mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-28 09:58:23 +08:00
[settings] improve settings in pprzcenter
- check box for faster enable/disable - loading from modules
This commit is contained in:
Gautier Hattenberger
@@ -28,7 +28,7 @@ INCLUDES =
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PKG = -package pprz
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LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
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all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_mtk.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_xsens.out gen_modules.out gen_autopilot.out gen_abi.out gen_srtm.out
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all: gen_aircraft.out gen_airframe.out gen_messages2.out gen_messages.out gen_ubx.out gen_mtk.out gen_flight_plan.out gen_radio.out gen_periodic.out gen_settings.out gen_xsens.out gen_modules.out gen_autopilot.out gen_abi.out gen_srtm.out
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gen_flight_plan.out : gen_flight_plan.cmo $(LIBPPRZCMA)
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@echo OL $@
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@@ -38,9 +38,9 @@ gen_srtm.out : gen_srtm.ml $(LIBPPRZCMA)
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@echo OL $@
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$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
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%.out : %.ml gen_common.cmo $(LIBPPRZCMA)
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%.out : %.ml $(LIBPPRZCMA)
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@echo OL $<
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$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gen_common.cmo $<
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$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
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%.cmo : %.ml
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@echo OC $<
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@@ -340,10 +340,12 @@ let () =
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mkdir (aircraft_conf_dir // "telemetry");
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let settings =
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try value "settings" with
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try Env.filter_settings (value "settings") with
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_ ->
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fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/basic.xml'\n\n%!" aircraft;
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"settings/basic.xml" in
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fprintf stderr "\nWARNING: No 'settings' attribute specified for A/C '%s', using 'settings/dummy.xml'\n\n%!" aircraft;
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"settings/dummy.xml" in
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(* add modules settings *)
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let settings = String.concat " " [settings; (try Env.filter_settings (value "settings_modules") with _ -> "")] in
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(** Expands the configuration of the A/C into one single file *)
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let conf_aircraft = Env.expand_ac_xml aircraft_xml in
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@@ -1,161 +0,0 @@
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(*
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* generic tools for modules
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*
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* Copyright (C) 2010 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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open Printf
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type module_conf = { xml : Xml.xml; file : string; vpath : string option; param : Xml.xml list; extra_targets : string list; }
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let (//) = Filename.concat
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let paparazzi_conf = Env.paparazzi_home // "conf"
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let modules_dir = paparazzi_conf // "modules"
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let autopilot_dir = paparazzi_conf // "autopilot"
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let default_module_targets = "ap|sim|nps"
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(** remove all duplicated elements of a list *)
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let singletonize = fun l ->
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let rec loop = fun l ->
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match l with
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[] | [_] -> l
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| x::((x'::_) as xs) ->
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if x = x' then loop xs else x::loop xs in
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loop (List.sort compare l)
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(** union of two lists *)
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let union = fun l1 l2 ->
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let l = l1 @ l2 in
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let sl = List.sort compare l in
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singletonize sl
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(** union of a list of list *)
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let union_of_lists = fun l ->
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let sl = List.sort compare (List.flatten l) in
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singletonize sl
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(** [targets_of_field]
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* Returns the targets of a makefile node in modules
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* Default "ap|sim" *)
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let pipe_regexp = Str.regexp "|"
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let targets_of_field = fun field default ->
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try
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Str.split pipe_regexp (ExtXml.attrib_or_default field "target" default)
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with
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_ -> []
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(** [get_autopilot_of_airframe xml]
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* Returns (autopilot xml, main freq) from airframe xml file *)
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let get_autopilot_of_airframe = fun xml ->
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(* extract all "autopilot" sections *)
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let section = List.filter (fun s -> compare (Xml.tag s) "autopilot" = 0) (Xml.children xml) in
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(* Raise error if more than one modules section *)
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match section with
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[autopilot] ->
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let freq = try Some (Xml.attrib autopilot "freq") with _ -> None in
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let ap = try Xml.attrib autopilot "name" with _ -> raise Not_found in
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(autopilot_dir // ap, freq)
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| [] -> raise Not_found
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| _ -> failwith "Error: you have more than one 'autopilot' section in your airframe file"
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(** [get_modules_of_airframe xml]
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* Returns a list of module configuration from airframe file *)
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let rec get_modules_of_airframe = fun xml ->
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(* extract all "modules" sections *)
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let section = List.filter (fun s -> compare (Xml.tag s) "modules" = 0) (Xml.children xml) in
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(* get autopilot file if any *)
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let ap_file = try
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let (ap, _) = get_autopilot_of_airframe xml in
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ap
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with _ -> "" in
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(* Raise error if more than one modules section *)
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match section with
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[modules] ->
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(* if only one section, returns a list of configuration *)
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let t_global = targets_of_field modules "" in
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let get_module = fun m t ->
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(* extract dir name if any and add paparazzi_home path if dir path is not global *)
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let (dir, vpath) = try
