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Merge remote-tracking branch 'upstream/multitablespython3' into dev_ros

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This commit is contained in:
Thomas Gubler 2015-01-06 10:34:53 +01:00
commit 94b9251a69
2 changed files with 34 additions and 32 deletions
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7
src/modules/systemlib/mixer/multi_tables.mk
View File

@ -33,11 +33,10 @@
SELF_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
MULTI_TABLES := $(SELF_DIR)multi_tables.py
# Add explicit dependency, as implicit one doesn't work often.
$(SELF_DIR)mixer_multirotor.cpp : $(SELF_DIR)mixer_multirotor.generated.h
$(SELF_DIR)mixer_multirotor.generated.h : $(SELF_DIR)multi_tables
$(SELF_DIR)multi_tables > $(SELF_DIR)mixer_multirotor.generated.h
$(SELF_DIR)multi_tables
$(SELF_DIR)mixer_multirotor.generated.h : $(MULTI_TABLES)
$(Q) $(PYTHON) $(MULTI_TABLES) > $(SELF_DIR)mixer_multirotor.generated.h

59
src/modules/systemlib/mixer/multi_tables → src/modules/systemlib/mixer/multi_tables.py
View File

@ -36,15 +36,18 @@
# Generate multirotor mixer scale tables compatible with the ArduCopter layout
#
# for python2.7 compatibility
from __future__ import print_function
import math
print "/*"
print "* This file is automatically generated by multi_tables - do not edit."
print "*/"
print ""
print "#ifndef _MIXER_MULTI_TABLES"
print "#define _MIXER_MULTI_TABLES"
print ""
print("/*")
print("* This file is automatically generated by multi_tables - do not edit.")
print("*/")
print("")
print("#ifndef _MIXER_MULTI_TABLES")
print("#define _MIXER_MULTI_TABLES")
print("")
def rcos(angleInRadians):
return math.cos(math.radians(angleInRadians))
@ -146,7 +149,7 @@ twin_engine = [
]
def variableName(variable):
for variableName, value in list(globals().iteritems()):
for variableName, value in list(globals().items()):
if value is variable:
return variableName
@ -154,44 +157,44 @@ tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x
def printEnum():
print "enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {"
print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
for table in tables:
print "\t{},".format(variableName(table).upper())
print("\t{},".format(variableName(table).upper()))
print "\n\tMAX_GEOMETRY"
print "}; // enum class MultirotorGeometry\n"
print("\n\tMAX_GEOMETRY")
print("}; // enum class MultirotorGeometry\n")
def printScaleTables():
for table in tables:
print "const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))
print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
for (angle, yawScale) in table:
rollScale = rcos(angle + 90)
pitchScale = rcos(angle)
print "\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale)
print "};\n"
print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
print("};\n")
def printScaleTablesIndex():
print "const MultirotorMixer::Rotor *_config_index[] = {"
print("const MultirotorMixer::Rotor *_config_index[] = {")
for table in tables:
print "\t&_config_{}[0],".format(variableName(table))
print "};\n"
print("\t&_config_{}[0],".format(variableName(table)))
print("};\n")
def printScaleTablesCounts():
print "const unsigned _config_rotor_count[] = {"
print("const unsigned _config_rotor_count[] = {")
for table in tables:
print "\t{}, /* {} */".format(len(table), variableName(table))
print "};\n"
print("\t{}, /* {} */".format(len(table), variableName(table)))
print("};\n")
printEnum()
print "namespace {"
print("namespace {")
printScaleTables()
printScaleTablesIndex()
printScaleTablesCounts()
print "} // anonymous namespace\n"
print "#endif /* _MIXER_MULTI_TABLES */"
print ""
print("} // anonymous namespace\n")
print("#endif /* _MIXER_MULTI_TABLES */")
print("")