mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-13 17:00:04 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
e389d6ffbb |
@@ -170,7 +170,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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try {
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sh('export')
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checkout(scm)
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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sh('git fetch --tags')
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sh('ccache -s')
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sh('make ' + target)
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@@ -187,7 +187,7 @@ def createBuildNode(Boolean archive, String docker_image, String target) {
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throw (exc)
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}
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finally {
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sh('make distclean; git clean -ff -x -d .')
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sh('make distclean')
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}
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}
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}
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+76
-63
@@ -25,7 +25,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -73,11 +73,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
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}
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}
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} // stage test
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@@ -102,7 +99,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -145,11 +142,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
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}
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}
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} // stage test
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@@ -174,7 +168,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -217,11 +211,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
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}
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}
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} // stage test
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@@ -246,7 +237,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -288,11 +279,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
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}
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}
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} // stage test
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@@ -317,7 +305,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -360,11 +348,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
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}
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}
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} // stage test
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@@ -389,7 +374,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -422,11 +407,13 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
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// test dataman
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
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// test dataman (stop mavlink & navigator first)
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
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@@ -441,6 +428,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
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checkStatus()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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@@ -452,11 +440,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
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}
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}
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} // stage test
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@@ -481,7 +466,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -512,9 +497,6 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
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// test dataman
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
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}
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}
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stage("status") {
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@@ -525,6 +507,7 @@ pipeline {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
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checkStatus()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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@@ -536,11 +519,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
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}
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}
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} // stage test
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@@ -565,7 +545,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
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}
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} // stage build
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@@ -608,11 +588,8 @@ pipeline {
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}
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}
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post {
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failure {
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
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always {
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
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}
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}
|
||||
} // stage test
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@@ -637,7 +614,7 @@ pipeline {
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'make distclean'
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}
|
||||
}
|
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} // stage build
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@@ -680,11 +657,8 @@ pipeline {
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||||
}
|
||||
}
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post {
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failure {
|
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sh 'cat /tmp/pyserial_spy_file.txt'
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}
|
||||
always {
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
|
||||
}
|
||||
}
|
||||
} // stage test
|
||||
@@ -710,7 +684,7 @@ void checkoutSCM() {
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retry(3) {
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||||
checkout scm
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||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
@@ -747,33 +721,26 @@ void checkStatus() {
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
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||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
// status commands
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
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||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
@@ -794,7 +761,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -851,7 +818,24 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
//sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
|
||||
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
@@ -951,6 +935,10 @@ void printTopics() {
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
@@ -960,4 +948,29 @@ void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
}
|
||||
|
||||
@@ -15,10 +15,10 @@ jobs:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
- {latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo", model: "iris" } # Alaska
|
||||
- {latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
|
||||
- {latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo", model: "tailsitter" } # Florida
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
|
||||
@@ -64,6 +64,3 @@
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
[submodule "platforms/nuttx/src/px4/stm/hal_stm32"]
|
||||
path = platforms/nuttx/src/px4/stm/hal_stm32
|
||||
url = git@github.com:zephyrproject-rtos/hal_stm32.git
|
||||
|
||||
@@ -413,8 +413,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
|
||||
add_subdirectory(platforms EXCLUDE_FROM_ALL)
|
||||
|
||||
include(dts)
|
||||
|
||||
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
|
||||
add_subdirectory(${PX4_BOARD_DIR})
|
||||
endif()
|
||||
|
||||
Vendored
+12
-12
@@ -88,7 +88,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make airframe_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -98,7 +98,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -108,7 +108,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make parameters_metadata'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -118,7 +118,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -128,7 +128,7 @@ pipeline {
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make module_documentation'
|
||||
dir('build/px4_sitl_default/docs') {
|
||||
@@ -138,7 +138,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -156,7 +156,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -170,7 +170,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh 'export'
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --all --tags'
|
||||
sh 'make uorb_graphs'
|
||||
dir('Tools/uorb_graph') {
|
||||
@@ -180,7 +180,7 @@ pipeline {
|
||||
}
|
||||
post {
|
||||
always {
|
||||
sh 'make distclean; git clean -ff -x -d .'
|
||||
