[modules] allow to load modules from a flight plan

Makefile.ac

@@ -208,11 +208,11 @@ $(SETTINGS_H) : $(SETTINGS_XMLS_DEP) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_
 	$(Q)chmod a+r $@
 	$(Q)cp $(SETTINGS_XMLS_DEP) $(AIRCRAFT_CONF_DIR)/settings
 
-$(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_modules.out $(CONF)/modules/*.xml
+$(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(FLIGHT_PLAN_XML) $(GENERATORS)/gen_modules.out $(CONF)/modules/*.xml
 	$(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) $< > $($@_TMP)
+	$(Q)$(GENERATORS)/gen_modules.out $(SETTINGS_MODULES) $(DEFAULT_MODULES_FREQUENCY) $(FLIGHT_PLAN_XML) $< > $($@_TMP)
 	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 

conf/airframes/examples/microjet_lisa_m.xml

@@ -51,19 +51,6 @@
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
     </load>
 
-    <!-- extra navigation routines -->
-    <load name="nav_bungee_takeoff.xml"/>
-    <load name="nav_line.xml"/>
-    <load name="nav_line_border.xml"/>
-    <load name="nav_line_osam.xml"/>
-    <load name="nav_flower.xml"/>
-    <load name="nav_smooth.xml"/>
-    <load name="nav_survey_polygon.xml"/>
-    <load name="nav_survey_poly_osam.xml"/>
-    <load name="nav_survey_zamboni.xml"/>
-    <load name="nav_vertical_raster.xml"/>
-    <load name="nav_spiral.xml"/>
-
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
     </load>

conf/flight_plans/flight_plan.dtd

@@ -1,6 +1,6 @@
 <!-- Paparazzi flight plan DTD -->
 
-<!ELEMENT flight_plan (header?,waypoints,sectors?,variables?,includes?,exceptions?,blocks)>
+<!ELEMENT flight_plan (header?,waypoints,sectors?,variables?,modules?,includes?,exceptions?,blocks)>
 
 <!ELEMENT procedure (param*,header?,waypoints?,sectors?,exceptions?,blocks?)>
 
@@ -17,6 +17,9 @@
 <!ELEMENT variables (variable*)>
 <!ELEMENT variable EMPTY>
 
+<!ELEMENT modules (module*)>
+<!ELEMENT module EMPTY>
+
 <!ELEMENT includes (include*)>
 
 <!ELEMENT exceptions (exception*)>
@@ -104,6 +107,11 @@ alt_unit CDATA #IMPLIED
 alt_unit_coef CDATA #IMPLIED
 values CDATA #IMPLIED>
 
+<!ATTLIST modules>
+
+<!ATTLIST module
+name CDATA #REQUIRED
+type CDATA #IMPLIED>
 
 <!ATTLIST blocks>
 

conf/flight_plans/nav_modules.xml

@@ -33,6 +33,20 @@
       <corner name="S5"/>
     </sector>
   </sectors>
+  <modules>
+    <!-- extra navigation routines -->
+    <module name="nav" type="bungee_takeoff"/>
+    <module name="nav" type="line"/>
+    <module name="nav" type="line_border"/>
+    <module name="nav" type="line_osam"/>
+    <module name="nav" type="flower"/>
+    <module name="nav" type="smooth"/>
+    <module name="nav" type="survey_polygon"/>
+    <module name="nav" type="survey_poly_osam"/>
+    <module name="nav" type="survey_zamboni"/>
+    <module name="nav" type="vertical_raster"/>
+    <module name="nav" type="spiral"/>
+  </modules>
   <exceptions/>
   <blocks>
     <block name="Wait GPS">

sw/lib/ocaml/gen_common.ml

@@ -179,6 +179,26 @@ let rec get_modules_of_airframe = fun ?target xml ->
   | None -> modules
   | Some t -> List.filter (fun m -> test_targets t m.targets) modules
 
