mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
[WIP] Run the ROMFS through a CPP with the boardconfig
This commit is contained in:
Niklas Hauser
parent
52308735a7
commit
c7aae96cd2
@ -146,6 +146,11 @@ add_custom_command(
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${romfs_copy_stamp}
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
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COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
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# Preprocess ROMFS files with KConfig definitions
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
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--romfs-dir ${romfs_gen_root_dir}
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--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
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--cpp ${CMAKE_C_COMPILER}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
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--airframes-path ${romfs_gen_root_dir}/init.d
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--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
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@ -159,8 +164,10 @@ add_custom_command(
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--params-file ${CONFIG_BOARD_PARAM_FILE}
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COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
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WORKING_DIRECTORY ${romfs_gen_root_dir}
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DEPENDS ${romfs_tar_file}
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COMMENT "ROMFS: copying, generating airframes"
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DEPENDS
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${romfs_tar_file}
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${PX4_BINARY_DIR}/px4_boardconfig.h
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COMMENT "ROMFS: copying, preprocessing, generating airframes"
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)
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# copy extras into ROMFS
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@ -8,17 +8,24 @@
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# Begin Optional drivers #
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###############################################################################
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%ifdef CONFIG_DRIVERS_BATT_SMBUS
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if param compare -s SENS_EN_BATT 1
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then
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batt_smbus start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
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# Start batmon driver if enabled using BATMON_DRIVER_EN
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if param compare -s BATMON_DRIVER_EN 1
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then
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batmon start -X #start on external bus
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fi
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%endif
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%ifdef CONFIG_DRIVERS_PWM_INPUT
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
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# Sensors on the PWM interface bank
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if param compare -s SENS_EN_LL40LS 1
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then
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@ -27,92 +34,121 @@ then
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ll40ls_pwm start
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fi
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fi
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%endif
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# External automatic trigger system
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if param compare FD_EXT_ATS_EN 1
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then
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pwm_input start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
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# Lidar-Lite on I2C
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if param compare -s SENS_EN_LL40LS 2
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then
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ll40ls start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
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# mappydot lidar sensor
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if param compare -s SENS_EN_MPDT 1
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then
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mappydot start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
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# mb12xx sonar sensor
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if param greater -s SENS_EN_MB12XX 0
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then
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mb12xx start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
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# pga460 sonar sensor
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if param greater -s SENS_EN_PGA460 0
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then
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pga460 start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
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# Lightware i2c lidar sensor
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if param greater -s SENS_EN_SF1XX 0
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then
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lightware_laser_i2c start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
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# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
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if param compare -s SENS_EN_SR05 1
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then
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srf05 start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
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# Teraranger one tof sensor
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if param greater -s SENS_EN_TRANGER 0
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then
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teraranger start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
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# paa3905 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PAA3905 0
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then
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paa3905 -S start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
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# paw3902 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PAW3902 0
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then
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paw3902 -S start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
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# pmw3901 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PMW3901 0
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then
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pmw3901 -S start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
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# vl53l0x i2c distance sensor
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if param compare -s SENS_EN_VL53L0X 1
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then
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vl53l0x start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
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# vl53l1x i2c distance sensor
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if param compare -s SENS_EN_VL53L1X 1
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then
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vl53l1x start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
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# tf02 pro i2c distance sensor
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if param compare -s SENS_EN_TF02PRO 1
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then
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tf02pro start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
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# ADIS16448 spi external IMU
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if param compare -s SENS_EN_ADIS164X 1
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then
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@ -125,25 +161,33 @@ then
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adis16448 -S start -R 4
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fi
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fi
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%endif
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%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
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# ADIS16507 spi external IMU
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if param greater -s SENS_EN_ADIS165X 0
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then
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adis16507 -S start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
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# SCH16T spi external IMU
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if param compare -s SENS_EN_SCH16T 1
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then
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sch16t -S start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
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# Eagle Tree airspeed sensor external I2C
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if param compare -s SENS_EN_ETSASPD 1
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then
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ets_airspeed start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
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# Sensirion SDP3X differential pressure sensor external I2C
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if param compare -s SENS_EN_SDP3X 1
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then
