mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Merge branch 'cmake-2' into cmake-2-pthread
This commit is contained in:
Lorenz Meier
commit
fe644fb3e0
@ -20,17 +20,32 @@ for index,m in enumerate(raw_messages):
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temp_list = []
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f = open(m,'r')
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for line in f.readlines():
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if(line.split(' ')[0] == "float32"):
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if ('float32[' in line.split(' ')[0]):
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num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
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temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
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if ('uint64[' in line.split(' ')[0]):
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num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
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temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
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elif(line.split(' ')[0] == "float32"):
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temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif(line.split(' ')[0] == "uint64"):
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elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
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temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif (line.split(' ')[0] == "bool"):
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elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
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temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
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temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
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temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
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temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
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temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
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temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
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temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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elif ('float32[' in line.split(' ')[0]):
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num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
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temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
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elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
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temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
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f.close()
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messages.append(m.split('/')[-1].split('.')[0])
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@ -131,12 +146,24 @@ for index,m in enumerate(messages[1:]):
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print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
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elif item[0] == "float_array":
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print("\t\t\tprintf(\"%s:\");" % item[1])
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print("\t\t\tfor (int j=0;j<%d;j++) {" % item[2])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "uint64":
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print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint64_array":
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print("\t\t\tprintf(\"%s:\");" % item[1])
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print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
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print("\t\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
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print("\t\t\t}")
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print("\t\t\tprintf(\"\\n\");")
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elif item[0] == "int64":
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print("\t\t\tprintf(\"%s: %%\" PRI64 \"\\n \",container.%s);" % (item[1], item[1]))
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elif item[0] == "int32":
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print("\t\t\tprintf(\"%s: %%d\\n \",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint32":
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print("\t\t\tprintf(\"%s: %%d\\n \",container.%s);" % (item[1], item[1]))
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elif item[0] == "uint8":
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print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1]))
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elif item[0] == "bool":
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@ -370,19 +370,35 @@ void Simulator::send()
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void Simulator::initializeSensorData()
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{
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struct baro_report baro = {};
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baro.pressure = 120000.0f;
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// write sensor data to memory so that drivers can copy data from there
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RawMPUData mpu = {};
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mpu.accel_z = 9.81f;
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// acceleration report
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struct accel_report accel = {};
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write_MPU_data((void *)&mpu);
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RawAccelData accel = {};
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accel.z = 9.81f;
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accel.range_m_s2 = 80.0f;
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// gyro report
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struct gyro_report gyro = {};
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write_accel_data((void *)&accel);
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// mag report
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struct mag_report mag = {};
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RawMagData mag = {};
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mag.x = 0.4f;
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mag.y = 0.0f;
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mag.z = 0.6f;
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write_mag_data((void *)&mag);
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RawBaroData baro = {};
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// calculate air pressure from altitude (valid for low altitude)
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baro.pressure = 120000.0f;
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baro.altitude = 0.0f;
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baro.temperature = 25.0f;
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write_baro_data((void *)&baro);
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RawAirspeedData airspeed {};
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write_airspeed_data((void *)&airspeed);
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}
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void Simulator::pollForMAVLinkMessages(bool publish)
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@ -448,6 +448,9 @@ ACCELSIM::init()
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{
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int ret = ERROR;
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struct mag_report mrp = {};
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struct accel_report arp = {};
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/* do SIM init first */
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if (VDev::init() != OK) {
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PX4_WARN("SIM init failed");
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@ -478,7 +481,6 @@ ACCELSIM::init()
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measure();
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/* advertise sensor topic, measure manually to initialize valid report */
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struct mag_report mrp;
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_mag_reports->get(&mrp);
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/* measurement will have generated a report, publish */
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@ -493,7 +495,6 @@ ACCELSIM::init()
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_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
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/* advertise sensor topic, measure manually to initialize valid report */
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struct accel_report arp = {};
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_accel_reports->get(&arp);
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/* measurement will have generated a report, publish */
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@ -1014,7 +1015,7 @@ ACCELSIM::measure()
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} raw_accel_report;
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#pragma pack(pop)
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accel_report accel_report;
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accel_report accel_report = {};
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/* start the performance counter */
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perf_begin(_accel_sample_perf);
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@ -1023,7 +1024,7 @@ ACCELSIM::measure()
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memset(&raw_accel_report, 0, sizeof(raw_accel_report));
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raw_accel_report.cmd = DIR_READ | ACC_READ;
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if(OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
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if (OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
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return;
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}
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@ -419,6 +419,9 @@ GYROSIM::init()
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return ret;
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}
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struct accel_report arp = {};
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struct gyro_report grp = {};
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/* allocate basic report buffers */
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_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
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if (_accel_reports == nullptr) {
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@ -466,7 +469,6 @@ GYROSIM::init()
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measure();
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/* advertise sensor topic, measure manually to initialize valid report */
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struct accel_report arp = {};
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_accel_reports->get(&arp);
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/* measurement will have generated a report, publish */
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@ -482,7 +484,6 @@ GYROSIM::init()
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/* advertise sensor topic, measure manually to initialize valid report */
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struct gyro_report grp = {};
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_gyro_reports->get(&grp);
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_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
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@ -511,8 +512,9 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
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if (cmd == MPUREAD) {
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// Get data from the simulator
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Simulator *sim = Simulator::getInstance();
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if (sim == NULL)
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if (sim == NULL) {
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return ENODEV;
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}
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// FIXME - not sure what interrupt status should be
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recv[1] = 0;
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@ -1012,7 +1014,7 @@ GYROSIM::measure()
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x++;
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}
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#endif
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struct MPUReport mpu_report;
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struct MPUReport mpu_report = {};
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/* start measuring */
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perf_begin(_sample_perf);
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@ -1031,8 +1033,8 @@ GYROSIM::measure()
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/*
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* Report buffers.
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*/
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accel_report arb;
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gyro_report grb;
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accel_report arb = {};
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gyro_report grb = {};
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// for now use local time but this should be the timestamp of the simulator
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grb.timestamp = hrt_absolute_time();
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@ -31,23 +31,23 @@
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#
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############################################################################
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#add_custom_command(OUTPUT topic_listener.cpp
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# COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
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# )
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add_custom_command(OUTPUT topic_listener.cpp
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COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
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)
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#add_custom_target(generate_topic_listener
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# DEPENDS topic_listener.cpp)
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add_custom_target(generate_topic_listener
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DEPENDS topic_listener.cpp)
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#px4_add_module(
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# MODULE systemcmds__topic_listener
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# MAIN listener
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# STACK 1800
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# COMPILE_FLAGS
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# -Os
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# SRCS
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# topic_listener.cpp
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# DEPENDS
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# platforms__common
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# generate_topic_listener
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# )
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px4_add_module(
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MODULE systemcmds__topic_listener
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MAIN listener
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STACK 1800
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COMPILE_FLAGS
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-Os
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SRCS
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topic_listener.cpp
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DEPENDS
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platforms__common
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generate_topic_listener
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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