ABI airborne middleware inspired from Ivy with test program

Makefile

@@ -55,6 +55,7 @@ UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
 XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
 DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
 DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
+ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
 MESSAGES_XML = $(CONF)/messages.xml
 UBX_XML = $(CONF)/ubx.xml
 XSENS_XML = $(CONF)/xsens_MTi-G.xml
@@ -108,7 +109,7 @@ misc:
 multimon:
 	cd $(MULTIMON); $(MAKE)
 
-static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H)
+static_h: $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
 
 usb_lib:
 	@[ -d sw/airborne/arch/lpc21/lpcusb ] && ((test -x "$(ARMGCC)" && (cd sw/airborne/arch/lpc21/lpcusb; $(MAKE))) || echo "Not building usb_lib: ARMGCC=$(ARMGCC) not found") || echo "Not building usb_lib: sw/airborne/arch/lpc21/lpcusb directory missing"
@@ -147,6 +148,11 @@ $(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
 	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_messages2.out $< datalink > /tmp/dl2.h
 	$(Q)mv /tmp/dl2.h $@
 
+$(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
+	@echo BUILD $@
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(TOOLS)/gen_abi.out $< airborne > /tmp/abi.h
+	$(Q)mv /tmp/abi.h $@
+
 include Makefile.ac
 
 sim : sim_static

conf/airframes/ENAC/fixed-wing/funjet3.xml

@@ -12,7 +12,9 @@
 <airframe name="Funjet Tiny 2.11">
 
   <modules target="jsbsim">
-    <load name="ins_arduimu_basic.xml"/>
+    <load name="ins_arduimu_basic.xml">
+      <define name="USE_HIGH_ACCEL_FLAG"/>
+    </load>
     <!--load name="airspeed_ets.xml">
       <define name="USE_AIRSPEED"/>
     </load>
@@ -20,7 +22,7 @@
       <define name="USE_BARO_ETS"/>
     </load-->
     <!--load name="alt_filter.xml"/-->
-    <load name="generic_com.xml"/>
+    <!--load name="generic_com.xml"/-->
   </modules>
 
   <firmware name="fixedwing">
@@ -37,10 +39,8 @@
       <configure name="FLASH_MODE" value="IAP"/>
     </target>
 
-    <subsystem name="radio_control" type="datalink"/>
-    <subsystem name="i2c">
-      <define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
-    </subsystem>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="i2c"/>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>
@@ -56,6 +56,7 @@
   <firmware name="setup">
     <target name="tunnel" board="tiny_2.11"/>
     <target name="setup_actuators" board="tiny_2.11"/>
+    <target name="test_abi" board="tiny_2.11"/>
   </firmware>
 
 <!-- commands section -->

conf/autopilot/setup.makefile

@@ -79,3 +79,8 @@ setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALI
 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
 setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
+
+# a test program for ABI
+test_abi.CFLAGS += -DUSE_LED -DPERIPHERALS_AUTO_INIT
+test_abi.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c mcu.c $(SRC_ARCH)/mcu_arch.c
+test_abi.srcs += test/test_abi.c

conf/messages.xml

@@ -2308,24 +2308,29 @@
 </class>
 
 
+  <class name="airborne">
+    <message name="TEST_ABI" id="0">
+      <field name="value" type="int"/>
+    </message>
+  </class>
 
 
-<class name="alert">
-   <message name="BAT_LOW" id="1">
+  <class name="alert">
+    <message name="BAT_LOW" id="1">
       <field name="ac_id" type="string"/>
       <field name="level" type="string" values="CATASTROPHIC|CRITIC|WARNING"/>
       <field name="value" type="float"/>
-  </message>
-   <message name="AIR_PROX" id="2">
+    </message>
+    <message name="AIR_PROX" id="2">
       <field name="ac_id" type="string"/>
       <field name="level" type="string" values="CATASTROPHIC|CRITIC|WARNING"/>
-  </message>
-</class>
+    </message>
+  </class>
 
 
 
-<class name="DIA"> <!-- data in audio -->
-   <message name="NAV_INFO" id="1">
+  <class name="DIA"> <!-- data in audio -->
+    <message name="NAV_INFO" id="1">
       <field name="unix_time" type="float"/>
 
       <field name="lat"   type="float" unit="deg"/>
@@ -2337,8 +2342,8 @@
 
       <field name="cam_roll"  type="int16" unit="deg"/>
       <field name="cam_pitch" type="int16" unit="deg"/>
-  </message>
-</class>
+    </message>
+  </class>
 