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@ -153,116 +197,171 @@ then
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sdp3x start -X -a 0x22
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fi
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fi
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%endif
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%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
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# Microchip MCP9808 temperature sensor external I2C
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if param compare -s SENS_EN_MCP9808 1
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then
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mcp9808 start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
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# TE MS4515 differential pressure sensor external I2C
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if param compare -s SENS_EN_MS4515 1
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then
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ms4515 start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
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# TE MS4525DO differential pressure sensor external I2C
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if param compare -s SENS_EN_MS4525DO 1
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then
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ms4525do start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
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# TE MS5525DSO differential pressure sensor external I2C
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if param compare -s SENS_EN_MS5525DS 1
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then
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ms5525dso start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
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# TE ASP5033 differential pressure sensor external I2C
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if param compare -s SENS_EN_ASP5033 1
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then
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asp5033 start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
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# AUAV absolute/differential pressure sensor external I2C
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if param greater -s SENS_EN_AUAVX 0
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then
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auav start -D -X
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auav start -A -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
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# SHT3x temperature and hygrometer sensor, external I2C
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if param compare -s SENS_EN_SHT3X 1
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then
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sht3x start -X
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sht3x start -X -a 0x45
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fi
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%endif
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%ifdef CONFIG_DRIVERS_IRLOCK
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# IR-LOCK sensor external I2C
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if param compare -s SENS_EN_IRLOCK 1
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then
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irlock start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
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# SPL06 sensor external I2C
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if param compare -s SENS_EN_SPL06 1
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then
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spl06 -X start
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spl06 -X -a 0x77 start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
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# SPA06 sensor external I2C
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if param compare -s SENS_EN_SPA06 1
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then
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spa06 -X start
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spa06 -X -a 0x77 start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_RPM_PCF8583
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# PCF8583 counter (RPM sensor)
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if param compare -s SENS_EN_PCF8583 1
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then
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pcf8583 start -X
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pcf8583 start -X -a 0x51
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fi
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%endif
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%ifdef CONFIG_DRIVERS_ADC_ADS7953
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# ADC sensor ADS7953 external SPI
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if param compare -s ADC_ADS7953_EN 1
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then
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ads7953 start -S
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fi
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%endif
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%ifdef CONFIG_DRIVERS_ADC_TLA2528
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# ADC sensor tla2528 external I2C
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if param compare -s ADC_TLA2528_EN 1
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then
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tla2528 start -X
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fi
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%endif
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%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
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# Start TMP102 temperature sensor
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if param compare SENS_EN_TMP102 1
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if param compare -s SENS_EN_TMP102 1
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then
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tmp102 start -X
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fi
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%endif
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%ifdef COMMON_MAGNETOMETER
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# probe for optional external I2C devices
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if param compare SENS_EXT_I2C_PRB 1
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then
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%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
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icm20948_i2c_passthrough -X -q start
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%endif
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# compasses
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
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hmc5883 -T -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
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iis2mdc -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
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ist8308 -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
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ist8310 -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
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if ! lis3mdl -X -q start
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then
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lis3mdl -X -q -a 0x1c start
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fi
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
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qmc5883l -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
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qmc5883p -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
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rm3100 -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
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bmm350 -X -q start
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%endif
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
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iis2mdc -X -q start
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%endif
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# start last (wait for possible icm20948 passthrough mode)
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%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
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ak09916 -X -q start
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%endif
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fi
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%endif
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@ -265,12 +265,15 @@ else
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# Start the tone_alarm driver.
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# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
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#
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%ifdef CONFIG_DRIVERS_TONE_ALARM
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tone_alarm start
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%endif
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#
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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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%ifdef CONFIG_MODULES_DATAMAN
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if param compare -s SYS_DM_BACKEND 1
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then
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dataman start -r
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@ -281,11 +284,14 @@ else
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dataman start
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fi
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fi
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%endif
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#
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# Start the socket communication send_event handler.
