Tools/serial: add script to generate ROMFS serial startup logic & serial parameters

Tools/serial/generate_config.py

@@ -0,0 +1,274 @@
+#! /usr/bin/env python
+""" Script to generate Serial (UART) parameters and the ROMFS startup script """
+
+from __future__ import print_function
+
+import argparse
+import os
+import sys
+
+from jinja2 import Environment, FileSystemLoader
+
+
+## Configuration
+
+# All possible Serial ports and their default param values.
+# Omitted default values will be set to 0.
+serial_ports = {
+    "GPS1": {
+        "label": "GPS 1",
+        "defaults": {
+            "CONFIG": 'Main GPS',
+            "BAUD": 0,
+            },
+        },
+    "GPS2": {
+        "label": "GPS 2",
+        "defaults": {
+            "CONFIG": 'Disabled',
+            "BAUD": 0,
+            },
+        },
+    "TEL1": {
+        "label": "TELEM 1",
+        "defaults": {
+            "CONFIG": 'MAVLink',
+            "BAUD": 57600,
+            "MAV_MDE": 'Normal',
+            "MAV_R": 1200,
+            "MAV_FWD": 1,
+            },
+        },
+    "TEL2": { # companion port
+        "label": "TELEM 2",
+        "defaults": {
+            "CONFIG": 'Disabled', # disabled by default to reduce RAM usage
+            "BAUD": 57600,
+            "MAV_MDE": 'OSD',
+            },
+        },
+    "TEL3": {
+        "label": "TELEM 3",
+        "defaults": {
+            "CONFIG": 'Disabled',
+            "BAUD": 57600,
+            "MAV_MDE": 'Normal',
+            },
+        },
+    "TEL4": {
+        "label": "TELEM 4",
+        "defaults": {
+            "CONFIG": 'MAVLink',
+            "BAUD": 57600,
+            "MAV_MDE": 'Normal',
+            "MAV_R": 1200,
+            },
+        },
+    "URT3": { # for Omnibus
+        "label": "UART 3",
+        "defaults": {
+            "CONFIG": 'MAVLink',
+            "BAUD": 57600,
+            "MAV_MDE": 'Normal',
+            "MAV_R": 1200,
+            "MAV_FWD": 1,
+            },
+        },
+    "URT6": { # for Omnibus
+        "label": "UART 6",
+        "defaults": {
+            "CONFIG": 'Main GPS',
+            "BAUD": 0,
+            },
+        },
+    }
+
+# Serial commands: each dict entry is a list with 2 items:
+# - user-facing label (must be short, will be shown in a drop-down list)
+# - ROMFS command (can be more than one or any scripting logic).
+#   These variables can be used:
+#       ${SER_DEV}             Serial device (e.g. /dev/ttyS1)
+#       ${SER_TAG}             Serial tag (e.g. GPS1)
+#       SER_${SER_TAG}_CONFIG  Param name for the current configuration
+#       SER_${SER_TAG}_BAUD    Param name for the current baudrate
+#       SER_${SER_TAG}_MAV_MDE Param name for the current mavlink mode
+#       SER_${SER_TAG}_MAV_R   Param name for the current mavlink rate
+#       SER_${SER_TAG}_MAV_FWD Param name for current mavlink forwarding
+#       ${DUAL_GPS_ARGS}       Arguments passed to the gps to start the secondary GPS
+#       ${MAV_ARGS}            Mavlink arguments (baudrate, mode and rate)
+#
+# Note: do NOT re-use or change indexes. When adding a command, always use an
+# index that has never been used before. This is important for compatibility
+# with QGC
+serial_commands = {
+    0: ["Disabled", ""],
+
+    # MAVLink & RTPS
+    1: ["MAVLink", "mavlink start -d ${SER_DEV} ${MAV_ARGS} -x"],
+
+    2: ["MAVLink over Syslink", '''
+syslink start
+mavlink start -d /dev/bridge0 ${MAV_ARGS}
+'''],
+
+    3: ["MAVLink over Iridium", '''
+iridiumsbd start -d ${SER_DEV}
+mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
+'''],
+
+    4: ["MAVLink + FastRTPS", '''
+protocol_splitter start ${SER_DEV}
+mavlink start -d /dev/mavlink ${MAV_ARGS} -x
+micrortps_client start -d /dev/rtps -b p:SER_${SER_TAG}_BAUD -l -1
+'''],
+    5: ["FastRTPS", "micrortps_client start -d ${SER_DEV} -b p:SER_${SER_TAG}_BAUD -l -1"],
+
+    # GPS
