mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
No commits in common. "release/1.7" and "v1.7.1" have entirely different histories.
release/1.
...
v1.7.1
@ -1,33 +0,0 @@
|
||||
# How to install:
|
||||
# gem install github_changelog_generator
|
||||
# How to run:
|
||||
# github_changelog_generator -u PX4 -p Firmware
|
||||
# Description:
|
||||
# The following params are sensible defaults for the PX4 project,
|
||||
# if you want to do a changelog before a release you need to update since-tag and future-releases,
|
||||
|
||||
# Params:
|
||||
# github_changelog_generator --help for all options
|
||||
|
||||
# max-issues
|
||||
# max threshold for github api queries
|
||||
# make sure you set your CHANGELOG_GITHUB_TOKEN before
|
||||
# running
|
||||
max-issues=1500
|
||||
|
||||
# exclude-tags-regex
|
||||
# excludes release candidates
|
||||
exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
|
||||
|
||||
# since-tag
|
||||
# version of last stable release
|
||||
# you need to change this depending on what you need
|
||||
# if you want a changelog between versions this is the lowest version
|
||||
since-tag=1.6.5
|
||||
|
||||
# future-release
|
||||
# version you are about to release
|
||||
# if you want a changelog between a version and all unreleased changes grouped as a release
|
||||
# eg: v1.6.5 to v1.7.0
|
||||
future-release=v1.7.0
|
||||
|
||||
@ -110,7 +110,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
|
||||
list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
|
||||
|
||||
#=============================================================================
|
||||
# git
|
||||
@ -155,9 +155,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
|
||||
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
|
||||
endif()
|
||||
|
||||
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
|
||||
|
||||
include(platforms/${OS}/cmake/px4_impl_os.cmake)
|
||||
set(config_module "configs/${CONFIG}")
|
||||
include(${config_module})
|
||||
|
||||
@ -246,11 +243,11 @@ set(BUILD_SHARED_LIBS OFF)
|
||||
#=============================================================================
|
||||
# ccache
|
||||
#
|
||||
option(CCACHE "Use ccache if available" ON)
|
||||
option(CCACHE "Use ccache if available" OFF)
|
||||
find_program(CCACHE_PROGRAM ccache)
|
||||
if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
|
||||
if (CCACHE AND CCACHE_PROGRAM)
|
||||
message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
|
||||
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
|
||||
else()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
@ -401,7 +398,7 @@ foreach(module ${config_module_list})
|
||||
add_subdirectory(src/${module})
|
||||
endforeach()
|
||||
|
||||
add_subdirectory(platforms/${OS})
|
||||
add_subdirectory(src/firmware/${OS})
|
||||
|
||||
#=============================================================================
|
||||
# generate custom target to print for all executable and module cmake targets
|
||||
@ -416,27 +413,6 @@ if (all_posix_cmake_targets)
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# uORB graph generation: add a custom target 'uorb_graph'
|
||||
#
|
||||
set(uorb_graph_config ${BOARD})
|
||||
|
||||
set(graph_module_list "")
|
||||
foreach(module ${config_module_list})
|
||||
set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
|
||||
endforeach()
|
||||
|
||||
add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
|
||||
${module_list}
|
||||
--exclude-path src/examples
|
||||
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB graph"
|
||||
)
|
||||
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
|
||||
#=============================================================================
|
||||
# packaging
|
||||
#
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
#
|
||||
# Various PX4-specific macros
|
||||
#
|
||||
source platforms/nuttx/Debug/NuttX
|
||||
source platforms/nuttx/Debug/ARMv7M
|
||||
source Debug/NuttX
|
||||
source Debug/ARMv7M
|
||||
|
||||
echo Loading PX4 GDB macros. Use 'help px4' for more information.\n
|
||||
|
||||
@ -10,4 +10,4 @@ attach 1
|
||||
monitor vector_catch disable hard
|
||||
set mem inaccessible-by-default off
|
||||
set print pretty
|
||||
source platforms/nuttx/Debug/PX4
|
||||
source Debug/PX4
|
||||
@ -15,7 +15,7 @@ mon poll
|
||||
mon cortex_m maskisr auto
|
||||
set mem inaccessible-by-default off
|
||||
set print pretty
|
||||
source platforms/nuttx/Debug/PX4
|
||||
source Debug/PX4
|
||||
|
||||
echo PX4 resumed, press ctrl-c to interrupt\n
|
||||
continue
|
||||
@ -108,7 +108,7 @@ then
|
||||
>> $stacksfile
|
||||
else
|
||||
arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
|
||||
-ex "source $root/platforms/nuttx/Debug/Nuttx.py" \
|
||||
-ex "source $root/Debug/Nuttx.py" \
|
||||
-ex "show mybt $taskname" \
|
||||
2> $gdberrfile \
|
||||
| sed -n 's/0\.0:\(#.*\)/\1/p' \
|
||||
BIN
Documentation/arming_state_machine.odg
Normal file
BIN
Documentation/arming_state_machine.odg
Normal file
Binary file not shown.