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#
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%ifdef CONFIG_MODULES_SEND_EVENT
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send_event start
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%endif
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#
|
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# Start the hardfault streamer.
|
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@ -298,15 +304,25 @@ else
|
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#
|
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# Start the resource load monitor.
|
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#
|
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%ifdef CONFIG_MODULES_LOAD_MON
|
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load_mon start
|
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%endif
|
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|
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#
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# Start system state indicator.
|
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#
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%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
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rgbled start -X -q
|
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%endif
|
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%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
|
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rgbled_ncp5623c start -X -q
|
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%endif
|
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%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
|
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rgbled_lp5562 start -X -q
|
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%endif
|
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%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
|
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rgbled_is31fl3195 start -X -q
|
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%endif
|
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|
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#
|
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# Override parameters from user configuration file.
|
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@ -331,11 +347,21 @@ else
|
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# start the simulator in hardware if needed
|
||||
if param compare SYS_HITL 2
|
||||
then
|
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%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
|
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simulator_sih start
|
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%endif
|
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%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
|
||||
sensor_baro_sim start
|
||||
%endif
|
||||
%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
|
||||
sensor_mag_sim start
|
||||
%endif
|
||||
%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
|
||||
sensor_gps_sim start
|
||||
%endif
|
||||
%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
|
||||
sensor_agp_sim start
|
||||
%endif
|
||||
fi
|
||||
|
||||
else
|
||||
@ -352,43 +378,58 @@ else
|
||||
|
||||
. ${R}etc/init.d/rc.sensors
|
||||
|
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%ifdef CONFIG_MODULES_SENSORS
|
||||
%ifdef CONFIG_MODULES_ESC_BATTERY
|
||||
if param compare -s BAT1_SOURCE 2
|
||||
then
|
||||
esc_battery start
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_BATTERY_STATUS
|
||||
if ! param compare BAT1_SOURCE 1
|
||||
then
|
||||
battery_status start
|
||||
fi
|
||||
%endif
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_SENSORS
|
||||
sensors start
|
||||
%endif
|
||||
fi
|
||||
|
||||
#
|
||||
# state estimator selection
|
||||
#
|
||||
%ifdef CONFIG_MODULES_EKF2
|
||||
if param compare -s EKF2_EN 1
|
||||
then
|
||||
ekf2 start &
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
|
||||
if param compare -s LPE_EN 1
|
||||
then
|
||||
local_position_estimator start
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
|
||||
if param compare -s ATT_EN 1
|
||||
then
|
||||
attitude_estimator_q start
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_DRIVERS_PX4IO
|
||||
#
|
||||
# px4io
|
||||
#
|
||||
if px4io supported
|
||||
then
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
# Check if PX4IO present and update firmware if needed.
|
||||
if [ -f $IOFW ]
