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Merge branch 'cmake-2' into cmake-2-pthread

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This commit is contained in:
Lorenz Meier
2015-09-20 12:56:14 +02:00
parent 672a6d8f9b 1c27b9fa41
commit fe644fb3e0
5 changed files with 89 additions and 43 deletions
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Tools/generate_listener.py
+34 -7
View File
@@ -20,17 +20,32 @@ for index,m in enumerate(raw_messages):
temp_list = [] temp_list = []
f = open(m,'r') f = open(m,'r')
for line in f.readlines(): for line in f.readlines():
if(line.split(' ')[0] == "float32"): if ('float32[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
if ('uint64[' in line.split(' ')[0]):
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0])
temp_list.append(("uint64_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
elif(line.split(' ')[0] == "float32"):
temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0])) temp_list.append(("float",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "uint64"): elif(line.split(' ')[0] == "uint64") and len(line.split('=')) == 1:
temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0])) temp_list.append(("uint64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "bool"): elif(line.split(' ')[0] == "uint32") and len(line.split('=')) == 1:
temp_list.append(("uint32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "uint16") and len(line.split('=')) == 1:
temp_list.append(("uint16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "int64") and len(line.split('=')) == 1:
temp_list.append(("int64",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "int32") and len(line.split('=')) == 1:
temp_list.append(("int32",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif(line.split(' ')[0] == "int16") and len(line.split('=')) == 1:
temp_list.append(("int16",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "bool") and len(line.split('=')) == 1:
temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0])) temp_list.append(("bool",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1: elif (line.split(' ')[0] == "uint8") and len(line.split('=')) == 1:
temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0])) temp_list.append(("uint8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
elif ('float32[' in line.split(' ')[0]): elif (line.split(' ')[0] == "int8") and len(line.split('=')) == 1:
num_floats = int(line.split(" ")[0].split("[")[1].split("]")[0]) temp_list.append(("int8",line.split(' ')[1].split('\t')[0].split('\n')[0]))
temp_list.append(("float_array",line.split(' ')[1].split('\t')[0].split('\n')[0],num_floats))
f.close() f.close()
messages.append(m.split('/')[-1].split('.')[0]) messages.append(m.split('/')[-1].split('.')[0])
@@ -131,12 +146,24 @@ for index,m in enumerate(messages[1:]):
print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1])) print("\t\t\tprintf(\"%s: %%f\\n \",(double)container.%s);" % (item[1], item[1]))
elif item[0] == "float_array": elif item[0] == "float_array":
print("\t\t\tprintf(\"%s:\");" % item[1]) print("\t\t\tprintf(\"%s:\");" % item[1])
print("\t\t\tfor (int j=0;j<%d;j++) {" % item[2]) print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1]) print("\t\t\t\tprintf(\"%%f \",(double)container.%s[j]);" % item[1])
print("\t\t\t}") print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");") print("\t\t\tprintf(\"\\n\");")
elif item[0] == "uint64": elif item[0] == "uint64":
print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1])) print("\t\t\tprintf(\"%s: %%\" PRIu64 \"\\n \",container.%s);" % (item[1], item[1]))
elif item[0] == "uint64_array":
print("\t\t\tprintf(\"%s:\");" % item[1])
print("\t\t\tfor (int j = 0; j < %d; j++) {" % item[2])
print("\t\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
print("\t\t\t}")
print("\t\t\tprintf(\"\\n\");")
elif item[0] == "int64":
print("\t\t\tprintf(\"%s: %%\" PRI64 \"\\n \",container.%s);" % (item[1], item[1]))
elif item[0] == "int32":
print("\t\t\tprintf(\"%s: %%d\\n \",container.%s);" % (item[1], item[1]))
elif item[0] == "uint32":
print("\t\t\tprintf(\"%s: %%d\\n \",container.%s);" % (item[1], item[1]))
elif item[0] == "uint8": elif item[0] == "uint8":
print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1])) print("\t\t\tprintf(\"%s: %%u\\n \",container.%s);" % (item[1], item[1]))
elif item[0] == "bool": elif item[0] == "bool":
src/modules/simulator/simulator_mavlink.cpp
+25 -9
View File
@@ -370,19 +370,35 @@ void Simulator::send()
void Simulator::initializeSensorData() void Simulator::initializeSensorData()
{ {
struct baro_report baro = {}; // write sensor data to memory so that drivers can copy data from there
baro.pressure = 120000.0f; RawMPUData mpu = {};
mpu.accel_z = 9.81f;
// acceleration report write_MPU_data((void *)&mpu);
struct accel_report accel = {};
RawAccelData accel = {};
accel.z = 9.81f; accel.z = 9.81f;
accel.range_m_s2 = 80.0f;
// gyro report write_accel_data((void *)&accel);
struct gyro_report gyro = {};
// mag report RawMagData mag = {};
struct mag_report mag = {}; mag.x = 0.4f;
mag.y = 0.0f;
mag.z = 0.6f;
write_mag_data((void *)&mag);
RawBaroData baro = {};
// calculate air pressure from altitude (valid for low altitude)
baro.pressure = 120000.0f;
baro.altitude = 0.0f;
