[python] improve create_module with ABI bindings

sw/tools/create_module/Makefile

@@ -1,10 +1,11 @@
 all:
 	pyuic5 create_module_ui.ui -o create_module_ui.py
 	pyuic5 datalink_ui.ui -o datalink_ui.py
+	pyuic5 abi_ui.ui -o abi_ui.py
 	pyuic5 event_ui.ui -o event_ui.py
 	pyuic5 init_ui.ui -o init_ui.py
 	pyuic5 periodic_ui.ui -o periodic_ui.py
 
 clean_gui:
-	rm create_module_ui.py datalink_ui.py event_ui.py init_ui.py periodic_ui.py
+	rm create_module_ui.py datalink_ui.py abi_ui.py event_ui.py init_ui.py periodic_ui.py
 

sw/tools/create_module/abi_ui.py

@@ -0,0 +1,64 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'abi_ui.ui'
+#
+# Created by: PyQt5 UI code generator 5.10.1
+#
+# WARNING! All changes made in this file will be lost!
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+class Ui_Abi(object):
+    def setupUi(self, Abi):
+        Abi.setObjectName("Abi")
+        Abi.resize(753, 88)
+        self.verticalLayout = QtWidgets.QVBoxLayout(Abi)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        self.label_11 = QtWidgets.QLabel(Abi)
+        self.label_11.setStyleSheet("font: bold")
+        self.label_11.setAlignment(QtCore.Qt.AlignCenter)
+        self.label_11.setObjectName("label_11")
+        self.horizontalLayout.addWidget(self.label_11)
+        self.remove_button = QtWidgets.QToolButton(Abi)
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap("remove.svg"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.remove_button.setIcon(icon)
+        self.remove_button.setObjectName("remove_button")
+        self.horizontalLayout.addWidget(self.remove_button)
+        self.verticalLayout.addLayout(self.horizontalLayout)
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.horizontalLayout_20 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_20.setObjectName("horizontalLayout_20")
+        self.label_16 = QtWidgets.QLabel(Abi)
+        self.label_16.setObjectName("label_16")
+        self.horizontalLayout_20.addWidget(self.label_16)
+        self.abi_edit = QtWidgets.QLineEdit(Abi)
+        self.abi_edit.setObjectName("abi_edit")
+        self.horizontalLayout_20.addWidget(self.abi_edit)
+        self.horizontalLayout_2.addLayout(self.horizontalLayout_20)
+        self.horizontalLayout_19 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_19.setObjectName("horizontalLayout_19")
+        self.label_15 = QtWidgets.QLabel(Abi)
+        self.label_15.setObjectName("label_15")
+        self.horizontalLayout_19.addWidget(self.label_15)
+        self.message_combo = QtWidgets.QComboBox(Abi)
+        self.message_combo.setEditable(True)
+        self.message_combo.setObjectName("message_combo")
+        self.horizontalLayout_19.addWidget(self.message_combo)
+        self.horizontalLayout_2.addLayout(self.horizontalLayout_19)
+        self.verticalLayout.addLayout(self.horizontalLayout_2)
+
+        self.retranslateUi(Abi)
+        QtCore.QMetaObject.connectSlotsByName(Abi)
+
+    def retranslateUi(self, Abi):
+        _translate = QtCore.QCoreApplication.translate
+        Abi.setWindowTitle(_translate("Abi", "Datalink"))
+        self.label_11.setText(_translate("Abi", "Abi Message"))
+        self.remove_button.setText(_translate("Abi", "remove"))
+        self.label_16.setText(_translate("Abi", "base name"))
+        self.label_15.setText(_translate("Abi", "Message"))
+

sw/tools/create_module/abi_ui.ui

@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Abi</class>
+ <widget class="QWidget" name="Abi">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>753</width>
+    <height>88</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Datalink</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QLabel" name="label_11">
+       <property name="styleSheet">
+        <string notr="true">font: bold</string>
+       </property>
+       <property name="text">
+        <string>Abi Message</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QToolButton" name="remove_button">
+       <property name="text">
+        <string>remove</string>
+       </property>
+       <property name="icon">
+        <iconset>
+         <normaloff>remove.svg</normaloff>remove.svg</iconset>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_20">
+       <item>
+        <widget class="QLabel" name="label_16">
+         <property name="text">
+          <string>base name</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="abi_edit"/>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_19">
+       <item>
+        <widget class="QLabel" name="label_15">
+         <property name="text">
+          <string>Message</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QComboBox" name="message_combo">
+         <property name="editable">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

sw/tools/create_module/components.py

@@ -3,7 +3,7 @@ from init_ui import Ui_Init
 from periodic_ui import Ui_Periodic
 from event_ui import Ui_Event
 from datalink_ui import Ui_Datalink
-
+from abi_ui import Ui_Abi
 