+
+(** [get_modules_of_flight_plan xml]
+ * Returns a list of module configuration from flight plan file *)
+let get_modules_of_flight_plan = fun xml ->
+  let rec iter_modules = fun targets modules xml ->
+    match xml with
+    | Xml.PCData _ -> modules
+    | Xml.Element (tag, _attrs, children) when tag = "module" ->
+        begin try
+          let m = get_module xml targets in
+          List.fold_left
+            (fun acc xml -> iter_modules targets acc xml)
+            (m :: modules) children
+        with _ -> modules end
+    | Xml.Element (tag, _attrs, children) ->
+        List.fold_left
+          (fun acc xml -> iter_modules targets acc xml) modules children in
+  iter_modules [] [] xml
+
+
 (** [get_modules_name xml]
     * Returns a list of loaded modules' name *)
 let get_modules_name = fun xml ->

sw/lib/ocaml/gen_common.mli

@@ -51,6 +51,10 @@ val get_module : Xml.xml -> string list -> module_conf
  * Returns a list of pair (modules ("load" node), targets) from airframe file *)
 val get_modules_of_airframe : ?target: string -> Xml.xml -> module_conf list
 
+(** [get_modules_of_flight_plan xml]
+ * Returns a list of module configuration from flight plan file *)
+val get_modules_of_flight_plan : Xml.xml -> module_conf list
+
 (** [test_targets target targets]
  * Test if [target] is allowed [targets]
  * Return true if target is allowed, false if target is not in list or rejected (prefixed by !) *)

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 settings_modules ->
+let get_settings_modules = fun ac_xml fp_xml settings_modules ->
   (* get modules *)
-  let modules = Gen_common.get_modules_of_airframe ac_xml in
+  let modules = Gen_common.get_modules_of_airframe ac_xml @ Gen_common.get_modules_of_flight_plan 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) ->
@@ -316,8 +316,10 @@ let ac_combo_handler = fun gui (ac_combo:Gtk_tools.combo) target_combo flash_com
           log (sprintf "Error airframe file not found: %s\n" x);
           Xml.Element ("airframe", [], []);
       in
+      let fp_file = (Env.paparazzi_home // "conf" // (Xml.attrib aircraft "flight_plan")) in
+      let fp_xml = Xml.parse_file fp_file in
       let settings_modules = try
-        get_settings_modules af_xml (ExtXml.attrib_or_default aircraft "settings_modules" "")
+        get_settings_modules af_xml fp_xml (ExtXml.attrib_or_default aircraft "settings_modules" "")
       with
       | Failure x -> prerr_endline x; []
       | _ -> []

sw/tools/generators/gen_aircraft.ml

@@ -145,8 +145,9 @@ let module_xml2mk = fun f target firmware m ->
         ) section
     ) m.xml
 
-let modules_xml2mk = fun f target xml ->
+let modules_xml2mk = fun f target xml fp ->
   let modules = Gen_common.get_modules_of_airframe ~target xml in
+  let modules = (modules @ Gen_common.get_modules_of_flight_plan fp) in
   (* print modules directories and includes for all targets *)
   fprintf f "\n# include modules directory for all targets\n";
   (* get dir list *)
@@ -205,7 +206,7 @@ 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 ->
+let parse_firmware = fun makefile_ac 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
@@ -225,7 +226,7 @@ let parse_firmware = fun makefile_ac ac_xml firmware ->
     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 in
+    let modules = modules_xml2mk makefile_ac target_name ac_xml fp in
     begin (* Check for "processor" attribute *)
       try
         let proc = Xml.attrib target "processor" in
@@ -252,21 +253,22 @@ let parse_firmware = fun makefile_ac ac_xml firmware ->
 
 
 (** Search and dump the firmware section *)
-let dump_firmware = fun f ac_xml firmware ->
+let dump_firmware = fun f 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
+    parse_firmware f ac_xml firmware fp
   with Xml.No_attribute _ -> failwith "Warning: firmware name is undeclared"
 