BIN
Documentation/arming_state_machine.pdf
Normal file
BIN
Documentation/arming_state_machine.pdf
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BIN
Documentation/code_structure_diagrams.odg
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BIN
Documentation/code_structure_diagrams.odg
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BIN
Documentation/code_structure_diagrams.pdf
Normal file
BIN
Documentation/code_structure_diagrams.pdf
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Binary file not shown.
18434
Documentation/control_flow.graffle
Normal file
18434
Documentation/control_flow.graffle
Normal file
File diff suppressed because it is too large
Load Diff
BIN
Documentation/dsm_bind.odt
Normal file
BIN
Documentation/dsm_bind.odt
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Binary file not shown.
BIN
Documentation/dsm_bind.pdf
Normal file
BIN
Documentation/dsm_bind.pdf
Normal file
Binary file not shown.
BIN
Documentation/fixed_wing_control.odg
Normal file
BIN
Documentation/fixed_wing_control.odg
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Binary file not shown.
BIN
Documentation/flight_mode_state_machine.odg
Normal file
BIN
Documentation/flight_mode_state_machine.odg
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Binary file not shown.
BIN
Documentation/flight_mode_state_machine.pdf
Normal file
BIN
Documentation/flight_mode_state_machine.pdf
Normal file
Binary file not shown.
BIN
Documentation/fw_landing.png
Normal file
BIN
Documentation/fw_landing.png
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Binary file not shown.
|
After Width: | Height: | Size: 17 KiB |
4398
Documentation/mixing_architecture.graffle
Normal file
4398
Documentation/mixing_architecture.graffle
Normal file
File diff suppressed because it is too large
Load Diff
BIN
Documentation/px4_block_diagram.odg
Normal file
BIN
Documentation/px4_block_diagram.odg
Normal file
Binary file not shown.
BIN
Documentation/px4_block_diagram.pdf
Normal file
BIN
Documentation/px4_block_diagram.pdf
Normal file
Binary file not shown.
BIN
Documentation/px4_general_structure.png
Normal file
BIN
Documentation/px4_general_structure.png
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Binary file not shown.
|
After Width: | Height: | Size: 92 KiB |
BIN
Documentation/px4_hil/SITL_Diagram.png
Normal file
BIN
Documentation/px4_hil/SITL_Diagram.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 79 KiB |
BIN
Documentation/px4_hil/SITL_Diagram_QGC.png
Normal file
BIN
Documentation/px4_hil/SITL_Diagram_QGC.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 74 KiB |
98
Documentation/px4_hil/UserGuide.md
Normal file
98
Documentation/px4_hil/UserGuide.md
Normal file
@ -0,0 +1,98 @@
|
||||
[TOC]
|
||||
|
||||
# Introduction
|
||||
|
||||
The HIL architecture allows you to test the flight stack replacing the real physical vehicle and sensors with a simulator of vehicle dynamics and sensor outputs. The flight stack "is not aware" that it is not on a real vehicle. This is a powerful tool for develping and testing code rapidly in a benchtop environment.
|
||||
|
||||
The flight stack can be run anywhere that supports a network connection to the simulator (with sufficient bandwidth and latency to transport the sensor and actuator messages). This can be on a standard linux workstation, an on-target linux image, or the on-target DSP image. These modes can be selected based on the goals of the testing. Workstation is useful for rapid testing in a tool-rich environment. DSP image testing is the closest to the final implementation, so is useful for testing actual HW operation, other than the physical sensing and actuation.
|
||||
|
||||
## Px4 High-level HIL Architecture
|
||||
|
||||
A diagram of the setup described is shown here. Note that UDP port numbers are only displayed on the socket server and are left blank on the socket client.
|
||||
|
||||
(???NOTES: This diagram needs to be updated to use control inputs over UDP, either from QGC or from other)
|
||||
|
||||
|
||||
|
||||
## Requirements
|
||||
The simulator that is currently supported is jMAVSim. The setup described here requires PX4 and jMAVSim installed and running. qGroundControl (QGC) is also required because it is the supported method of providing manual control commands.