 
 

sw/airborne/subsystems/abi.h

@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2011 ENAC - Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef ABI_H
+#define ABI_H
+
+/* TODO Explain how to use ABI */
+
+#include "abi_messages.h"
+
+#endif /* ABI_H */

sw/airborne/test/test_abi.c

@@ -0,0 +1,87 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2011 Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#define ABI_C
+
+#include "mcu.h"
+#include "sys_time.h"
+
+#include "subsystems/abi.h"
+
+
+// ABI event and callback for TEST_ABI message
+abi_event ev;
+void test_cb (const int * value);
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+void test_cb (const int * value) {
+  switch (*value) {
+    case 0 :
+      LED_TOGGLE(1); break;
+    case 1 :
+      LED_TOGGLE(2); break;
+    case 2 :
+      LED_TOGGLE(3); break;
+  };
+}
+
+
+static inline void main_init( void ) {
+  mcu_init();
+  sys_time_init();
+
+  mcu_int_enable();
+
+  // Bind to ABI message
+  AbiBindMsgTEST_ABI(&ev, test_cb);
+}
+
+
+
+static inline void main_periodic_task( void ) {
+  static int val = 0;
+  RunOnceEvery(60,{ AbiSendMsgTEST_ABI(&val); val=(val+1)%3; });
+}
+
+
+
+static inline void main_event_task( void ) {
+
+}

sw/tools/Makefile

@@ -30,7 +30,7 @@ OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring)
 OCAMLLEX=ocamllex
 OCAMLYACC=ocamlyacc
 
-all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out find_free_msg_id.out
+all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_tuning.out gen_xsens.out gen_modules.out gen_abi.out find_free_msg_id.out
 
 FP_CMO = fp_proc.cmo gen_flight_plan.cmo
 ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)