|
||||
then
|
||||
if ! px4io checkcrc ${IOFW}
|
||||
@ -418,40 +459,56 @@ else
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
%endif
|
||||
|
||||
# Heater driver for temperature regulated IMUs.
|
||||
# The heater needs to start after px4io.
|
||||
%ifdef CONFIG_DRIVERS_HEATER
|
||||
if param compare -s SENS_EN_THERMAL 1
|
||||
then
|
||||
heater start
|
||||
fi
|
||||
%endif
|
||||
|
||||
|
||||
#
|
||||
# RC update (map raw RC input to calibrate manual control)
|
||||
# start before commander
|
||||
#
|
||||
%ifdef CONFIG_MODULES_RC_UPDATE
|
||||
rc_update start
|
||||
%endif
|
||||
%ifdef CONFIG_MODULES_MANUAL_CONTROL
|
||||
manual_control start
|
||||
%endif
|
||||
|
||||
# Start camera trigger, capture and PPS before pwm_out as they might access
|
||||
# pwm pins
|
||||
%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
|
||||
if param greater -s TRIG_MODE 0
|
||||
then
|
||||
camera_trigger start
|
||||
%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
|
||||
camera_feedback start
|
||||
%endif
|
||||
fi
|
||||
%endif
|
||||
# PPS capture driver
|
||||
%ifdef CONFIG_DRIVERS_PPS_CAPTURE
|
||||
if param greater -s PPS_CAP_ENABLE 0
|
||||
then
|
||||
pps_capture start
|
||||
fi
|
||||
%endif
|
||||
# RPM capture driver
|
||||
%ifdef CONFIG_DRIVERS_RPM_CAPTURE
|
||||
if param greater -s RPM_CAP_ENABLE 0
|
||||
then
|
||||
rpm_capture start
|
||||
fi
|
||||
%endif
|
||||
# Camera capture driver
|
||||
%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
if camera_capture start
|
||||
@ -459,25 +516,34 @@ else
|
||||
camera_capture on
|
||||
fi
|
||||
fi
|
||||
%endif
|
||||
|
||||
#
|
||||
# Commander
|
||||
#
|
||||
%ifdef CONFIG_MODULES_COMMANDER
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
commander start -h
|
||||
|
||||
%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
|
||||
if ! pwm_out_sim start -m hil
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
%endif
|
||||
|
||||
else
|
||||
commander start
|
||||
|
||||
%ifdef CONFIG_DRIVERS_DSHOT
|
||||
dshot start
|
||||
%endif
|
||||
%ifdef CONFIG_DRIVERS_PWM_OUT
|
||||
pwm_out start
|
||||
%endif
|
||||
fi
|
||||
%endif
|
||||
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
@ -485,10 +551,12 @@ else
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
%ifdef CONFIG_MODULES_MAG_BIAS_ESTIMATOR
|
||||
if param compare -s MBE_ENABLE 1
|
||||
then
|
||||
mag_bias_estimator start
|
||||
fi
|
||||
%endif
|
||||
|
||||
#
|
||||
# Optional board mavlink streams: rc.board_mavlink
|
||||
@ -533,54 +601,67 @@ else
|
||||
#
|
||||
# Start the navigator.
|
||||
#
|
||||
%ifdef CONFIG_MODULES_NAVIGATOR
|
||||
navigator start
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
|
||||
#
|
||||
# Start a thermal calibration if required.
|
||||
#
|
||||
set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
|
||||
if [ -f ${RC_THERMAL_CAL} ]