baro.temperature = 25.0f;
write_baro_data((void *)&baro);
RawAirspeedData airspeed {};
write_airspeed_data((void *)&airspeed);
} }
void Simulator::pollForMAVLinkMessages(bool publish) void Simulator::pollForMAVLinkMessages(bool publish)
src/platforms/posix/drivers/accelsim/accelsim.cpp
+5 -4
View File
@@ -448,6 +448,9 @@ ACCELSIM::init()
{ {
int ret = ERROR; int ret = ERROR;
struct mag_report mrp = {};
struct accel_report arp = {};
/* do SIM init first */ /* do SIM init first */
if (VDev::init() != OK) { if (VDev::init() != OK) {
PX4_WARN("SIM init failed"); PX4_WARN("SIM init failed");
@@ -478,7 +481,6 @@ ACCELSIM::init()
measure(); measure();
/* advertise sensor topic, measure manually to initialize valid report */ /* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp); _mag_reports->get(&mrp);
/* measurement will have generated a report, publish */ /* measurement will have generated a report, publish */
@@ -493,7 +495,6 @@ ACCELSIM::init()
_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH); _accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */ /* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp = {};
_accel_reports->get(&arp); _accel_reports->get(&arp);
/* measurement will have generated a report, publish */ /* measurement will have generated a report, publish */
@@ -1014,7 +1015,7 @@ ACCELSIM::measure()
} raw_accel_report; } raw_accel_report;
#pragma pack(pop) #pragma pack(pop)
accel_report accel_report; accel_report accel_report = {};
/* start the performance counter */ /* start the performance counter */
perf_begin(_accel_sample_perf); perf_begin(_accel_sample_perf);
@@ -1023,7 +1024,7 @@ ACCELSIM::measure()
memset(&raw_accel_report, 0, sizeof(raw_accel_report)); memset(&raw_accel_report, 0, sizeof(raw_accel_report));
raw_accel_report.cmd = DIR_READ | ACC_READ; raw_accel_report.cmd = DIR_READ | ACC_READ;
if(OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) { if (OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
return; return;
} }
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+8 -6
View File
@@ -419,6 +419,9 @@ GYROSIM::init()
return ret; return ret;
} }
struct accel_report arp = {};
struct gyro_report grp = {};
/* allocate basic report buffers */ /* allocate basic report buffers */
_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report)); _accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
if (_accel_reports == nullptr) { if (_accel_reports == nullptr) {
@@ -466,7 +469,6 @@ GYROSIM::init()
measure(); measure();
/* advertise sensor topic, measure manually to initialize valid report */ /* advertise sensor topic, measure manually to initialize valid report */
struct accel_report arp = {};
_accel_reports->get(&arp); _accel_reports->get(&arp);
/* measurement will have generated a report, publish */ /* measurement will have generated a report, publish */
@@ -482,7 +484,6 @@ GYROSIM::init()
/* advertise sensor topic, measure manually to initialize valid report */ /* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp = {};
_gyro_reports->get(&grp); _gyro_reports->get(&grp);
_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, _gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -511,8 +512,9 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
if (cmd == MPUREAD) { if (cmd == MPUREAD) {
// Get data from the simulator // Get data from the simulator
Simulator *sim = Simulator::getInstance(); Simulator *sim = Simulator::getInstance();
if (sim == NULL) if (sim == NULL) {
return ENODEV; return ENODEV;
}
// FIXME - not sure what interrupt status should be // FIXME - not sure what interrupt status should be
recv[1] = 0; recv[1] = 0;
@@ -1012,7 +1014,7 @@ GYROSIM::measure()
x++; x++;
} }
#endif #endif
struct MPUReport mpu_report; struct MPUReport mpu_report = {};
/* start measuring */ /* start measuring */
perf_begin(_sample_perf); perf_begin(_sample_perf);
@@ -1031,8 +1033,8 @@ GYROSIM::measure()
/* /*
* Report buffers. * Report buffers.
*/ */
accel_report arb; accel_report arb = {};
gyro_report grb; gyro_report grb = {};
// for now use local time but this should be the timestamp of the simulator // for now use local time but this should be the timestamp of the simulator
grb.timestamp = hrt_absolute_time(); grb.timestamp = hrt_absolute_time();
src/systemcmds/topic_listener/CMakeLists.txt
+17 -17
View File
@@ -31,23 +31,23 @@
# #
############################################################################ ############################################################################
#add_custom_command(OUTPUT topic_listener.cpp add_custom_command(OUTPUT topic_listener.cpp
# COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
# ) )
#add_custom_target(generate_topic_listener add_custom_target(generate_topic_listener
# DEPENDS topic_listener.cpp) DEPENDS topic_listener.cpp)
#px4_add_module( px4_add_module(
# MODULE systemcmds__topic_listener MODULE systemcmds__topic_listener
# MAIN listener MAIN listener
# STACK 1800 STACK 1800
# COMPILE_FLAGS COMPILE_FLAGS
# -Os -Os
# SRCS SRCS
# topic_listener.cpp topic_listener.cpp
# DEPENDS DEPENDS
# platforms__common platforms__common
# generate_topic_listener generate_topic_listener
# ) )
# vim: set noet ft=cmake fenc=utf-8 ff=unix : # vim: set noet ft=cmake fenc=utf-8 ff=unix :