sw/tools/gen_abi.ml

@@ -0,0 +1,210 @@
+(*
+ * $Id$
+ *
+ * XML preprocessing of messages.xml for aiborne middleware ABI
+ *  
+ * Copyright (C) 2011 ENAC, Gautier Hattenberger
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ *)
+
+open Printf
+
+type _type = string
+type _name = string
+
+type field = _name * _type
+
+type fields = field list
+
+type message = {
+    name : string;
+    id : int;
+    fields : fields
+  }
+
+module Syntax = struct
+  (** Translates a "message" XML element into a value of the 'message' type *)
+  let struct_of_xml = fun xml ->
+    let name = ExtXml.attrib xml "name"
+    and id = ExtXml.int_attrib xml "id"
+    and fields =
+      List.map
+        (fun field ->
+          let _name = ExtXml.attrib field "name"
+          and _type = ExtXml.attrib field "type" in
+          (_name, _type))
+        (Xml.children xml) in 
+    { id = id; name = name; fields = fields }
+
+  let check_single_ids = fun msgs ->
+    let tab = Array.create 256 false (* TODO remove limitation to 256 msg not needed here *)
+    and  last_id = ref 0 in
+    List.iter (fun msg ->
+      if tab.(msg.id) then
+        failwith (sprintf "Duplicated message id: %d" msg.id);
+      if msg.id < !last_id then
+        fprintf stderr "Warning: unsorted id: %d\n%!" msg.id;
+      last_id := msg.id;
+      tab.(msg.id) <- true)
+      msgs
+
+  (** Translates one class of a XML message file into a list of messages *)
+  let read = fun filename class_ ->
+    let xml = Xml.parse_file filename in
+    try
+      let xml_class = ExtXml.child ~select:(fun x -> Xml.attrib x "name" = class_) xml "class" in
+      let msgs = List.map struct_of_xml (Xml.children xml_class) in
+      check_single_ids msgs;
+      msgs
+    with
+      Not_found -> failwith (sprintf "No class '%s' found" class_)
+end (* module Suntax *)
+
+
+(** Pretty printer *)
+module Gen_onboard = struct
+  (* Print message IDs and return the highest value *)
+  let print_message_id = fun h messages ->
+    let highest_id = ref 0 in
+    Printf.fprintf h "\n/* Messages IDs */\n";
+    List.iter (fun msg ->
+      if msg.id > !highest_id then highest_id := msg.id;
+      Printf.fprintf h "#define ABI_%s_ID %d\n" (String.capitalize msg.name) msg.id
+    ) messages;
+    !highest_id
+
+  (* Print general structure and utilities *)
+  let print_struct = fun h size ->
+    Printf.fprintf h "\n/* Array and linked list structure */\n";
+    Printf.fprintf h "#define ABI_MESSAGE_NB %d\n\n" (size+1);
+    Printf.fprintf h "typedef void (*abi_callback)(void);\n";
+    Printf.fprintf h "struct abi_struct {\n";
+    Printf.fprintf h "  abi_callback cb;\n";
+    Printf.fprintf h "  struct abi_struct * next;\n";
+    Printf.fprintf h "};\n";
+    Printf.fprintf h "typedef struct abi_struct abi_event;\n\n";
+    Printf.fprintf h "#ifdef ABI_C\n";
+    Printf.fprintf h "#define EXTERN\n";
+    Printf.fprintf h "#else\n";
+    Printf.fprintf h "#define EXTERN extern\n";
+    Printf.fprintf h "#endif\n";
+    Printf.fprintf h "EXTERN abi_event * abi_queues[ABI_MESSAGE_NB];\n\n";
+    Printf.fprintf h "#define ABI_FOREACH(head,el) for(el=head; el; el=el->next)\n";
+    Printf.fprintf h "#define ABI_PREPEND(head,add) { (add)->next = head; head = add; }\n"
+
+  (* Print arguments' function from fields *)
+  let print_args = fun h fields ->
+    let rec args = fun h l ->
+      match l with
+        [] -> Printf.fprintf h ")"
+      | [(n,t)] -> Printf.fprintf h "const %s * %s)" t n
+      | (n,t)::l' -> Printf.fprintf h "const %s * %s, " t n; args h l'
+    in
+    Printf.fprintf h "(";
+    args h fields
+
+  (* Print callbacks prototypes for all messages *)
+  let print_callbacks = fun h messages ->
+    Printf.fprintf h "\n/* Callbacks */\n";
+    List.iter (fun msg ->
+      Printf.fprintf h "typedef void (*abi_callback%s)" (String.capitalize msg.name);
+      print_args h msg.fields;
+      Printf.fprintf h ";\n";
+    ) messages
+
+  (* Print a bind function *)
+  let print_msg_bind = fun h msg ->
+    let name = String.capitalize msg.name in
+    Printf.fprintf h "\nstatic inline void AbiBindMsg%s(abi_event * ev, abi_callback%s cb) {\n" name name;
+    Printf.fprintf h "  ev->cb = (abi_callback)cb;\n";
+    Printf.fprintf h "  ABI_PREPEND(abi_queues[ABI_%s_ID],ev);\n" name;
+    Printf.fprintf h "}\n"
+
+  (* Print a send function *)
+  let print_msg_send = fun h msg ->
+    (* print arguments *)
+    let rec args = fun h l ->
+      match l with
+        [] -> Printf.fprintf h ");\n"
+      | [(n,_)] -> Printf.fprintf h "%s);\n" n
+      | (n,_)::l' -> Printf.fprintf h "%s, " n; args h l'
+    in
+    let name = String.capitalize msg.name in
+    Printf.fprintf h "\nstatic inline void AbiSendMsg%s" name;
+    print_args h msg.fields;
+    Printf.fprintf h " {\n";
+    Printf.fprintf h "  abi_event * e;\n";
+    Printf.fprintf h "  ABI_FOREACH(abi_queues[ABI_%s_ID],e) {\n" name;
+    Printf.fprintf h "    abi_callback%s cb = (abi_callback%s)(e->cb);\n" name name;
+    Printf.fprintf h "    cb(";
+    args h msg.fields;
+    Printf.fprintf h "  };\n";
+    Printf.fprintf h "};\n"
+
+  (* Print bind and send functions for all messages *)
+  let print_bind_send = fun h messages ->
+    Printf.fprintf h "\n/* Bind and Send functions */\n";
+    List.iter (fun msg ->
+      print_msg_bind h msg;
+      print_msg_send h msg
+    ) messages
+
+end (* module Gen_onboard *)
+
+
+(********************* Main **************************************************)
+let () =
+  if Array.length Sys.argv <> 3 then begin
+    failwith (sprintf "Usage: %s <.xml file> <class_name>" Sys.argv.(0)) 
+  end;
+
+  let filename = Sys.argv.(1)
+  and class_name = Sys.argv.(2) in
+
+  try
+    let h = stdout in
+
+    (** Read and store messages *)
+    let messages = Syntax.read filename class_name in
+
+    (** Print file header *)
+    Printf.fprintf h "/* Automatically generated from %s */\n" filename;
+    Printf.fprintf h "/* Please DO NOT EDIT */\n\n";
+    Printf.fprintf h "/* Onboard middleware library ABI\n";
+    Printf.fprintf h " * send and receive messages of class %s\n" class_name;
+    Printf.fprintf h " */\n\n";
+    Printf.fprintf h "#ifndef ABI_MESSAGES_H\n";
+    Printf.fprintf h "#define ABI_MESSAGES_H\n";
+
+    (** Print Messages IDs *)
+    let highest_id = Gen_onboard.print_message_id h messages in
+
+    (** Print general structure definition *)
+    Gen_onboard.print_struct h highest_id;
+
+    (** Print Messages callbacks definition *)
+    Gen_onboard.print_callbacks h messages;
+
+    (** Print Bind and Send functions for all messages *)
+    Gen_onboard.print_bind_send h messages;
+
+    Printf.fprintf h "\n#endif // ABI_MESSAGES_H\n"
+  with
+    Xml.Error (msg, pos) -> failwith (sprintf "%s:%d : %s\n" filename (Xml.line pos) (Xml.error_msg msg))