.iter
(fun s -> (fun s ->
let v = ExtXml.attrib s "var" in let v = ExtXml.attrib s "var" in
begin begin
try try
let h = ExtXml.attrib s "handler" and let h = ExtXml.attrib s "handler" and
m = ExtXml.attrib s "module" in m = ExtXml.attrib s "module" in
lprintf "case %d: %s_%s( _value ); _value = %s; break;\\\n" !idx (Filename.basename m) h v lprintf "case %d: %s_%s( _value ); _value = %s; break;\\\n" !idx (Filename.basename m) h v
with with
ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v
end; end;
incr idx incr idx
) )
settings; settings;
lprintf "default: break;\\\n"; lprintf "default: break;\\\n";
left (); left ();
@@ -106,10 +106,10 @@ let print_dl_settings = fun settings ->
let idx = ref 0 in let idx = ref 0 in
lprintf "switch (i) { \\\n"; lprintf "switch (i) { \\\n";
right (); right ();
List.iter List.iter
(fun s -> (fun s ->
let v = ExtXml.attrib s "var" in let v = ExtXml.attrib s "var" in
lprintf "case %d: var = %s; break;\\\n" !idx v; incr idx) lprintf "case %d: var = %s; break;\\\n" !idx v; incr idx)
settings; settings;
lprintf "default: var = 0.; break;\\\n"; lprintf "default: var = 0.; break;\\\n";
left (); left ();
@@ -126,16 +126,16 @@ let print_dl_settings = fun settings ->
let idx = ref 0 in let idx = ref 0 in
lprintf "switch (i) { \\\n"; lprintf "switch (i) { \\\n";
right (); right ();
List.iter List.iter
(fun s -> (fun s ->
let v = ExtXml.attrib s "var" in let v = ExtXml.attrib s "var" in
lprintf "case %d: return %s;\n" !idx v; incr idx) lprintf "case %d: return %s;\n" !idx v; incr idx)
settings; settings;
lprintf "default: return 0.;\n"; lprintf "default: return 0.;\n";
lprintf "}\n"; lprintf "}\n";
left (); left ();
lprintf "}\n" lprintf "}\n"
@@ -190,12 +190,12 @@ let join_xml_files = fun xml_files ->
and rc_settings = ref [] in and rc_settings = ref [] in
List.iter (fun xml_file -> List.iter (fun xml_file ->
let xml = Xml.parse_file xml_file in let xml = Xml.parse_file xml_file in
let these_rc_settings = let these_rc_settings =
try Xml.children (ExtXml.child xml "rc_settings") with try Xml.children (ExtXml.child xml "rc_settings") with
Not_found -> [] in Not_found -> [] in
let these_dl_settings = let these_dl_settings =
try Xml.children (ExtXml.child xml "dl_settings") with try Xml.children (ExtXml.child xml "dl_settings") with
Not_found -> [] in Not_found -> [] in
rc_settings := these_rc_settings @ !rc_settings; rc_settings := these_rc_settings @ !rc_settings;
dl_settings := these_dl_settings @ !dl_settings) dl_settings := these_dl_settings @ !dl_settings)
xml_files; xml_files;
@@ -211,11 +211,11 @@ let _ =
for i = 2 to Array.length Sys.argv - 1 do for i = 2 to Array.length Sys.argv - 1 do
xml_files := Sys.argv.(i) :: !xml_files; xml_files := Sys.argv.(i) :: !xml_files;
done; done;
try try
printf "/* This file has been generated from %s */\n" (String.concat " " !xml_files); printf "/* This file has been generated from %s */\n" (String.concat " " !xml_files);
printf "/* Please DO NOT EDIT */\n\n"; printf "/* Please DO NOT EDIT */\n\n";
printf "#ifndef %s\n" h_name; printf "#ifndef %s\n" h_name;
define h_name ""; define h_name "";
nl (); nl ();