sh 'make distclean'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -261,7 +261,7 @@ pipeline {
|
||||
steps {
|
||||
sh('export')
|
||||
sh('git fetch --all --tags')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
sh('make px4_sitl_rtps')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
|
||||
@@ -290,7 +290,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
||||
// 'master' branch
|
||||
@@ -319,7 +319,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
sh('export')
|
||||
sh('make distclean; git clean -ff -x -d .')
|
||||
sh('make distclean')
|
||||
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
||||
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
||||
// deploy uORB RTPS ID map
|
||||
|
||||
@@ -482,9 +482,7 @@ shellcheck_all:
|
||||
@make px4_fmu-v5_default shellcheck
|
||||
|
||||
validate_module_configs:
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
||||
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
||||
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
|
||||
@@ -14,19 +14,19 @@ param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_R_COUNT 4
|
||||
param set-default CA_MC_R0_PX 0.1515
|
||||
param set-default CA_MC_R0_PY 0.245
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.1515
|
||||
param set-default CA_MC_R1_PY -0.1875
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.1515
|
||||
param set-default CA_MC_R2_PY -0.245
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.1515
|
||||
param set-default CA_MC_R3_PY 0.1875
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -8,63 +8,6 @@
|
||||
# disable circuit breaker for airspeed sensor
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 7
|
||||
|
||||
param set-default CA_ROTOR_COUNT 8
|
||||
param set-default CA_R_REV 255
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AY -1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PX 0.5000
|
||||
param set-default CA_ROTOR0_PY 0.3000
|
||||
param set-default CA_ROTOR0_PZ 0.2000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AY 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PX 0.5000
|
||||
param set-default CA_ROTOR1_PY -0.3000
|
||||
param set-default CA_ROTOR1_PZ 0.2000
|
||||
param set-default CA_ROTOR2_AX 1.0000
|
||||
param set-default CA_ROTOR2_AY 1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -0.5000
|
||||
param set-default CA_ROTOR2_PY 0.3000
|
||||
param set-default CA_ROTOR2_PZ 0.2000
|
||||
param set-default CA_ROTOR3_AX 1.0000
|
||||
param set-default CA_ROTOR3_AY -1.0000
|
||||
param set-default CA_ROTOR3_AZ 0.0000
|
||||
param set-default CA_ROTOR3_KM 0.0000
|
||||
param set-default CA_ROTOR3_PX -0.5000
|
||||
param set-default CA_ROTOR3_PY -0.3000
|
||||
param set-default CA_ROTOR3_PZ 0.2000
|
||||
param set-default CA_ROTOR4_AZ -1.0000
|
||||
param set-default CA_ROTOR4_KM 0.0000
|
||||
param set-default CA_ROTOR4_PX 0.5000
|
||||
param set-default CA_ROTOR4_PY 0.5000
|
||||
param set-default CA_ROTOR5_AZ 1.0000
|
||||
param set-default CA_ROTOR5_KM 0.0000
|
||||
param set-default CA_ROTOR5_PX 0.5000
|
||||
param set-default CA_ROTOR5_PY -0.5000
|
||||
param set-default CA_ROTOR6_AZ 1.0000
|
||||
param set-default CA_ROTOR6_KM 0.0000
|
||||
param set-default CA_ROTOR6_PX -0.5000
|
||||
param set-default CA_ROTOR6_PY 0.5000
|
||||
param set-default CA_ROTOR7_KM 0.0000
|
||||
param set-default CA_ROTOR7_PX -0.5000
|
||||
param set-default CA_ROTOR7_PY -0.5000
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 106
|
||||
param set-default PWM_MAIN_FUNC7 107
|
||||
param set-default PWM_MAIN_FUNC8 108
|
||||
|
||||
set MIXER skip
|
||||
|
||||
set PWM_OUT 12345678
|
||||
set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -43,32 +43,5 @@ param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
#param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default CA_ROTOR_COUNT 1
|
||||
param set-default CA_ROTOR0_PX 0.3
|
||||
|
||||
param set-default CA_SV_CS_COUNT 6
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
param set-default CA_SV_CS3_TYPE 4
|
||||
param set-default CA_SV_CS4_TYPE 9
|
||||
param set-default CA_SV_CS5_TYPE 10
|
||||
param set-default PWM_MAIN_FUNC3 204
|
||||
param set-default PWM_MAIN_FUNC4 205
|
||||
param set-default PWM_MAIN_FUNC5 101
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
param set-default PWM_MAIN_FUNC9 206
|
||||
param set-default PWM_MAIN_REV 256
|
||||
|
||||
|
||||
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
|
||||
set MIXER custom
|
||||
|
||||
@@ -7,39 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
|
||||
@@ -7,48 +7,14 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 1
|
||||
param set-default CA_ROTOR2_PY -1
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -1
|
||||
param set-default CA_ROTOR3_PY 1
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_SV_CS_COUNT 2
|
||||
param set-default CA_SV_CS0_TYPE 5
|
||||
param set-default CA_SV_CS0_TRQ_P 0.5
|
||||
param set-default CA_SV_CS0_TRQ_Y -0.5
|
||||
param set-default CA_SV_CS1_TYPE 6
|
||||
param set-default CA_SV_CS1_TRQ_P 0.5
|
||||
param set-default CA_SV_CS1_TRQ_Y 0.5
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 0
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PR_P 0.3
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MAX 32
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_P 0.2
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_CRUISE 0.33
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
@@ -70,8 +36,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default NAV_ACC_RAD 5
|
||||
param set-default NAV_LOITER_RAD 80
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_SC 0.5
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
@@ -7,52 +7,6 @@
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
# param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 3
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR0_TILT 1
|
||||
param set-default CA_ROTOR1_TILT 2
|
||||
param set-default CA_ROTOR2_TILT 3
|
||||
param set-default CA_ROTOR3_TILT 4
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_TL0_CT 0
|
||||
param set-default CA_SV_TL1_CT 0
|
||||
param set-default CA_SV_TL2_CT 0
|
||||
param set-default CA_SV_TL3_CT 0
|
||||
param set-default CA_SV_TL_COUNT 4
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 204
|
||||
param set-default PWM_MAIN_FUNC6 205
|
||||
param set-default PWM_MAIN_FUNC7 206
|
||||
param set-default PWM_MAIN_FUNC8 207
|
||||
param set-default PWM_MAIN_FUNC9 201
|
||||
param set-default PWM_MAIN_FUNC10 202
|
||||
param set-default PWM_MAIN_FUNC11 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
param set-default FW_PR_FF 0.2
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 5
|
||||
|
||||
param set-default CA_R_REV 1
|
||||
param set-default PWM_MAIN_FUNC1 201
|
||||
param set-default PWM_MAIN_FUNC2 201
|
||||
param set-default PWM_MAIN_FUNC6 101
|
||||
param set-default PWM_MAIN_FUNC7 101
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
|
||||
|
||||
@@ -28,15 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 6
|
||||
|
||||
param set-default CA_R_REV 3
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 101
|
||||
param set-default PWM_MAIN_FUNC6 102
|
||||
param set-default PWM_MAIN_FUNC7 102
|
||||
|
||||
set MAV_TYPE 10
|
||||
|
||||
set MIXER_FILE skip
|
||||
set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
|
||||
|
||||
@@ -28,25 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
param set-default GND_MAX_ANG 0.6
|
||||
param set-default GND_WHEEL_BASE 2.0
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_AX 1
|
||||
param set-default CA_ROTOR0_AZ 0
|
||||
param set-default CA_ROTOR0_KM 0
|
||||
param set-default CA_ROTOR0_PX -2
|
||||
param set-default CA_ROTOR0_PY -1
|
||||
param set-default CA_ROTOR1_AX 1
|
||||
param set-default CA_ROTOR1_AZ 0
|
||||
param set-default CA_ROTOR1_KM 0
|
||||
param set-default CA_ROTOR1_PX -2
|
||||
param set-default CA_ROTOR1_PY 1
|
||||
param set-default CA_R_REV 3
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
set MAV_TYPE 11
|
||||
|
||||
set MIXER skip
|
||||
set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
|
||||
|
||||
@@ -11,31 +11,5 @@
|
||||
|
||||
. ${R}etc/init.d/rc.airship_defaults
|
||||
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
param set-default CA_AIRFRAME 9
|
||||
|
||||
param set-default CA_ROTOR_COUNT 3
|
||||
param set-default CA_ROTOR0_AX 1.0000
|
||||
param set-default CA_ROTOR0_AZ 0.0000
|
||||
param set-default CA_ROTOR0_KM 0.0000
|
||||
param set-default CA_ROTOR0_PY 2.0000
|
||||
param set-default CA_ROTOR1_AX 1.0000
|
||||
param set-default CA_ROTOR1_AZ 0.0000
|
||||
param set-default CA_ROTOR1_KM 0.0000
|
||||
param set-default CA_ROTOR1_PY -2.0000
|
||||
param set-default CA_ROTOR2_AY -1.0000
|
||||
param set-default CA_ROTOR2_AZ 0.0000
|
||||
param set-default CA_ROTOR2_KM 0.0000
|
||||
param set-default CA_ROTOR2_PX -10.0000
|
||||
|
||||
param set-default CA_SV_CS_COUNT 1
|
||||
param set-default CA_SV_CS0_TRQ_P 1.0000
|
||||
|
||||
param set-default CA_R_REV 7
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 201
|
||||
param set-default PWM_MAIN_FUNC4 103
|
||||
|
||||
set MIXER skip
|
||||
set MIXER cloudship
|
||||
set PWM_OUT 1234
|
||||
|
||||
@@ -30,26 +30,26 @@ param set-default MNT_MODE_IN 0
|
||||
param set-default MAV_PROTO_VER 2
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_MC_R_COUNT 6
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 1.0
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -1.0
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.866025
|
||||
param set-default CA_ROTOR2_PY -0.5
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.866025
|
||||
param set-default CA_ROTOR3_PY 0.5
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_ROTOR4_PX 0.866025
|
||||
param set-default CA_ROTOR4_PY 0.5
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_ROTOR5_PX -0.866025
|
||||
param set-default CA_ROTOR5_PY -0.5
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 1.0