+    50: ["Main GPS", "gps start -d ${SER_DEV} ${DUAL_GPS_ARGS}"],
+    51: ["Secondary GPS", ""], # special handling for the command
+
+    # Telemetry
+    100: ["FrSky Telemetry", "frsky_telemetry start -d ${SER_DEV}"],
+    101: ["HoTT Telemetry", "hott_telemetry start -d ${SER_DEV}"],
+
+    # Sensor drivers
+    200: ["LeddarOne Rangefinder", "leddar_one start -d ${SER_DEV}"],
+    201: ["Benewake TFmini Rangefinder", "tfmini start -d ${SER_DEV}"],
+    202: ["Lightware Laser Rangefinder", "sf0x start -d ${SER_DEV}"],
+    }
+
+mavlink_modes = {
+    0: "Normal",
+    1: "Custom",
+    2: "Onboard",
+    3: "OSD",
+    4: "Magic",
+    5: "Config",
+    6: "Iridium",
+    7: "Minimal",
+    }
+
+parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
+
+parser.add_argument('--serial-ports', type=str, nargs='*', metavar="TAG:DEVICE",
+                    default=[],
+                    help='Serial ports: mappings from the tag name to the device (e.g. GPS1:/dev/ttyS1)')
+parser.add_argument('--all-ports', action='store_true',
+                    help='Generate output for all known ports (params file only)')
+parser.add_argument('--rc-file', type=str, action='store',
+                    help='ROMFS output script', default=None)
+parser.add_argument('--params-file', type=str, action='store',
+                    help='Parameter output file', default=None)
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+
+args = parser.parse_args()
+
+arg_board_serial_ports = args.serial_ports
+verbose = args.verbose
+rc_serial_output_file = args.rc_file
+rc_serial_template = 'rc.serial.jinja'
+serial_params_output_file = args.params_file
+serial_params_template = 'serial_params.c.jinja'
+generate_for_all_ports = args.all_ports
+
+if generate_for_all_ports:
+    board_ports = [(key, "") for key in serial_ports]
+else:
+    # convert arg_board_serial_ports list [ "TAG:DEVICE" ] into [ ("TAG", "DEVICE") ]
+    board_ports = [tuple(port.split(":")) for port in arg_board_serial_ports]
+
+
+if rc_serial_output_file is None and serial_params_output_file is None:
+    raise Exception("At least one of --rc-file (e.g. rc.serial) or --params-file "
+        "(e.g. serial_params.c) needs to be specified")
+
+
+# replace strings in defaults with their numerical value
+for key in serial_ports:
+    defaults = serial_ports[key]["defaults"]
+
+    if "CONFIG" in defaults and isinstance(defaults["CONFIG"], str):
+        config_index_list = [ key for key in serial_commands \
+                if serial_commands[key][0] == defaults["CONFIG"]]
+        if len(config_index_list) == 0:
+            raise Exception("Config mode {:} not found".format(defaults["CONFIG"]))
+        defaults["CONFIG"] = config_index_list[0]
+
+    if "MAV_MDE" in defaults and isinstance(defaults["MAV_MDE"], str):
+        mode_index_list = [ key for key in mavlink_modes \
+                if mavlink_modes[key] == defaults["MAV_MDE"]]
+        if len(mode_index_list) == 0:
+            raise Exception("Mavlink mode {:} not found".format(defaults["MAV_MDE"]))
+        defaults["MAV_MDE"] = mode_index_list[0]
+
+
+# sanity check (makes sure the param names don't exceed the max length of 16 chars)
+for key in serial_ports:
+    if len(key) > 4:
+        raise Exception("Serial tag {:} is too long (max length=4)".format(key))
+
+serial_devices = []
+for tag, device in board_ports:
+    if tag not in serial_ports:
+        raise Exception("Unknown serial port {:}. "
+            "You might have to add it to serial_ports in\n {:}".format(tag,
+                os.path.realpath(__file__)))
+    serial_devices.append({
+        'tag': tag,
+        'device': device,
+        'label': serial_ports[tag]["label"]
+        })
+
+
+# construct commands based on selected board
+commands = []
+disabled_commands = [] # e.g. ["HoTT Telemetry"] TODO: do we need support for that and configure it from the board config?