 class ComponentWidget(QtWidgets.QFrame):
     def __init__(self, comp_type):
@@ -18,4 +18,6 @@ class ComponentWidget(QtWidgets.QFrame):
             self.ui = Ui_Periodic()
         if self.comp_type == "Datalink":
             self.ui = Ui_Datalink()
+        if self.comp_type == "Abi":
+            self.ui = Ui_Abi()
         self.ui.setupUi(self)

sw/tools/create_module/create_mod_qt.py

@@ -23,12 +23,13 @@ class CreateModGUI(Ui_CreateModule_Window):
         self.components = []
 
     def build(self):
-        self.scrollAreaWidgetContents.setStyleSheet("QFrame#Init, QFrame#Datalink, QFrame#Periodic,QFrame#Event { border: 2px solid grey}")
+        self.scrollAreaWidgetContents.setStyleSheet("QFrame#Init, QFrame#Datalink, QFrame#Periodic,QFrame#Event,QFrame#Abi { border: 2px solid grey}")
         self.create_button.clicked.connect(self.create_mod)
         self.init_button.clicked.connect(lambda: self.add_component("Init"))
         self.periodic_button.clicked.connect(lambda: self.add_component("Periodic"))
         self.event_button.clicked.connect(lambda: self.add_component("Event"))
         self.datalink_button.clicked.connect(lambda: self.add_component("Datalink"))
+        self.abi_button.clicked.connect(lambda: self.add_component("Abi"))
         self.directory_combo.addItem("")
         for directory in sorted([f.name for f in os.scandir(PPRZ_SRC + "/sw/airborne/modules") if f.is_dir()]):
             self.directory_combo.addItem(directory)
@@ -45,6 +46,24 @@ class CreateModGUI(Ui_CreateModule_Window):
                 return messages
         return []
 
+    @staticmethod
+    def get_abi_messages(msg_name=None):
+        abi_xml = PPRZ_HOME + "/conf/abi.xml"
+        root = etree.parse(abi_xml).getroot()
+        classes = root.findall("msg_class")
+        for c in classes:
+            if c.attrib["name"] == "airborne":
+                msgs = c.findall("message")
+                if msg_name is None:
+                    messages = [m.attrib["name"] for m in msgs]
+                    return messages
+                else:
+                    for m in msgs:
+                        if m.attrib["name"] == msg_name:
+                            fields = [(f.attrib["name"], f.attrib["type"]) for f in m.findall("field")]
+                            return fields
+        return []
+
     def add_component(self, comp_name):
         component = components.ComponentWidget(comp_name)
         if component.comp_type == "Datalink":
@@ -52,6 +71,11 @@ class CreateModGUI(Ui_CreateModule_Window):
             component.ui.message_combo.addItem("")
             for m in messages:
                 component.ui.message_combo.addItem(m)
+        if component.comp_type == "Abi":
+            messages = self.get_abi_messages()
+            component.ui.message_combo.addItem("")
+            for m in messages:
+                component.ui.message_combo.addItem(m)
         component.ui.remove_button.clicked.connect(lambda: self.remove_component(component))
         self.scroll_area_layout.insertWidget(self.scroll_area_layout.count()-1, component)
         self.components.append(component)
@@ -117,6 +141,14 @@ class CreateModGUI(Ui_CreateModule_Window):
                     self.statusbar.setStyleSheet("background-color:rgb(255,148,148);")
                     return
                 fc.add_datalink(datalink, msg)
+            if comp.comp_type == "Abi":
+                abi_base = comp.ui.abi_edit.text()
+                msg = comp.ui.message_combo.currentText()
+                if abi_base == "" or msg == "":
+                    self.statusbar.showMessage("Please fill the Abi Message base name and Message fields!")
+                    self.statusbar.setStyleSheet("background-color:rgb(255,148,148);")
+                    return
+                fc.add_abi(abi_base, msg, self.get_abi_messages(msg_name=msg))
         self.statusbar.setStyleSheet("background-color:rgb(155,232,155);")
         licence = self.licence_comboBox.currentText()
         files = fc.get_filenames()