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -1.0
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.866025
|
||||
param set-default CA_MC_R2_PY -0.5
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.866025
|
||||
param set-default CA_MC_R3_PY 0.5
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.866025
|
||||
param set-default CA_MC_R4_PY 0.5
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
param set-default CA_MC_R5_PX -0.866025
|
||||
param set-default CA_MC_R5_PY -0.5
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -38,4 +38,3 @@ param set SIH_IXZ 0.00046
|
||||
param set SIH_KDV 0.2
|
||||
|
||||
param set SIH_VEHICLE_TYPE 1 # sih as fixed wing
|
||||
param set RWTO_TKOFF 1 # enable takeoff from runway (as opposed to launched)
|
||||
|
||||
@@ -64,6 +64,7 @@ param set-default FW_BAT_SCALE_EN 1
|
||||
param set-default FW_THR_ALT_SCL 2.7
|
||||
param set-default FW_T_RLL2THR 20
|
||||
|
||||
param set-default LNDMC_ALT_MAX 9999
|
||||
param set-default LNDMC_XY_VEL_MAX 1
|
||||
param set-default LNDMC_Z_VEL_MAX 0.7
|
||||
|
||||
|
||||
@@ -19,19 +19,19 @@ param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 0.177
|
||||
param set-default CA_ROTOR0_PY 0.177
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.177
|
||||
param set-default CA_ROTOR1_PY -0.177
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.177
|
||||
param set-default CA_ROTOR2_PY -0.177
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.177
|
||||
param set-default CA_ROTOR3_PY 0.177
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_MC_R_COUNT 4
|
||||
param set-default CA_MC_R0_PX 0.177
|
||||
param set-default CA_MC_R0_PY 0.177
|
||||
param set-default CA_MC_R0_KM 0.05
|
||||
param set-default CA_MC_R1_PX -0.177
|
||||
param set-default CA_MC_R1_PY -0.177
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
param set-default CA_MC_R2_PX 0.177
|
||||
param set-default CA_MC_R2_PY -0.177
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
param set-default CA_MC_R3_PX -0.177
|
||||
param set-default CA_MC_R3_PY 0.177
|
||||
param set-default CA_MC_R3_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -15,31 +15,31 @@
|
||||
param set-default SYS_CTRL_ALLOC 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 6
|
||||
param set-default CA_MC_R_COUNT 6
|
||||
|
||||
param set-default CA_ROTOR0_PX 0.0
|
||||
param set-default CA_ROTOR0_PY 0.275
|
||||
param set-default CA_ROTOR0_KM -0.05
|
||||
param set-default CA_MC_R0_PX 0.0
|
||||
param set-default CA_MC_R0_PY 0.275
|
||||
param set-default CA_MC_R0_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR1_PX 0.0
|
||||
param set-default CA_ROTOR1_PY -0.275
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_MC_R1_PX 0.0
|
||||
param set-default CA_MC_R1_PY -0.275
|
||||
param set-default CA_MC_R1_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR2_PX 0.238
|
||||
param set-default CA_ROTOR2_PY -0.1375
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_MC_R2_PX 0.238
|
||||
param set-default CA_MC_R2_PY -0.1375
|
||||
param set-default CA_MC_R2_KM -0.05
|
||||
|
||||
param set-default CA_ROTOR3_PX -0.238
|
||||
param set-default CA_ROTOR3_PY 0.1375
|
||||
param set-default CA_ROTOR3_KM 0.05
|
||||
param set-default CA_MC_R3_PX -0.238
|
||||
param set-default CA_MC_R3_PY 0.1375
|
||||
param set-default CA_MC_R3_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR4_PX 0.238
|
||||
param set-default CA_ROTOR4_PY 0.1375
|
||||
param set-default CA_ROTOR4_KM 0.05
|
||||
param set-default CA_MC_R4_PX 0.238
|
||||
param set-default CA_MC_R4_PY 0.1375
|
||||
param set-default CA_MC_R4_KM 0.05
|
||||
|
||||
param set-default CA_ROTOR5_PX -0.238
|
||||
param set-default CA_ROTOR5_PY -0.1375
|
||||
param set-default CA_ROTOR5_KM -0.05
|
||||
param set-default CA_MC_R5_PX -0.238
|
||||
param set-default CA_MC_R5_PY -0.1375
|
||||
param set-default CA_MC_R5_KM -0.05
|
||||
|
||||
param set-default PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
|
||||
@@ -48,14 +48,6 @@ fi
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start Airship Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -10,14 +10,6 @@
|
||||
#
|
||||
ekf2 start &
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controller.
|
||||
#
|
||||
|
||||
@@ -12,13 +12,6 @@ ekf2 start &
|
||||
#attitude_estimator_q start
|
||||
#local_position_estimator start
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start attitude controllers.
|
||||
|
||||
@@ -4,6 +4,19 @@
|
||||
#
|
||||
# NOTE: Script variables are declared/initialized/unset in the rcS script.
|
||||
#
|
||||
|
||||
if ! ver hwcmp OMNIBUS_F4SD
|
||||
then
|
||||
if ! ver hwcmp BITCRAZE_CRAZYFLIE
|
||||
then
|
||||
# Configure all I2C buses to 100 KHz as they
|
||||
# are all external or slow
|
||||
# TODO: move this
|
||||
pwm_out i2c 1 100000
|
||||
pwm_out i2c 2 100000
|
||||
fi
|
||||
fi
|
||||
|
||||
###############################################################################
|
||||
# Begin Optional drivers #
|
||||
###############################################################################
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator Group Selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start UUV Attitude Controller.
|
||||
#
|
||||
|
||||
@@ -15,14 +15,6 @@ ekf2 start &
|
||||
# End Estimator group selection #
|
||||
###############################################################################
|
||||
|
||||
if param compare SYS_CTRL_ALLOC 1
|
||||
then
|
||||
#
|
||||
# Start Control Allocator
|
||||
#
|
||||
control_allocator start
|
||||
fi
|
||||
|
||||
airspeed_selector start
|
||||
|
||||
vtol_att_control start
|
||||
|
||||
@@ -72,7 +72,28 @@ then
|
||||
umount /fs/microsd
|
||||
|
||||
else
|
||||
set SDCARD_AVAILABLE yes
|
||||
# very basic I/O test
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
unset PX4_INIT_TEST_FILE
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
echo "ERROR [init] card I/O failure, formatting"
|
||||
set SDCARD_FORMAT yes
|
||||
umount /fs/microsd
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -158,11 +179,6 @@ else
|
||||
# try importing from backup file
|
||||
if [ -f "/fs/microsd/parameters_backup.bson" ]
|
||||
then
|
||||
echo "[init] importing from parameter backup"
|
||||
|
||||
# dump current backup file contents for comparison
|
||||
param dump /fs/microsd/parameters_backup.bson
|
||||
|
||||
param import /fs/microsd/parameters_backup.bson
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -33,11 +33,15 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
autogyro_sitl.main.mix
|
||||
boat_sitl.main.mix
|
||||
delta_wing_sitl.main.mix
|
||||
package_drop.aux.mix
|
||||
plane_sitl.main.mix
|
||||
quad_x_vtol.main.mix
|
||||
rover_ackermann_sitl.main.mix
|
||||
rover_diff_sitl.main.mix
|
||||
standard_vtol_sitl.main.mix
|
||||
tiltrotor_sitl.main.mix
|
||||
uuv_x_sitl.main.mix
|
||||
vectored6dof_sitl.main.mix
|
||||
)
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
Mixer for SITL boat
|
||||
=========================================================
|
||||
|
||||
Throttle of left propeller of boat on Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
|
||||
Throttle of right propeller of boat on Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 1
|
||||
O: 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,46 @@
|
||||
Mixer for SITL rover
|
||||
=========================================================
|
||||
|
||||
Output 0
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 1
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 10000 10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 2
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 3
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 4
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 5
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 6
|
||||
---------------------------------------
|
||||
M: 2
|
||||
S: 0 2 -10000 -10000 0 -10000 10000
|
||||
S: 0 3 10000 10000 0 -10000 10000
|
||||
|
||||
Output 7
|
||||
---------------------------------------
|
||||
Z:
|
||||
|
||||
Output 8
|
||||
---------------------------------------
|
||||
Z:
|
||||
@@ -0,0 +1,40 @@
|
||||
# Motor 1
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 2
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 3
|
||||
M: 3
|
||||
S: 0 2 -4000 -4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 +4000 +4000 0 -4000 +4000
|
||||
# Motor 4
|
||||
M: 3
|
||||
S: 0 2 +4000 +4000 0 -4000 +4000
|
||||
S: 0 3 +4000 +4000 0 -4000 +4000
|
||||
S: 0 4 -4000 -4000 0 -4000 +4000
|
||||
# Motor 5
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
# Motor 6
|
||||
M: 3
|
||||
S: 0 0 -4000 -4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 7
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 +4000 +4000 0 -4000 +4000
|
||||
S: 0 5 +4000 +4000 0 -4000 +4000
|
||||
# Motor 8
|
||||
M: 3
|
||||
S: 0 0 +4000 +4000 0 -4000 +4000
|
||||
S: 0 1 -4000 -4000 0 -4000 +4000
|
||||
S: 0 5 -4000 -4000 0 -4000 +4000
|
||||
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -38,9 +36,8 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def monitor_firmware_upload(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout = 180 # 3 minutes
|
||||
timeout_start = time.monotonic()
|
||||
@@ -52,59 +49,33 @@ def monitor_firmware_upload(port_url, baudrate):
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
timeout_newline = time.monotonic()
|
||||
ser.write("\n".encode("ascii"))
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 10:
|
||||
timeout_newline = time.monotonic()
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
monitor_firmware_upload(port_url, args.baudrate)
|
||||
monitor_firmware_upload(args.device, args.baudrate)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+51
-83
@@ -6,9 +6,6 @@ from subprocess import call, Popen
|
||||
from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -32,38 +29,33 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
print(line, end='')
|