+for key in serial_commands:
+    if serial_commands[key][0] in disabled_commands:
+        continue
+    label = serial_commands[key][0]
+    command = serial_commands[key][1]
+    commands.append({
+        'value': key,
+        'command': command,
+        'label': label
+        })
+
+if verbose:
+    print("Serial Devices: {:}".format(serial_devices))
+    #print("Commands: {:}".format(commands))
+
+
+jinja_env = Environment(loader=FileSystemLoader(
+    os.path.dirname(os.path.realpath(__file__))))
+
+# generate the ROMFS script using a jinja template
+if rc_serial_output_file is not None:
+    if generate_for_all_ports:
+        raise Exception("Cannot create rc file for --all-ports")
+
+    if verbose: print("Generating {:}".format(rc_serial_output_file))
+    if len(serial_devices) == 0:
+        # if the board has no UARTs, create an empty rc file
+        open(rc_serial_output_file, 'w').close()
+    else:
+        template = jinja_env.get_template(rc_serial_template)
+        with open(rc_serial_output_file, 'w') as fid:
+            secondary_gps_value = 51
+            # sanity-check
+            if serial_commands[secondary_gps_value][0] != "Secondary GPS":
+                raise Exception("Unexpected value for Secondary GPS")
+            fid.write(template.render(serial_devices=serial_devices,
+                secondary_gps_value=secondary_gps_value,
+                commands=commands))
+
+# parameter definitions
+if serial_params_output_file is not None:
+    if verbose: print("Generating {:}".format(serial_params_output_file))
+    template = jinja_env.get_template(serial_params_template)
+    with open(serial_params_output_file, 'w') as fid:
+        fid.write(template.render(serial_devices=serial_devices,
+            commands=commands, mavlink_modes=mavlink_modes,
+            serial_ports=serial_ports))
+

Tools/serial/rc.serial.jinja

@@ -0,0 +1,86 @@
+{# jinja template to generate the serial autostart script. #}
+
+# serial autostart script generated with generate_serial_config.py
+
+
+# set dual gps args
+set DUAL_GPS_ARGS ""
+set SER_TAG {{ serial_devices[0].tag }}
+set SER_DEV {{ serial_devices[0].device }}
+while [ ${SER_TAG} != exit ]
+do
+	if param compare SER_${SER_TAG}_CONFIG {{ secondary_gps_value }}
+	then
+		set DUAL_GPS_ARGS "-e ${SER_DEV}"
+		echo "Starting Secondary GPS on ${SER_DEV} (${SER_TAG})"
+	fi
+
+	# loop iteration
+	{# need to iterate in reversed order -#}
+	{% set last = serial_devices|last -%}
+    if [ ${SER_TAG} == {{ last.tag }} ]
+    then
+        set SER_TAG exit
+    fi
+	{% for serial_device in serial_devices | reverse -%}
+	{% if not loop.first -%}
+	{% set next = loop.previtem -%}
+    if [ ${SER_TAG} == {{ serial_device.tag }} ]
+    then
+        set SER_TAG {{ next.tag }}
+        set SER_DEV {{ next.device }}
+    fi
+	{% endif -%}
+	{% endfor %}
+done
+
+# start the devices on the configured ports
+set SER_TAG {{ serial_devices[0].tag }}
+set SER_DEV {{ serial_devices[0].device }}
+while [ ${SER_TAG} != exit ]
+do
+	# Access all params so that they're sent to a GCS upon param loading
+	param touch SER_${SER_TAG}_BAUD SER_${SER_TAG}_MAV_MDE SER_${SER_TAG}_MAV_R SER_${SER_TAG}_MAV_FWD
+
+    # initialize params
+    set MAV_ARGS "-b p:SER_${SER_TAG}_BAUD -m p:SER_${SER_TAG}_MAV_MDE -r p:SER_${SER_TAG}_MAV_R"
+    if param compare SER_${SER_TAG}_MAV_FWD 1
+    then
+        set MAV_ARGS "${MAV_ARGS} -f"
+    fi
+
+    # start commands
+	{% for command in commands -%}
+	{% if command.command | length > 0 -%}
+    if param compare SER_${SER_TAG}_CONFIG {{ command.value }}
+    then
+		{# the echo can be disabled if too verbose... -#}
+		echo "Starting {{ command.label }} on ${SER_DEV} (${SER_TAG})"
+        {{ command.command }}
+    fi
+	{% endif -%}
+	{% endfor %}
+
+	# loop iteration
+	{# need to iterate in reversed order -#}
+	{% set last = serial_devices|last -%}
+    if [ ${SER_TAG} == {{ last.tag }} ]
+    then
+        set SER_TAG exit
+    fi
+	{% for serial_device in serial_devices | reverse -%}
+	{% if not loop.first -%}
+	{% set next = loop.previtem -%}
+    if [ ${SER_TAG} == {{ serial_device.tag }} ]
+    then
+        set SER_TAG {{ next.tag }}
+        set SER_DEV {{ next.device }}
+    fi
+	{% endif -%}
+	{% endfor %}
+done
+
+unset DUAL_GPS_ARGS
+unset SER_TAG
+unset SER_DEV
+unset MAV_ARGS

Tools/serial/serial_params.c.jinja

@@ -0,0 +1,113 @@
+{# jinja template to generate the serial parameters. #}
+
+
+{% for serial_device in serial_devices -%}
+/**
+ * Serial Configuration for {{ serial_device.label }} Port
+ *
+ * Configure what is running on the {{ serial_device.label }} Serial Port.