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let dir = ExtXml.attrib m "dir" in
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let dir = if Filename.is_relative dir then Env.paparazzi_home // dir else "" in
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(dir, Some dir)
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with _ -> (modules_dir, None) in
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let file = dir // ExtXml.attrib m "name" in
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let targets = singletonize (t @ targets_of_field m "") in
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{ xml = ExtXml.parse_file file; file = file; vpath = vpath; param = Xml.children m; extra_targets = targets }
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in
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let modules_list = List.map (fun m ->
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if compare (Xml.tag m) "load" <> 0 then Xml2h.xml_error "load";
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get_module m t_global
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) (Xml.children modules) in
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let ap_modules = try
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get_modules_of_airframe (ExtXml.parse_file ap_file)
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with _ -> [] in
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modules_list @ ap_modules
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| [] -> []
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| _ -> failwith "Error: you have more than one 'modules' section in your airframe file"
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(** [get_targets_of_module xml]
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* Returns the list of targets of a module *)
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let get_targets_of_module = fun conf ->
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let targets = List.map (fun x ->
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match String.lowercase (Xml.tag x) with
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"makefile" -> targets_of_field x default_module_targets
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| _ -> []
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) (Xml.children conf.xml) in
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let targets = (List.flatten targets) @ conf.extra_targets in
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(* return a singletonized list *)
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singletonize (List.sort compare targets)
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(** [unload_unused_modules modules ?print_error]
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* Returns a list of [modules] where unused modules are removed
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* If [print_error] is true, a warning is printed *)
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let unload_unused_modules = fun modules print_error ->
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let target = try Sys.getenv "TARGET" with _ -> "" in
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let is_target_in_module = fun m ->
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let target_is_in_module = List.exists (fun x -> String.compare target x = 0) (get_targets_of_module m) in
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if print_error && not target_is_in_module then
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Printf.fprintf stderr "Module %s unloaded, target %s not supported\n" (Xml.attrib m.xml "name") target;
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target_is_in_module
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in
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if String.length target = 0 then
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modules
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else
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List.find_all is_target_in_module modules
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(** [get_modules_name xml]
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* Returns a list of loaded modules' name *)
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let get_modules_name = fun xml ->
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(* extract all "modules" sections *)
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let modules = get_modules_of_airframe xml in
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(* filter the list if target is not supported *)
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let modules = unload_unused_modules modules false in
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(* return a list of modules name *)
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List.map (fun m -> ExtXml.attrib m.xml "name") modules
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(** [get_modules_dir xml]
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* Returns the list of modules directories *)
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let get_modules_dir = fun modules ->
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let dir = List.map (fun m -> try Xml.attrib m.xml "dir" with _ -> ExtXml.attrib m.xml "name") modules in
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singletonize (List.sort compare dir)
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@@ -1,72 +0,0 @@
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(*
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* generic tools for modules
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*
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* Copyright (C) 2010 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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(* Module configuration:
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* Xml node
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* file name
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* optional vpath
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* parameters
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* extrat targets
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*)
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type module_conf = { xml : Xml.xml; file : string; vpath : string option; param : Xml.xml list; extra_targets : string list; }
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(* Modules directory *)
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val modules_dir : string
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(* Default targets for modules *)
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val default_module_targets : string
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(** remove all duplicated elements of a list *)
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val singletonize : 'a list -> 'a list
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(** [targets_of_field] Xml node, default
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* Returns the targets of a makefile node in modules
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* Default "ap|sim" *)
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val targets_of_field : Xml.xml -> string -> string list
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(** [get_modules_of_airframe xml]
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* Returns a list of pair (modules ("load" node), targets) from airframe file *)
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val get_modules_of_airframe : Xml.xml -> module_conf list
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(** [get_targets_of_module xml] Returns the list of targets of a module *)
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val get_targets_of_module : module_conf -> string list
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(** [unload_unused_modules modules ?print_error]
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* Returns a list of [modules] where unused modules are removed
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* If [print_error] is true, a warning is printed *)
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val unload_unused_modules : module_conf list -> bool -> module_conf list
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(** [get_modules_name xml]
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* Returns a list of loaded modules' name *)
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val get_modules_name : Xml.xml -> string list
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(** [get_modules_dir xml]
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* Returns the list of modules directories *)
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val get_modules_dir : module_conf list -> string list
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(** [get_autopilot_of_airframe xml]
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* Returns (autopilot file, main freq) from airframe xml file
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* Raise Not_found if no autopilot
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* Fail if more than one *)
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val get_autopilot_of_airframe : Xml.xml -> (string * string option)
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