||||
|
||||
|
||||
def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
@@ -73,32 +65,28 @@ def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
|
||||
# write command (param set) and wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
|
||||
if cmd in serial_line:
|
||||
print_line(serial_line)
|
||||
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
# verify param value
|
||||
cmd = "param show " + param_name
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
serial_cmd = '{0}\r\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
param_show_response = param_name + " ["
|
||||
|
||||
@@ -108,64 +96,44 @@ def do_param_set_cmd(port_url, baudrate, param_name, param_value):
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if param_show_response in serial_line:
|
||||
print_line(serial_line)
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if param_show_response in serial_line:
|
||||
current_param_value = serial_line.split(":")[-1].strip()
|
||||
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
sys.exit(1)
|
||||
if (current_param_value == param_value):
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
sys.exit(1)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
|
||||
parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_param_set_cmd(port_url, args.baudrate, args.param_name, args.param_value)
|
||||
do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+20
-44
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -38,15 +36,15 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
def reboot(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
def reboot(port_url, baudrate):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
# clear
|
||||
ser.readlines()
|
||||
|
||||
time_start = time.monotonic()
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
ser.write("\nreboot\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time_reboot_cmd = time_start
|
||||
|
||||
timeout_reboot_cmd = 90
|
||||
@@ -55,53 +53,31 @@ def reboot(port_url, baudrate):
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
print_line(serial_line)
|
||||
|
||||
else:
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
|
||||
time_reboot_cmd = time.monotonic()
|
||||
print("sending reboot cmd again")
|
||||
ser.write("reboot\n".encode("ascii"))
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
|
||||
if time.monotonic() > time_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
+50
-72
@@ -7,8 +7,6 @@ from argparse import ArgumentParser
|
||||
import re
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -39,59 +37,59 @@ def print_line(line):
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
sys.exit(1)
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
# run command
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 5 # 5 seconds
|
||||
timeout = 1 # 1 second
|
||||
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\n'.format(cmd, success_cmd, success_cmd)
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
print_line(serial_line)
|
||||
if cmd in serial_line:
|
||||
break
|
||||
elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
|
||||
print_line(serial_line)
|
||||
# we missed the echo, but command ran and succeeded
|
||||
sys.exit(0)
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
@@ -102,60 +100,40 @@ def do_nsh_cmd(port_url, baudrate, cmd):
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
else:
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
if "nsh>" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
elif "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(1) # error, command didn't complete successfully
|
||||
|
||||
if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
|
||||
print("Error, timeout")
|
||||
sys.exit(-1)
|
||||
|
||||
if len(serial_line) <= 0:
|
||||
ser.write("\r\n".encode("ascii"))
|
||||
ser.flush()
|
||||
time.sleep(0.2)
|
||||
|
||||
ser.close()
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
do_nsh_cmd(port_url, args.baudrate, args.cmd)
|
||||
do_nsh_cmd(args.device, args.baudrate, args.cmd)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+46
-75
@@ -9,9 +9,6 @@ import unittest
|
||||
import os
|
||||
import sys
|
||||
import datetime
|
||||
import serial.tools.list_ports as list_ports
|
||||
import tempfile
|
||||
import warnings
|
||||
|
||||
COLOR_RED = "\x1b[31m"
|
||||
COLOR_GREEN = "\x1b[32m"
|
||||
@@ -41,36 +38,33 @@ def print_line(line):
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
|
||||
def do_test(port_url, baudrate, test_name):
|
||||
|
||||
# ignore pyserial spy:// resource warnings
|
||||
warnings.filterwarnings(action="ignore", message="unclosed", category=ResourceWarning)
|
||||
|
||||
ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=3, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.monotonic()
|
||||
timeout = 30 # 30 seconds
|
||||
|
||||
ser.write("\n\n\n".encode("ascii"))
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
ser.write("\n".encode("ascii"))
|
||||
ser.flush()
|
||||
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
if "nsh>" in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
ser.write("\n".encode("ascii"))
|
||||
if len(serial_line) > 0:
|
||||
print(serial_line, end='')
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for prompt")
|
||||
return False
|
||||
|
||||
# clear
|
||||
ser.reset_input_buffer()
|
||||
ser.readlines()
|
||||
|
||||
success = False
|
||||
|
||||
# run test cmd
|
||||
print('\n|======================================================================')
|
||||
@@ -85,17 +79,20 @@ def do_test(port_url, baudrate, test_name):
|
||||
print("Running command: \'{0}\'".format(cmd))
|
||||
serial_cmd = '{0}\n'.format(cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
|
||||
ser.flush()
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if cmd in serial_line:
|
||||
break
|
||||
if cmd in serial_line:
|
||||
break
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout waiting for command echo")
|
||||
break
|
||||
|
||||
|
||||
# print results, wait for final result (PASSED or FAILED)
|
||||
timeout = 300 # 5 minutes
|
||||
@@ -108,26 +105,27 @@ def do_test(port_url, baudrate, test_name):
|
||||
if len(serial_line) > 0:
|
||||
print_line(serial_line)
|
||||
|
||||
if test_name + " PASSED" in serial_line:
|
||||
ser.close()
|
||||
return True
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
ser.close()
|
||||
return False
|
||||
else:
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
ser.close()
|
||||
return False
|
||||
if test_name + " PASSED" in serial_line:
|
||||
success = True
|
||||
break
|
||||
elif test_name + " FAILED" in serial_line:
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 30 seconds if still running
|
||||
if time.monotonic() - timeout_newline > 30:
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
if time.monotonic() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
|
||||
success = False
|
||||
break
|
||||
|
||||
# newline every 10 seconds if still running
|
||||
if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
|
||||
ser.write("\n".encode("ascii"))
|
||||
timeout_newline = time.monotonic()
|
||||
|
||||
ser.close()
|
||||
return False
|
||||
|
||||
return success
|
||||
|
||||
class TestHardwareMethods(unittest.TestCase):
|
||||
TEST_DEVICE = 0
|
||||
@@ -209,39 +207,12 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))
|
||||
|
||||
def main():
|
||||
|
||||
default_device = None
|
||||
device_required = True
|
||||
|
||||
# select USB UART as default if there's only 1
|
||||
ports = list(serial.tools.list_ports.grep('USB UART'))
|
||||
|
||||
if (len(ports) == 1):
|
||||
default_device = ports[0].device
|
||||
device_required = False
|
||||
|
||||
print("Default USB UART port: {0}".format(ports[0].name))
|
||||
print(" device: {0}".format(ports[0].device))
|
||||
print(" description: \"{0}\" ".format(ports[0].description))
|
||||
print(" hwid: {0}".format(ports[0].hwid))
|
||||
#print(" vid: {0}, pid: {1}".format(ports[0].vid, ports[0].pid))
|
||||
#print(" serial_number: {0}".format(ports[0].serial_number))
|
||||
#print(" location: {0}".format(ports[0].location))
|
||||
print(" manufacturer: {0}".format(ports[0].manufacturer))
|
||||
#print(" product: {0}".format(ports[0].product))
|
||||
#print(" interface: {0}".format(ports[0].interface))
|
||||
|
||||
parser = ArgumentParser(description=__doc__)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
|
||||
parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
|
||||
parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
|
||||
args = parser.parse_args()
|
||||
|
||||
tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
|
||||
port_url = "spy://{0}?file={1}".format(args.device, tmp_file)
|
||||
|
||||
print("pyserial url: {0}".format(port_url))
|
||||
|
||||
TestHardwareMethods.TEST_DEVICE = port_url
|
||||
TestHardwareMethods.TEST_DEVICE = args.device
|
||||
TestHardwareMethods.TEST_BAUDRATE = args.baudrate
|
||||
|
||||
unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])
|
||||
|
||||
@@ -29,16 +29,10 @@ do
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART --value $airframe
|
||||
${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER --value 782097
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
|
||||
|
||||
${DIR}/reboot.py --device ${SERIAL_DEVICE}
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
|
||||
@@ -10,7 +10,6 @@ fi
|
||||
exec find boards msg src platforms test \
|
||||
-path msg/templates/urtps -prune -o \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/nuttx/src/px4/stm/hal_stm32 -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
|
||||
|
||||
+1
-1
@@ -19,7 +19,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-02-04"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
@@ -1,32 +0,0 @@
|
||||
This directory used to contain the edtlib.py and dtlib.py libraries
|
||||
and tests, alongside the gen_defines.py script that uses them for
|
||||
converting DTS to the C macros used by Zephyr.