+ *
+{% for command in commands -%}
+ * @value {{ command.value }} {{ command.label }}
+{% endfor -%}
+ * @group Serial
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_CONFIG, {{
+	serial_ports[serial_device.tag].defaults["CONFIG"]|default(0) }});
+
+/**
+ * Baudrate for {{ serial_device.label }} Port
+ *
+ * Configure the Baudrate for the {{ serial_device.label }} Serial Port.
+ *
+ * Certain drivers such as the GPS determine the Baudrate automatically, and
+ * changing this parameter will have no effect.
+ *
+ * @value 0 Auto
+ * @value 50 50 8N1
+ * @value 75 75 8N1
+ * @value 110 110 8N1
+ * @value 134 134 8N1
+ * @value 150 150 8N1
+ * @value 200 200 8N1
+ * @value 300 300 8N1
+ * @value 600 600 8N1
+ * @value 1200 1200 8N1
+ * @value 1800 1800 8N1
+ * @value 2400 2400 8N1
+ * @value 4800 4800 8N1
+ * @value 9600 9600 8N1
+ * @value 19200 19200 8N1
+ * @value 38400 38400 8N1
+ * @value 57600 57600 8N1
+ * @value 115200 115200 8N1
+ * @value 230400 230400 8N1
+ * @value 460800 460800 8N1
+ * @value 500000 500000 8N1
+ * @value 921600 921600 8N1
+ * @value 1000000 1000000 8N1
+ * @value 1500000 1500000 8N1
+ * @value 3000000 3000000 8N1
+ * @group Serial
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{
+	serial_ports[serial_device.tag].defaults["BAUD"]|default(0) }});
+
+/**
+ * MAVLink Mode for {{ serial_device.label }} Port
+ *
+ * The MAVLink Mode defines the set of streamed messages (for example the
+ * vehicle's attitude) and their sending rates.
+ *
+ * Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
+ *
+{% for key, value in mavlink_modes.iteritems() -%}
+ * @value {{ key }} {{ value }}
+{% endfor -%}
+ * @group Serial
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_MDE, {{
+	serial_ports[serial_device.tag].defaults["MAV_MDE"]|default(0) }});
+
+/**
+ * Maximum MAVLink sending rate for {{ serial_device.label }} Port
+ *
+ * Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
+ * If the configured streams exceed the maximum rate, the sending rate of
+ * each stream is automatically decreased.
+ * 
+ * If this is set to 0, a value of <baudrate>/20 is used, which corresponds to
+ * half of the theoretical maximum bandwidth.
+ * 
+ * Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
+ *
+ * @min 0
+ * @unit B/s
+ * @group Serial
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_R, {{
+	serial_ports[serial_device.tag].defaults["MAV_R"]|default(0) }});
+
+/**
+ * Enable MAVLink Message forwarding for {{ serial_device.label }} Port
+ *
+ * If enabled, forward incoming MAVLink messages to other MAVLink ports if the
+ * message is either broadcast or the target is not the autopilot.
+ *
+ * This allows for example a GCS to talk to a camera that is connected to the
+ * autopilot via MAVLink (on a different link than the GCS).
+ *
+ * Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
+ *
+ * @boolean
+ * @group Serial
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_FWD, {{
+	serial_ports[serial_device.tag].defaults["MAV_FWD"]|default(0) }});
+
+{% endfor %}