|
||||
then
|
||||
. ${RC_THERMAL_CAL}
|
||||
fi
|
||||
unset RC_THERMAL_CAL
|
||||
. ${R}etc/init.d/rc.thermal_cal
|
||||
%endif
|
||||
|
||||
#
|
||||
# Start gimbal to control mounts such as gimbals, disabled by default.
|
||||
#
|
||||
%ifdef CONFIG_MODULES_GIMBAL
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
gimbal start
|
||||
fi
|
||||
%endif
|
||||
|
||||
# Blacksheep telemetry
|
||||
%ifdef CONFIG_DRIVERS_TELEMETRY_BST
|
||||
if param compare -s TEL_BST_EN 1
|
||||
then
|
||||
bst start -X
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_GYRO_FFT
|
||||
if param compare -s IMU_GYRO_FFT_EN 1
|
||||
then
|
||||
gyro_fft start
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_GYRO_CALIBRATION
|
||||
if param compare -s IMU_GYRO_CAL_EN 1
|
||||
then
|
||||
gyro_calibration start
|
||||
fi
|
||||
%endif
|
||||
|
||||
# Check for px4flow sensor
|
||||
%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
|
||||
if param compare -s SENS_EN_PX4FLOW 1
|
||||
then
|
||||
px4flow start -X &
|
||||
fi
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
|
||||
payload_deliverer start
|
||||
%endif
|
||||
|
||||
%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
|
||||
if param compare -s ICE_EN 1
|
||||
then
|
||||
internal_combustion_engine_control start
|
||||
fi
|
||||
%endif
|
||||
|
||||
#
|
||||
# Optional board supplied extras: rc.board_extras
|
||||
@ -602,15 +683,12 @@ else
|
||||
. $FEXTRAS
|
||||
fi
|
||||
|
||||
%ifdef CONFIG_MODULES_LOGGER
|
||||
#
|
||||
# Start the logger.
|
||||
#
|
||||
set RC_LOGGING ${R}etc/init.d/rc.logging
|
||||
if [ -f ${RC_LOGGING} ]
|
||||
then
|
||||
. ${RC_LOGGING}
|
||||
fi
|
||||
unset RC_LOGGING
|
||||
. ${R}etc/init.d/rc.logging
|
||||
%endif
|
||||
|
||||
#
|
||||
# Set additional parameters and env variables for selected AUTOSTART.
|
||||
@ -631,6 +709,7 @@ else
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
%ifdef CONFIG_DRIVERS_UAVCAN
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
@ -639,15 +718,27 @@ else
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
%ifdef CONFIG_DRIVERS_CYPHAL
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
%endif
|
||||
fi
|
||||
%else
|
||||
%ifdef CONFIG_DRIVERS_CYPHAL
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
%endif
|
||||
%endif
|
||||
%ifdef CONFIG_MODULES_ZENOH
|
||||
if param greater -s ZENOH_ENABLE 0
|
||||
then
|
||||
zenoh start
|
||||
fi
|
||||
%endif
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
|
||||
188
Tools/px_romfs_preprocess.py
Executable file
188
Tools/px_romfs_preprocess.py
Executable file
@ -0,0 +1,188 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Preprocesses ROMFS files with C preprocessor to enable KConfig support.
|
||||
|
||||
This script processes all rc* files in the ROMFS directory through the C preprocessor,
|
||||
allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import tempfile
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def preprocess_file(file_path, kconfig_header, cpp_command):
|
||||
"""
|
||||
Preprocess a single file through the C preprocessor.
|
||||
|
||||
Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
|
||||
with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
|
||||
#ifdef, #ifndef, #if, #else, #endif before preprocessing.
|
||||
|
||||
Args:
|
||||
file_path: Path to the file to preprocess
|
||||
kconfig_header: Path to the px4_boardconfig.h header
|
||||
cpp_command: C preprocessor command (usually the C compiler)
|
||||
"""
|
||||
# Read original file
|
||||
with open(file_path, 'r') as f:
|
||||
original_content = f.read()
|
||||
|
||||
# Process the file line by line:
|
||||
# 1. Remove shell comment lines (to avoid conflicts with CPP)
|
||||
# 2. Convert % preprocessor directives to # directives
|
||||
lines = original_content.split('\n')
|
||||
converted_lines = []
|
||||
|
||||
for line in lines:
|
||||
stripped = line.lstrip()
|
||||
|
||||
# Check if line starts with % followed by a preprocessor keyword
|
||||
if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
|
||||
# Preserve leading whitespace, convert %ifdef to #ifdef
|
||||
converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
|
||||
elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
|
||||
converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
|
||||
elif stripped.startswith('%if '):
|
||||
converted_lines.append(line.replace('%if', '#if', 1))
|
||||
elif stripped.startswith('%elif '):
|
||||
converted_lines.append(line.replace('%elif', '#elif', 1))
|
||||
elif stripped.startswith('%else'):
|
||||