|
||||
|
||||
The libraries and tests have now been moved to the 'python-devicetree'
|
||||
subdirectory.
|
||||
|
||||
We are now in the process of extracting edtlib and dtlib into a
|
||||
standalone source code library that we intend to share with other
|
||||
projects.
|
||||
|
||||
Links related to the work making this standalone:
|
||||
|
||||
https://pypi.org/project/devicetree/
|
||||
https://python-devicetree.readthedocs.io/en/latest/
|
||||
https://github.com/zephyrproject-rtos/python-devicetree
|
||||
|
||||
The 'python-devicetree' subdirectory you find here next to this
|
||||
README.txt matches the standalone python-devicetree repository linked
|
||||
above.
|
||||
|
||||
For now, the 'main' copy will continue to be hosted here in the zephyr
|
||||
repository. We will mirror changes into the standalone repository as
|
||||
needed; you can just ignore it for now.
|
||||
|
||||
Code in the zephyr repository which needs these libraries will import
|
||||
devicetree.edtlib from now on, but the code will continue to be found
|
||||
by manipulating sys.path for now.
|
||||
|
||||
Eventually, as APIs stabilize, the python-devicetree code in this
|
||||
repository will disappear, and a standalone repository will be the
|
||||
'main' one.
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,151 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
# Copyright (c) 2021 Nordic Semiconductor ASA
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
'''
|
||||
This script uses edtlib and the devicetree data in the build directory
|
||||
to generate a CMake file which contains devicetree data.
|
||||
|
||||
That data can then be used in the rest of the build system.
|
||||
|
||||
The generated CMake file looks like this:
|
||||
|
||||
add_custom_target(devicetree_target)
|
||||
set_target_properties(devicetree_target PROPERTIES
|
||||
"DT_PROP|/soc|compatible" "vnd,soc;")
|
||||
...
|
||||
|
||||
It defines a special CMake target, and saves various values in the
|
||||
devicetree as CMake target properties.
|
||||
|
||||
Be careful:
|
||||
|
||||
"Property" here can refer to a CMake target property or a
|
||||
DTS property. DTS property values are stored inside
|
||||
CMake target properties, along with other devicetree data.
|
||||
|
||||
The build system includes this generated file early on, so
|
||||
devicetree values can be used at CMake processing time.
|
||||
|
||||
Accss is not done directly, but with Zephyr CMake extension APIs,
|
||||
like this:
|
||||
|
||||
# sets 'compat' to "vnd,soc" in CMake
|
||||
dt_prop(compat PATH "/soc" PROPERTY compatible INDEX 0)
|
||||
|
||||
This is analogous to how DTS values are encoded as C macros,
|
||||
which can be read in source code using C APIs like
|
||||
DT_PROP(node_id, foo) from devicetree.h.
|
||||
'''
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import pickle
|
||||
import sys
|
||||
|
||||
sys.path.append(os.path.join(os.path.dirname(__file__), 'python-devicetree',
|
||||
'src'))
|
||||
|
||||
|
||||
def parse_args():
|
||||
# Returns parsed command-line arguments
|
||||
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--cmake-out", required=True,
|
||||
help="path to write the CMake property file")
|
||||
parser.add_argument("--edt-pickle", required=True,
|
||||
help="path to read the pickled edtlib.EDT object from")
|
||||
|
||||
return parser.parse_args()
|
||||
|
||||
|
||||
def main():
|
||||
args = parse_args()
|
||||
|
||||
with open(args.edt_pickle, 'rb') as f:
|
||||
edt = pickle.load(f)
|
||||
|
||||
# In what looks like an undocumented implementation detail, CMake
|
||||
# target properties are stored in a C++ standard library map whose
|
||||
# keys and values are each arbitrary strings, so we can use
|
||||
# whatever we want as target property names.
|
||||
#
|
||||
# We therefore use '|' as a field separator character below within
|
||||
# because it's not a valid character in DTS node paths or property
|
||||
# names. This lets us store the "real" paths and property names
|
||||
# without conversion to lowercase-and-underscores like we have to
|
||||
# do in C.
|
||||
#
|
||||
# If CMake adds restrictions on target property names later, we
|
||||
# can just tweak the generated file to use a more restrictive
|
||||
# property encoding, perhaps reusing the same style documented in
|
||||
# macros.bnf for C macros.
|
||||
|
||||
cmake_props = []
|
||||
chosen_nodes = edt.chosen_nodes
|
||||
for node in chosen_nodes:
|
||||
path = chosen_nodes[node].path
|
||||
cmake_props.append(f'"DT_CHOSEN|{node}" "{path}"')
|
||||
|
||||
# The separate loop over edt.nodes here is meant to keep
|
||||
# all of the alias-related properties in one place.
|
||||
for node in edt.nodes:
|
||||
path = node.path
|
||||
for alias in node.aliases:
|
||||
cmake_props.append(f'"DT_ALIAS|{alias}" "{path}"')
|
||||
|
||||
for node in edt.nodes:
|
||||
cmake_props.append(f'"DT_NODE|{node.path}" TRUE')
|
||||
|
||||
for label in node.labels:
|
||||
cmake_props.append(f'"DT_NODELABEL|{label}" "{node.path}"')
|
||||
|
||||
for item in node.props:
|
||||
# We currently do not support phandles for edt -> cmake conversion.
|
||||
if "phandle" not in node.props[item].type:
|
||||
if "array" in node.props[item].type:
|
||||
# Convert array to CMake list
|
||||
cmake_value = ''
|
||||
for val in node.props[item].val:
|
||||
cmake_value = f'{cmake_value}{val};'
|
||||
else:
|
||||
cmake_value = node.props[item].val
|
||||
|
||||
# Encode node's property 'item' as a CMake target property
|
||||
# with a name like 'DT_PROP|<path>|<property>'.
|
||||
cmake_prop = f'DT_PROP|{node.path}|{item}'
|
||||
cmake_props.append(f'"{cmake_prop}" "{cmake_value}"')
|
||||
|
||||
if node.regs is not None:
|
||||
cmake_props.append(f'"DT_REG|{node.path}|NUM" "{len(node.regs)}"')
|
||||
cmake_addr = ''
|
||||
cmake_size = ''
|
||||
|
||||
for reg in node.regs:
|
||||
if reg.addr is None:
|
||||
cmake_addr = f'{cmake_addr}NONE;'
|
||||
else:
|
||||
cmake_addr = f'{cmake_addr}{hex(reg.addr)};'
|
||||
|
||||
if reg.size is None:
|
||||
cmake_size = f'{cmake_size}NONE;'
|
||||
else:
|
||||
cmake_size = f'{cmake_size}{hex(reg.size)};'
|
||||
|
||||
cmake_props.append(f'"DT_REG|{node.path}|ADDR" "{cmake_addr}"')
|
||||
cmake_props.append(f'"DT_REG|{node.path}|SIZE" "{cmake_size}"')
|
||||
|
||||
with open(args.cmake_out, "w", encoding="utf-8") as cmake_file:
|
||||
print('add_custom_target(devicetree_target)', file=cmake_file)
|
||||
print(file=cmake_file)
|
||||
|
||||
for prop in cmake_props:
|
||||
print(
|
||||
f'set_target_properties(devicetree_target PROPERTIES {prop})',
|
||||
file=cmake_file
|
||||
)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,7 +0,0 @@
|
||||
dist/
|
||||
src/devicetree.egg-info/
|
||||
build/
|
||||
devicetree.egg-info/
|
||||
__pycache__/
|
||||
.tox/
|
||||
doc/build/
|
||||
@@ -1 +0,0 @@
|
||||
sphinx_rtd_theme # docs
|
||||
@@ -1,42 +0,0 @@
|
||||
# Copyright (c) 2021, Nordic Semiconductor ASA
|
||||
#
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
import setuptools
|
||||
|
||||
long_description = '''
|
||||
Placeholder
|
||||
===========
|
||||
|
||||
This is just a placeholder for moving Zephyr's devicetree libraries
|
||||
to PyPI.
|
||||
'''
|
||||
|
||||
version = '0.0.1'
|
||||
|
||||
setuptools.setup(
|
||||
# TBD, just use these for now.
|
||||
author='Zephyr Project',
|
||||
author_email='devel@lists.zephyrproject.org',
|
||||
|
||||
name='devicetree',
|
||||
version=version,
|
||||
description='Python libraries for devicetree',
|
||||
long_description=long_description,
|
||||
# http://docutils.sourceforge.net/FAQ.html#what-s-the-official-mime-type-for-restructuredtext-data
|
||||
long_description_content_type="text/x-rst",
|
||||
url='https://github.com/zephyrproject-rtos/python-devicetree',
|
||||
packages=setuptools.find_packages(where='src'),
|
||||
package_dir={'': 'src'},
|
||||
classifiers=[
|
||||
'Programming Language :: Python :: 3 :: Only',
|
||||
'License :: OSI Approved :: Apache Software License',
|
||||
'Operating System :: POSIX :: Linux',
|
||||
'Operating System :: MacOS :: MacOS X',
|
||||
'Operating System :: Microsoft :: Windows',
|
||||
],
|
||||
install_requires=[
|
||||
'PyYAML>=5.1',
|
||||
],
|
||||
python_requires='>=3.6',
|
||||
)
|
||||
@@ -1,4 +0,0 @@
|
||||
# Copyright (c) 2021 Nordic Semiconductor ASA
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
__all__ = ['edtlib', 'dtlib']
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,161 +0,0 @@
|
||||
# Copyright 2009-2013, 2019 Peter A. Bigot
|
||||
#
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
|
||||
# This implementation is derived from the one in
|
||||
# [PyXB](https://github.com/pabigot/pyxb), stripped down and modified
|
||||
# specifically to manage edtlib Node instances.
|
||||
|
||||
import collections
|
||||
|
||||
class Graph:
|
||||
"""
|
||||
Represent a directed graph with edtlib Node objects as nodes.
|
||||
|
||||
This is used to determine order dependencies among nodes in a
|
||||
devicetree. An edge from C{source} to C{target} indicates that
|
||||
some aspect of C{source} requires that some aspect of C{target}
|
||||
already be available.
|
||||
"""
|
||||
|
||||
def __init__(self, root=None):
|
||||
self.__roots = None
|
||||
if root is not None:
|
||||
self.__roots = {root}
|
||||
self.__edge_map = collections.defaultdict(set)
|
||||
self.__reverse_map = collections.defaultdict(set)
|
||||
self.__nodes = set()
|
||||
|
||||
def add_edge(self, source, target):
|
||||
"""
|
||||
Add a directed edge from the C{source} to the C{target}.
|
||||
|
||||
The nodes are added to the graph if necessary.
|
||||
"""
|
||||
self.__edge_map[source].add(target)
|
||||
if source != target:
|
||||
self.__reverse_map[target].add(source)
|
||||
self.__nodes.add(source)
|
||||
self.__nodes.add(target)
|
||||
|
||||
def roots(self):
|
||||
"""
|
||||
Return the set of nodes calculated to be roots (i.e., those
|
||||
that have no incoming edges).
|
||||
|
||||
This caches the roots calculated in a previous invocation.
|
||||
|
||||
@rtype: C{set}
|
||||
"""
|
||||
if not self.__roots:
|
||||
self.__roots = set()
|
||||
for n in self.__nodes:
|
||||
if n not in self.__reverse_map:
|
||||
self.__roots.add(n)
|
||||
return self.__roots
|
||||
|
||||
def _tarjan(self):
|
||||
# Execute Tarjan's algorithm on the graph.
|
||||
#
|
||||
# Tarjan's algorithm
|
||||
# (http://en.wikipedia.org/wiki/Tarjan%27s_strongly_connected_components_algorithm)
|
||||
# computes the strongly-connected components
|
||||
# (http://en.wikipedia.org/wiki/Strongly_connected_component)
|
||||
# of the graph: i.e., the sets of nodes that form a minimal
|
||||
# closed set under edge transition. In essence, the loops.
|
||||
# We use this to detect groups of components that have a
|
||||
# dependency cycle, and to impose a total order on components
|
||||
# based on dependencies.
|
||||
|
||||
self.__stack = []
|
||||
self.__scc_order = []
|
||||
self.__index = 0
|
||||
self.__tarjan_index = {}
|
||||
self.__tarjan_low_link = {}
|
||||
for v in self.__nodes:
|
||||
self.__tarjan_index[v] = None
|
||||
roots = sorted(self.roots(), key=node_key)
|
||||
if self.__nodes and not roots:
|
||||
raise Exception('TARJAN: No roots found in graph with {} nodes'.format(len(self.__nodes)))
|
||||
|
||||
for r in roots:
|
||||
self._tarjan_root(r)
|
||||
|
||||
# Assign ordinals for edtlib
|
||||
ordinal = 0
|
||||
for scc in self.__scc_order:
|
||||
# Zephyr customization: devicetree Node graphs should have
|
||||
# no loops, so all SCCs should be singletons. That may
|
||||
# change in the future, but for now we only give an
|
||||
# ordinal to singletons.
|
||||
if len(scc) == 1:
|
||||
scc[0].dep_ordinal = ordinal
|
||||
ordinal += 1
|
||||
|
||||
def _tarjan_root(self, v):