sw/tools/create_module/create_module_ui.py

@@ -11,7 +11,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_CreateModule_Window(object):
     def setupUi(self, CreateModule_Window):
         CreateModule_Window.setObjectName("CreateModule_Window")
-        CreateModule_Window.resize(875, 553)
+        CreateModule_Window.resize(875, 700)
         self.centralwidget = QtWidgets.QWidget(CreateModule_Window)
         self.centralwidget.setObjectName("centralwidget")
         self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
@@ -99,7 +99,7 @@ class Ui_CreateModule_Window(object):
         self.components_area.setWidgetResizable(True)
         self.components_area.setObjectName("components_area")
         self.scrollAreaWidgetContents = QtWidgets.QWidget()
-        self.scrollAreaWidgetContents.setGeometry(QtCore.QRect(0, 0, 859, 209))
+        self.scrollAreaWidgetContents.setGeometry(QtCore.QRect(0, 0, 859, 356))
         self.scrollAreaWidgetContents.setObjectName("scrollAreaWidgetContents")
         self.scroll_area_layout = QtWidgets.QVBoxLayout(self.scrollAreaWidgetContents)
         self.scroll_area_layout.setObjectName("scroll_area_layout")
@@ -124,6 +124,9 @@ class Ui_CreateModule_Window(object):
         self.datalink_button = QtWidgets.QPushButton(self.centralwidget)
         self.datalink_button.setObjectName("datalink_button")
         self.horizontalLayout_7.addWidget(self.datalink_button)
+        self.abi_button = QtWidgets.QPushButton(self.centralwidget)
+        self.abi_button.setObjectName("abi_button")
+        self.horizontalLayout_7.addWidget(self.abi_button)
         spacerItem1 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
         self.horizontalLayout_7.addItem(spacerItem1)
         self.verticalLayout.addLayout(self.horizontalLayout_7)
@@ -158,5 +161,6 @@ class Ui_CreateModule_Window(object):
         self.periodic_button.setText(_translate("CreateModule_Window", "Periodic"))
         self.event_button.setText(_translate("CreateModule_Window", "Event"))
         self.datalink_button.setText(_translate("CreateModule_Window", "Datalink"))
+        self.abi_button.setText(_translate("CreateModule_Window", "Abi Message"))
         self.create_button.setText(_translate("CreateModule_Window", "Create Module"))
 

sw/tools/create_module/create_module_ui.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>875</width>
-    <height>553</height>
+    <height>700</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -165,7 +165,7 @@
           <x>0</x>
           <y>0</y>
           <width>859</width>
-          <height>209</height>
+          <height>356</height>
          </rect>
         </property>
         <layout class="QVBoxLayout" name="scroll_area_layout">
@@ -188,7 +188,7 @@
      </widget>
     </item>
     <item>
-     <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0,0,0,0">
+     <layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,0,0,0,0,0,0">
       <item>
        <widget class="QLabel" name="label_6">
         <property name="text">
@@ -224,6 +224,13 @@
         </property>
        </widget>
       </item>
+      <item>
+       <widget class="QPushButton" name="abi_button">
+        <property name="text">
+         <string>Abi Message</string>
+        </property>
+       </widget>
+      </item>
       <item>
        <spacer name="horizontalSpacer">
         <property name="orientation">

sw/tools/create_module/files_create.py

@@ -36,6 +36,7 @@ Periodic = namedtuple('Periodic', ['fun', 'freq', 'start', 'stop', 'autorun'])
 Event = namedtuple('Event', ['fun'])
 Init = namedtuple('Init', ['fun'])
 Datalink = namedtuple('Datalink', ['fun', 'message', 'fun_c'])
+Abi = namedtuple('Abi', ['base', 'message', 'params'])
 
 
 class FilesCreate:
@@ -52,6 +53,7 @@ class FilesCreate:
         self.periodics = []
         self.events = []
         self.datalinks = []
+        self.abi_bindings = []
 
     @property
     def name(self):
@@ -123,6 +125,11 @@ class FilesCreate:
             fun_c = fun + "(uint8_t* buf)"
         self.datalinks.append(Datalink(fun=fun_xml, message=message, fun_c=fun_c))
 
+    def add_abi(self, base, message, fields):
+        fields = [("sender_id", "uint8_t")] + fields
+        params = ", ".join(["{} {}".format(t, f) for (f, t) in fields])
+        self.abi_bindings.append(Abi(base=base, message=message, params=params))
+
     def build_xml(self):
         # set name
         self.xml.attrib["name"] = self.name
@@ -182,8 +189,17 @@ class FilesCreate:
                 dir=self.directory, name=self.name, author=self.author, email=self.email, description=self.description)
         include = "#include \"modules/{dir}/{name}.h\"".format(dir=self.directory, name=self.name)
         declarations = ""
+        for abi_binding in self.abi_bindings:
+            declarations += "#ifndef {}_ID\n#define {}_ID ABI_BROADCAST\n#endif\n\n".format(abi_binding.base.upper(), abi_binding.base.upper())
+            declarations += "static abi_event {}_ev;\n\n".format(abi_binding.base)
+            declarations += "static void {}_cb({})\n{{\n  // your abi callback code here\n}}\n\n".format(abi_binding.base, abi_binding.params)
         for init in self.inits:
-            declarations += "void {}(void)\n{{\n  // your init code here\n}}\n\n".format(init.fun)
+            declarations += "void {}(void)\n{{\n  // your init code here\n".format(init.fun)
+            if len(self.abi_bindings) > 0:
+                declarations += "\n  // Abi messages bindings\n"
+                for abi_binding in self.abi_bindings:
+                    declarations += "  AbiBindMsg{0}({1}_ID, &{2}_ev, {2}_cb);\n".format(abi_binding.message, abi_binding.base.upper(), abi_binding.base)
+            declarations += "}\n\n"
         for periodic in self.periodics:
             declarations += "void {}(void)\n{{\n  // your periodic code here.\n  // freq = {} Hz\n}}\n\n".format(
                 periodic.fun, periodic.freq)