-let dump_firmware_sections = fun makefile_ac xml ->
+let dump_firmware_sections = fun makefile_ac fp xml ->
   ExtXml.iter_tag "firmware"
-    (fun tag -> dump_firmware makefile_ac xml tag) xml
+    (fun tag -> dump_firmware makefile_ac xml tag fp) xml
 
 (** Extracts the makefile sections of an airframe file *)
-let extract_makefile = fun ac_id airframe_file makefile_ac ->
+let extract_makefile = fun ac_id airframe_file flight_plan_file makefile_ac ->
   let xml = Xml.parse_file airframe_file in
+  let fp = Xml.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"
     airframe_file Sys.executable_name;
@@ -277,7 +279,7 @@ let extract_makefile = fun ac_id airframe_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 xml;
+  dump_firmware_sections f 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
@@ -318,6 +320,9 @@ let () =
     let airframe_file = value "airframe" in
     let abs_airframe_file = paparazzi_conf // airframe_file in
 
+    let flight_plan_file = value "flight_plan" in
+    let abs_flight_plan_file = paparazzi_conf // flight_plan_file in
+
     mkdir (Env.paparazzi_home // "var");
     mkdir (Env.paparazzi_home // "var" // "aircrafts");
     mkdir aircraft_dir;
@@ -333,6 +338,7 @@ let () =
 
     let target = try Sys.getenv "TARGET" with _ -> "" in
     let modules = Gen_common.get_modules_of_airframe ~target (Xml.parse_file abs_airframe_file) in
+    let modules = (modules @ Gen_common.get_modules_of_flight_plan (Xml.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 *)
@@ -410,7 +416,7 @@ let () =
 
     let temp_makefile_ac = Filename.temp_file "Makefile.ac" "tmp" in
 
-    let () = extract_makefile (value "ac_id") abs_airframe_file temp_makefile_ac in
+    let () = extract_makefile (value "ac_id") abs_airframe_file abs_flight_plan_file temp_makefile_ac in
 
     (* Create Makefile.ac only if needed *)
     let makefile_ac = aircraft_dir // "Makefile.ac" in

sw/tools/generators/gen_modules.ml

@@ -378,9 +378,10 @@ let write_settings = fun xml_file out_set modules ->
 let h_name = "MODULES_H"
 
 let () =
-  if Array.length Sys.argv <> 4 then
-    failwith (Printf.sprintf "Usage: %s out_settings_file default_freq xml_file" Sys.argv.(0));
-  let xml_file = Sys.argv.(3)
+  if Array.length Sys.argv <> 5 then
+    failwith (Printf.sprintf "Usage: %s out_settings_file default_freq fp_file xml_file" Sys.argv.(0));
+  let xml_file = Sys.argv.(4)
+  and fp_file = Sys.argv.(3)
   and default_freq = int_of_string(Sys.argv.(2))
   and out_set = open_out Sys.argv.(1) in
   try
@@ -406,14 +407,15 @@ let () =
     let modules =
       try
         let target = Sys.getenv "TARGET" in
-        GC.get_modules_of_airframe ~target xml
+        prerr_endline fp_file;
+        (GC.get_modules_of_airframe ~target xml) @ (GC.get_modules_of_flight_plan (Xml.parse_file fp_file))
       with
       | Not_found -> failwith "TARTGET env needs to be specified to generate modules files"
     in
     (* Extract modules names (file name and module name) *)
     let modules_name =
       (List.map (fun m -> try Xml.attrib m.GC.xml "name" with _ -> "") modules) @
-        (List.map (fun m -> m.GC.filename) modules) in
+      (List.map (fun m -> prerr_endline m.GC.filename; m.GC.filename) modules) in
     (* Extract xml modules nodes *)
     let modules_list = List.map (fun m -> m.GC.xml) modules in
     check_dependencies modules_list modules_name;