|
||||
# Do the work of Tarjan's algorithm for a given root node.
|
||||
|
||||
if self.__tarjan_index.get(v) is not None:
|
||||
# "Root" was already reached.
|
||||
return
|
||||
self.__tarjan_index[v] = self.__tarjan_low_link[v] = self.__index
|
||||
self.__index += 1
|
||||
self.__stack.append(v)
|
||||
source = v
|
||||
for target in sorted(self.__edge_map[source], key=node_key):
|
||||
if self.__tarjan_index[target] is None:
|
||||
self._tarjan_root(target)
|
||||
self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
|
||||
elif target in self.__stack:
|
||||
self.__tarjan_low_link[v] = min(self.__tarjan_low_link[v], self.__tarjan_low_link[target])
|
||||
|
||||
if self.__tarjan_low_link[v] == self.__tarjan_index[v]:
|
||||
scc = []
|
||||
while True:
|
||||
scc.append(self.__stack.pop())
|
||||
if v == scc[-1]:
|
||||
break
|
||||
self.__scc_order.append(scc)
|
||||
|
||||
def scc_order(self):
|
||||
"""Return the strongly-connected components in order.
|
||||
|
||||
The data structure is a list, in dependency order, of strongly
|
||||
connected components (which can be single nodes). Appearance
|
||||
of a node in a set earlier in the list indicates that it has
|
||||
no dependencies on any node that appears in a subsequent set.
|
||||
This order is preferred over a depth-first-search order for
|
||||
code generation, since it detects loops.
|
||||
"""
|
||||
if not self.__scc_order:
|
||||
self._tarjan()
|
||||
return self.__scc_order
|
||||
__scc_order = None
|
||||
|
||||
def depends_on(self, node):
|
||||
"""Get the nodes that 'node' directly depends on."""
|
||||
return sorted(self.__edge_map[node], key=node_key)
|
||||
|
||||
def required_by(self, node):
|
||||
"""Get the nodes that directly depend on 'node'."""
|
||||
return sorted(self.__reverse_map[node], key=node_key)
|
||||
|
||||
def node_key(node):
|
||||
# This sort key ensures that sibling nodes with the same name will
|
||||
# use unit addresses as tiebreakers. That in turn ensures ordinals
|
||||
# for otherwise indistinguishable siblings are in increasing order
|
||||
# by unit address, which is convenient for displaying output.
|
||||
|
||||
if node.parent:
|
||||
parent_path = node.parent.path
|
||||
else:
|
||||
parent_path = '/'
|
||||
|
||||
if node.unit_addr is not None:
|
||||
name = node.name.rsplit('@', 1)[0]
|
||||
unit_addr = node.unit_addr
|
||||
else:
|
||||
name = node.name
|
||||
unit_addr = -1
|
||||
|
||||
return (parent_path, name, unit_addr)
|
||||
@@ -1,5 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Binding in test-bindings-2/
|
||||
|
||||
compatible: "in-dir-2"
|
||||
@@ -1 +0,0 @@
|
||||
This directory contains bindings used to test the 'include:' feature.
|
||||
-11
@@ -1,11 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: |
|
||||
An include must not give both an allowlist and a blocklist in a
|
||||
child binding. This binding should cause an error.
|
||||
compatible: allow-and-blocklist-child
|
||||
include:
|
||||
- name: include.yaml
|
||||
child-binding:
|
||||
property-blocklist: [x]
|
||||
property-allowlist: [y]
|
||||
@@ -1,10 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: |
|
||||
An include must not give both an allowlist and a blocklist.
|
||||
This binding should cause an error.
|
||||
compatible: allow-and-blocklist
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-blocklist: [x]
|
||||
property-allowlist: [y]
|
||||
@@ -1,10 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: |
|
||||
A property-allowlist, if given, must be a list. This binding should
|
||||
cause an error.
|
||||
compatible: allow-not-list
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-allowlist:
|
||||
foo:
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Valid property-allowlist.
|
||||
compatible: allowlist
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-allowlist: [x]
|
||||
@@ -1,10 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: |
|
||||
A property-blocklist, if given, must be a list. This binding should
|
||||
cause an error.
|
||||
compatible: block-not-list
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-blocklist:
|
||||
foo:
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Valid property-blocklist.
|
||||
compatible: blocklist
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-blocklist: [x]
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: An empty property-allowlist is valid.
|
||||
compatible: empty-allowlist
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-allowlist: []
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: An empty property-blocklist is valid.
|
||||
compatible: empty-blocklist
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-blocklist: []
|
||||
@@ -1,11 +0,0 @@
|
||||
description: Test binding for filtering 'child-binding' properties
|
||||
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-allowlist: [x]
|
||||
child-binding:
|
||||
property-blocklist: [child-prop-1]
|
||||
child-binding:
|
||||
property-allowlist: [grandchild-prop-1]
|
||||
|
||||
compatible: filter-child-bindings
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Second file for testing "intermixed" includes.
|
||||
compatible: include-2
|
||||
properties:
|
||||
a:
|
||||
type: int
|
||||
@@ -1,10 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: |
|
||||
Invalid include element: invalid keys are present.
|
||||
compatible: include-invalid-keys
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-allowlist: [x]
|
||||
bad-key-1: 3
|
||||
bad-key-2: 3
|
||||
@@ -1,5 +0,0 @@
|
||||
description: |
|
||||
Invalid include: wrong top level type.
|
||||
compatible: include-invalid-type
|
||||
include:
|
||||
a-map-is-not-allowed-here: 3
|
||||
@@ -1,6 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: A map element with just a name is valid, and has no filters.
|
||||
compatible: include-no-list
|
||||
include:
|
||||
- name: include.yaml
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: |
|
||||
Invalid include element: no name key is present.
|
||||
compatible: include-no-name
|
||||
include:
|
||||
- property-allowlist: [x]
|
||||
@@ -1,24 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Test file for including other bindings
|
||||
compatible: include
|
||||
properties:
|
||||
x:
|
||||
type: int
|
||||
y:
|
||||
type: int
|
||||
z:
|
||||
type: int
|
||||
child-binding:
|
||||
properties:
|
||||
child-prop-1:
|
||||
type: int
|
||||
child-prop-2:
|
||||
type: int
|
||||
|
||||
child-binding:
|
||||
properties:
|
||||
grandchild-prop-1:
|
||||
type: int
|
||||
grandchild-prop-2:
|
||||
type: int
|
||||
@@ -1,8 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Including intermixed file names and maps is valid.
