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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 08:53:34 +08:00
mavlink & system: add events interface
- sending protocol - uorb event message & template methods for argument packing - libevents submodule to send common events and handle json files - cmake maintains a list of all (PX4) source files for the current build (PX4 modules + libs), which is used to extract event metadata and generate a json file
This commit is contained in:
Beat Küng
@@ -36,9 +36,11 @@
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# 1: COMP_METADATA_TYPE_PARAMETER
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# 2: COMP_METADATA_TYPE_COMMANDS
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# 3: COMP_METADATA_TYPE_PERIPHERALS
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# 4: COMP_METADATA_TYPE_EVENTS
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set(comp_metadata_types)
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set(comp_metadata_board "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}")
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set(s3_url "https://px4-travis.s3.amazonaws.com")
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set(comp_metadata_param_uri_board "${s3_url}/Firmware/{version}/${comp_metadata_board}/parameters.json.xz")
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list(FIND config_romfs_extra_dependencies "parameters_xml" index)
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if (${index} EQUAL -1)
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@@ -52,6 +54,19 @@ endif()
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# arguments: type, metadata file, uri, fallback uri, optional translation uri
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list(APPEND comp_metadata_types "--type" "1,${PX4_BINARY_DIR}/parameters.json.xz,${comp_metadata_param_uri},${comp_metadata_param_uri_fallback},")
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set(comp_metadata_events_uri_board "${s3_url}/Firmware/{version}/${comp_metadata_board}/all_events.json.xz")
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list(FIND config_romfs_extra_dependencies "events_json" index)
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if (${index} EQUAL -1)
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set(comp_metadata_events_uri ${comp_metadata_events_uri_board})
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# use generic URL as fallback
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set(comp_metadata_events_uri_fallback "${s3_url}/Firmware/{version}/_general/all_events.json.xz")
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else()
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set(comp_metadata_events_uri "mftp://etc/extras/all_events.json.xz")
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set(comp_metadata_events_uri_fallback ${comp_metadata_events_uri_board})
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endif()
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list(APPEND comp_metadata_types "--type" "4,${PX4_BINARY_DIR}/events/all_events.json.xz,${comp_metadata_events_uri},${comp_metadata_events_uri_fallback},")
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set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
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add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
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@@ -63,6 +78,8 @@ add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz
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generate_component_general.py
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${PX4_BINARY_DIR}/parameters.json.xz
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parameters_xml
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${PX4_BINARY_DIR}/events/all_events.json.xz
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events_json
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ver_gen
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COMMENT "Generating component_general.json"
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)
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@@ -0,0 +1,95 @@
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############################################################################
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#
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# Copyright (c) 2020 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_git_submodule(TARGET git_libevents PATH "libevents")
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get_property(all_px4_src_files GLOBAL PROPERTY PX4_SRC_FILES)
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set(generated_events_dir ${PX4_BINARY_DIR}/events)
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set(generated_events_px4_file ${generated_events_dir}/px4.json)
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add_custom_command(OUTPUT ${generated_events_px4_file}
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COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
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--src-path ${all_px4_src_files}
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--json ${generated_events_px4_file} #--verbose
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DEPENDS
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${all_px4_src_files}
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${PX4_SOURCE_DIR}/Tools/px_process_events.py
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${PX4_SOURCE_DIR}/Tools/px4events/jsonout.py
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${PX4_SOURCE_DIR}/Tools/px4events/srcparser.py
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${PX4_SOURCE_DIR}/Tools/px4events/srcscanner.py
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COMMENT "Generating px4 event json file from source"
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)
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add_custom_target(events_px4_json DEPENDS ${generated_events_px4_file})
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set(generated_events_file ${generated_events_dir}/all_events.json)
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add_custom_command(OUTPUT ${generated_events_file} ${generated_events_file}.xz
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COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
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${generated_events_px4_file}
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libevents/events/common.json
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--output ${generated_events_file}
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COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/validate.py
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${generated_events_file}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
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${generated_events_file}
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DEPENDS
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${generated_events_px4_file}
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libevents/events/common.json
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libevents/scripts/combine.py
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libevents/scripts/validate.py
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${PX4_SOURCE_DIR}/Tools/compress.py
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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COMMENT "Generating combined event json file"
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)
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add_custom_target(events_json DEPENDS ${generated_events_file})
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# generate header from common.json
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# (we don't add the definitions from the source as they are not needed and to
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# avoid additional dependencies)
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set(generated_events_header ${generated_events_dir}/events_generated.h)
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add_custom_command(OUTPUT ${generated_events_header}
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COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
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COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/generate.py
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--template libevents/libs/cpp/templates/events_generated.h.jinja
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--output ${generated_events_dir}
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libevents/events/common.json
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DEPENDS
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libevents/events/common.json
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libevents/libs/cpp/templates/events_generated.h.jinja
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libevents/scripts/generate.py
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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COMMENT "Generating px4 event header file"
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)
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add_custom_target(events_header DEPENDS ${generated_events_header})
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add_dependencies(prebuild_targets events_header)
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Submodule
+1
Submodule src/lib/events/libevents added at 5fd19be22d
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