converted_lines.append(line.replace('%else', '#else', 1))
|
||||
elif stripped.startswith('%endif'):
|
||||
converted_lines.append(line.replace('%endif', '#endif', 1))
|
||||
elif stripped.startswith('#') and not stripped.startswith('#!'):
|
||||
# Remove shell comment lines (but keep shebang)
|
||||
# This prevents "# if ..." comments from being interpreted as "#if" by CPP
|
||||
continue
|
||||
else:
|
||||
converted_lines.append(line)
|
||||
converted_content = '\n'.join(converted_lines)
|
||||
|
||||
# Create temporary file with include directive and converted content
|
||||
with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
|
||||
tmp.write(f'#include "{kconfig_header}"\n')
|
||||
tmp.write(converted_content)
|
||||
tmp_path = tmp.name
|
||||
|
||||
try:
|
||||
# Run C preprocessor
|
||||
# -P: don't generate #line directives
|
||||
# -E: preprocess only
|
||||
# -undef: don't predefine any non-standard macros
|
||||
# -nostdinc: don't search standard include directories
|
||||
# -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
|
||||
result = subprocess.run(
|
||||
[cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
|
||||
capture_output=True,
|
||||
text=True,
|
||||
check=True
|
||||
)
|
||||
|
||||
preprocessed = result.stdout
|
||||
|
||||
# Clean up the output:
|
||||
# 1. Remove empty lines at the beginning
|
||||
# 2. Remove lines that are just whitespace
|
||||
lines = preprocessed.split('\n')
|
||||
cleaned_lines = []
|
||||
started = False
|
||||
|
||||
for line in lines:
|
||||
# Skip empty lines at the beginning
|
||||
if not started and not line.strip():
|
||||
continue
|
||||
started = True
|
||||
cleaned_lines.append(line)
|
||||
|
||||
# Remove trailing empty lines
|
||||
while cleaned_lines and not cleaned_lines[-1].strip():
|
||||
cleaned_lines.pop()
|
||||
|
||||
# Write preprocessed content back
|
||||
with open(file_path, 'w') as f:
|
||||
f.write('\n'.join(cleaned_lines))
|
||||
if cleaned_lines: # Add final newline if file is not empty
|
||||
f.write('\n')
|
||||
|
||||
return True
|
||||
|
||||
except subprocess.CalledProcessError as e:
|
||||
print(f"Error preprocessing {file_path}: {e}")
|
||||
print(f"stderr: {e.stderr}")
|
||||
return False
|
||||
finally:
|
||||
# Clean up temporary file
|
||||
try:
|
||||
os.unlink(tmp_path)
|
||||
except:
|
||||
pass
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
|
||||
parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
|
||||
parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
|
||||
parser.add_argument('--cpp', required=True, help='C preprocessor command')
|
||||
parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Verify inputs
|
||||
romfs_dir = Path(args.romfs_dir)
|
||||
kconfig_header = Path(args.kconfig_header)
|
||||
|
||||
if not romfs_dir.exists():
|
||||
print(f"Error: ROMFS directory not found: {romfs_dir}")
|
||||
return 1
|
||||
|
||||
if not kconfig_header.exists():
|
||||
print(f"Error: KConfig header not found: {kconfig_header}")
|
||||
return 1
|
||||
|
||||
# Find all files to preprocess in init.d directory
|
||||
init_d_dir = romfs_dir / 'init.d'
|
||||
if not init_d_dir.exists():
|
||||
print(f"Warning: init.d directory not found in {romfs_dir}")
|
||||
return 0
|
||||
|
||||
# Find all rc* files (shell scripts)
|
||||
files_to_process = []
|
||||
for pattern in ['rc*', 'rcS']:
|
||||
files_to_process.extend(init_d_dir.glob(pattern))
|
||||
|
||||
# Also check subdirectories like airframes
|
||||
for subdir in init_d_dir.iterdir():
|
||||
if subdir.is_dir():
|
||||
for pattern in ['rc*']:
|
||||
files_to_process.extend(subdir.glob(pattern))
|
||||
|
||||
# Remove duplicates and filter only files
|
||||
files_to_process = list(set([f for f in files_to_process if f.is_file()]))
|
||||
|
||||
if not files_to_process:
|
||||
print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
|
||||
return 0
|
||||
|
||||
print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
|
||||
|
||||
# Process each file
|
||||
success_count = 0
|
||||
for file_path in sorted(files_to_process):
|
||||
rel_path = file_path.relative_to(romfs_dir)
|
||||
print(f" Processing: {rel_path}")
|
||||
if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
|
||||
success_count += 1
|
||||
else:
|
||||
print(f" Warning: Failed to preprocess {rel_path}")
|
||||
|
||||
print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
|
||||
|
||||
return 0 if success_count == len(files_to_process) else 1
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.exit(main())
|
||||
Loading…
x
Reference in New Issue
Block a user