|
||||
compatible: intermixed
|
||||
include:
|
||||
- name: include.yaml
|
||||
property-allowlist: [x]
|
||||
- include-2.yaml
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Bar bus controller
|
||||
|
||||
compatible: "bar-bus"
|
||||
|
||||
bus: "bar"
|
||||
@@ -1,20 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: child-binding with separate compatible than the parent
|
||||
|
||||
compatible: "top-binding-with-compat"
|
||||
|
||||
child-binding:
|
||||
compatible: child-compat
|
||||
description: child node
|
||||
properties:
|
||||
child-prop:
|
||||
type: int
|
||||
required: true
|
||||
|
||||
child-binding:
|
||||
description: grandchild node
|
||||
properties:
|
||||
grandchild-prop:
|
||||
type: int
|
||||
required: true
|
||||
@@ -1,19 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: child-binding test
|
||||
|
||||
compatible: "top-binding"
|
||||
|
||||
child-binding:
|
||||
description: child node
|
||||
properties:
|
||||
child-prop:
|
||||
type: int
|
||||
required: true
|
||||
|
||||
child-binding:
|
||||
description: grandchild node
|
||||
properties:
|
||||
grandchild-prop:
|
||||
type: int
|
||||
required: true
|
||||
@@ -1,8 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
include: [grandchild-1.yaml, grandchild-2.yaml, grandchild-3.yaml]
|
||||
|
||||
properties:
|
||||
bar:
|
||||
required: true
|
||||
type: int
|
||||
@@ -1,36 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Property default value test
|
||||
|
||||
compatible: "defaults"
|
||||
|
||||
properties:
|
||||
int:
|
||||
type: int
|
||||
required: false
|
||||
default: 123
|
||||
|
||||
array:
|
||||
type: array
|
||||
required: false
|
||||
default: [1, 2, 3]
|
||||
|
||||
uint8-array:
|
||||
type: uint8-array
|
||||
required: false
|
||||
default: [0x89, 0xAB, 0xCD]
|
||||
|
||||
string:
|
||||
type: string
|
||||
required: false
|
||||
default: "hello"
|
||||
|
||||
string-array:
|
||||
type: string-array
|
||||
required: false
|
||||
default: ["hello", "there"]
|
||||
|
||||
default-not-used:
|
||||
type: int
|
||||
required: false
|
||||
default: 123
|
||||
@@ -1,15 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Property deprecated value test
|
||||
|
||||
compatible: "test-deprecated"
|
||||
|
||||
properties:
|
||||
oldprop:
|
||||
type: int
|
||||
deprecated: true
|
||||
required: false
|
||||
|
||||
curprop:
|
||||
type: int
|
||||
required: false
|
||||
@@ -1,5 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Device on any bus
|
||||
|
||||
compatible: "on-any-bus"
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Device on bar bus
|
||||
|
||||
compatible: "on-bus"
|
||||
|
||||
on-bus: "bar"
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Device on foo bus
|
||||
|
||||
compatible: "on-bus"
|
||||
|
||||
on-bus: "foo"
|
||||
@@ -1,36 +0,0 @@
|
||||
# Copyright (c) 2020 Nordic Semiconductor ASA
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Property enum test
|
||||
|
||||
compatible: "enums"
|
||||
|
||||
properties:
|
||||
int-enum:
|
||||
type: int
|
||||
enum:
|
||||
- 1
|
||||
- 2
|
||||
- 3
|
||||
|
||||
string-enum: # not tokenizable
|
||||
type: string
|
||||
enum:
|
||||
- foo bar
|
||||
- foo_bar
|
||||
|
||||
tokenizable-lower-enum: # tokenizable in lowercase only
|
||||
type: string
|
||||
enum:
|
||||
- bar
|
||||
- BAR
|
||||
|
||||
tokenizable-enum: # tokenizable in lower and uppercase
|
||||
type: string
|
||||
enum:
|
||||
- bar
|
||||
- whitespace is ok
|
||||
- 123 is ok
|
||||
|
||||
no-enum:
|
||||
type: string
|
||||
@@ -1,4 +0,0 @@
|
||||
# A file that mentions a 'compatible' string without actually implementing it.
|
||||
# Used to check for issues with how we optimize binding loading.
|
||||
|
||||
# props
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Foo bus controller
|
||||
|
||||
compatible: "foo-bus"
|
||||
|
||||
bus: "foo"
|
||||
@@ -1,4 +0,0 @@
|
||||
properties:
|
||||
foo:
|
||||
type: int
|
||||
required: false
|
||||
@@ -1,4 +0,0 @@
|
||||
properties:
|
||||
foo:
|
||||
type: int
|
||||
required: true
|
||||
@@ -1,8 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: GPIO destination for mapping test
|
||||
|
||||
compatible: "gpio-dst"
|
||||
|
||||
gpio-cells:
|
||||
- val
|
||||
@@ -1,9 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: GPIO source for mapping test
|
||||
|
||||
compatible: "gpio-src"
|
||||
|
||||
properties:
|
||||
foo-gpios:
|
||||
type: phandle-array
|
||||
@@ -1,10 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
properties:
|
||||
foo:
|
||||
required: false
|
||||
type: int
|
||||
|
||||
baz:
|
||||
required: true
|
||||
type: int
|
||||
@@ -1,6 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
properties:
|
||||
baz:
|
||||
required: true
|
||||
type: int
|
||||
@@ -1,6 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
properties:
|
||||
qaz:
|
||||
required: true
|
||||
type: int
|
||||
@@ -1,8 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Interrupt controller with one cell
|
||||
|
||||
compatible: "interrupt-one-cell"
|
||||
|
||||
interrupt-cells:
|
||||
- one
|
||||
@@ -1,9 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Interrupt controller with two cells
|
||||
|
||||
compatible: "interrupt-two-cell"
|
||||
|
||||
interrupt-cells:
|
||||
- one
|
||||
- two
|
||||
@@ -1,10 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Interrupt controller with three cells
|
||||
|
||||
compatible: "interrupt-three-cell"
|
||||
|
||||
interrupt-cells:
|
||||
- one
|
||||
- two
|
||||
- three
|
||||
@@ -1,5 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Binding in test-bindings/
|
||||
|
||||
compatible: "in-dir-1"
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Include ordering test
|
||||
|
||||
compatible: "order-1"
|
||||
|
||||
include: ["foo-required.yaml", "foo-optional.yaml"]
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Include ordering test
|
||||
|
||||
compatible: "order-2"
|
||||
|
||||
include: ["foo-optional.yaml", "foo-required.yaml"]
|
||||
@@ -1,13 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Parent binding
|
||||
|
||||
compatible: "binding-include-test"
|
||||
|
||||
include: child.yaml
|
||||
|
||||
properties:
|
||||
foo:
|
||||
# Changed from not being required in grandchild-1.yaml
|
||||
required: true
|
||||
# Type set in grandchild
|
||||
@@ -1,7 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Controller with zero data values
|
||||
|
||||
compatible: "phandle-array-controller-0"
|
||||
|
||||
phandle-array-foo-cells: []
|
||||
@@ -1,11 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Controller with one data value
|
||||
|
||||
compatible: "phandle-array-controller-1"
|
||||
|
||||
phandle-array-foo-cells:
|
||||
- one
|
||||
|
||||
gpio-cells:
|
||||
- gpio-one
|
||||
@@ -1,9 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Controller with two data values
|
||||
|
||||
compatible: "phandle-array-controller-2"
|
||||
|
||||
phandle-array-foo-cells:
|
||||
- one
|
||||
- two
|
||||
@@ -1,50 +0,0 @@
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
description: Device.props test
|
||||
|
||||
compatible: "props"
|
||||
|
||||
properties:
|
||||
nonexistent-boolean:
|
||||
type: boolean
|
||||
|
||||
existent-boolean:
|
||||
type: boolean
|
||||
|
||||
int:
|
||||
type: int
|
||||
const: 1
|
||||
|
||||
array:
|
||||
type: array
|
||||
|
||||
uint8-array:
|
||||
type: uint8-array
|
||||
|
||||
string:
|
||||
type: string
|
||||
const: "foo"
|
||||
|
||||
string-array:
|
||||
type: string-array
|
||||
|
||||
phandle-ref:
|
||||
type: phandle
|
||||
|
||||
phandle-refs:
|
||||
type: phandles
|
||||
|
||||
phandle-array-foos:
|
||||
type: phandle-array
|
||||
|
||||
phandle-array-foo-names:
|
||||
type: string-array
|
||||
|
||||
# There's some slight special-casing for GPIOs in that 'foo-gpios = ...'
|
||||
# gets resolved to #gpio-cells rather than #foo-gpio-cells, so test that
|
||||
# too
|
||||
foo-gpios:
|
||||
type: phandle-array
|
||||
|
||||
path:
|
||||
type: path
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user