|
||||
|
||||
## Assumptions
|
||||
|
||||
# Compiling Code
|
||||
|
||||
## JMAVSim
|
||||
|
||||
### Platform Requirements
|
||||
Linux with java-1.7.x or greater
|
||||
|
||||
### Build Instructions
|
||||
In a clean directory
|
||||
```
|
||||
> git clone https://github.com/PX4/jMAVSim.git
|
||||
> cd jMAVSim
|
||||
> git submodule init
|
||||
> git submodule update
|
||||
> ant
|
||||
```
|
||||
|
||||
## qGroundControl
|
||||
|
||||
### Platform Requirements
|
||||
Windows 7
|
||||
Logitech Gamepad F310 joystick controller
|
||||
|
||||
### Download/Install Instructions
|
||||
Download QGC from http://qgroundcontrol.org/downloads and install using the windows executable.
|
||||
|
||||
|
||||
## PX4
|
||||
|
||||
### Platform Requirements
|
||||
Linux or Eagle with a working IP interface (?? does this need further instructions?)
|
||||
|
||||
### Build Host Requirements
|
||||
(???Notes: Windows?)
|
||||
|
||||
### Download & Build Instructions
|
||||
|
||||
### Installing binaries on the Qualcomm Target
|
||||
|
||||
# Running PX4 in HIL Mode
|
||||
|
||||
## Starting PX4 on Qualcomm Eagle
|
||||
|
||||
```
|
||||
> adb shell
|
||||
# bash
|
||||
root@linaro-developer:/# cd ???
|
||||
root@linaro-developer:/# ./px4
|
||||
App name: px4
|
||||
Enter a command and its args:
|
||||
uorb start
|
||||
muorb start
|
||||
mavlink start -u 14556
|
||||
simulator start -p
|
||||
```
|
||||
|
||||
## Starting jMAVSim
|
||||
In the directory where jMAVSim is installed
|
||||
```
|
||||
java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp <IPADDR>:14560 -n 100
|
||||
```
|
||||
replacing <IPADDR> with the IP address of the machine running PX4 (Eagle). This can be found by running "ifconfig" on that machine.
|
||||
|
||||
## Starting qGroundControl
|
||||
Launch the qGroundControl application
|
||||
1. Set up the communication to the flight stack. In the menu File:Settings:CommLinks, select Add. Enter a Link Name of your choice. Select Link Type: UDP. Set the listening port to an unused port (example: 14561). Select Add. Enter the IP address and port of the PX4 Mavlink app, which is <IPADDR>:14556 with <IPADDR> being the IP address of the Eagle board. Select OK.
|
||||
1. Set up the joystick. Plug in the joystick to your Windows machine. In the menu File:Settings:CommLinks, check Enable Controllers. Select "Gamepad F310". Select "Manual". Set the axes/channel mapping to 0:Yaw, 1:Throttle, 2:unset, 3:Pitch, 4:Roll. Seletct "Inverted" for the throttle axis. Click "Calibrate range". Move the right joystick through its full range of motion. Move the left joystick full left then full right. Move the left joystick full forward (but not full backward). Click "end calibration."
|
||||
1. Connect to the flight stack. Click Analyze. Click the "Connect" button in the upper right, and select the connection that you created in the first step.
|
||||
|
||||
You should now be connected to the flight stack. You can see incoming Mavlink packets using the MAVLink Instpector (from Advanced:Tool Widgets)
|
||||
|
||||
|
||||
## Controlling PX4 flight in HIL Mode
|
||||
The joystick can now be used to fly the simulated vehicle. The jMAVSim world visualization gives a FPV view, and QGC can be used to display instruments such as artificial horizon and maps (if GPS simulation is enabled).
|
||||
|
||||
|
||||
# Debugging/FAQ
|
||||
0
Documentation/px4_hil/docs/readme.txt
Normal file
0
Documentation/px4_hil/docs/readme.txt
Normal file
2403
Documentation/px4_hil/px4_hil.doxyfile
Normal file
2403
Documentation/px4_hil/px4_hil.doxyfile
Normal file
File diff suppressed because it is too large
Load Diff
BIN
Documentation/rc_mode_switch.odg
Normal file
BIN
Documentation/rc_mode_switch.odg
Normal file
Binary file not shown.
BIN
Documentation/rc_mode_switch.pdf
Normal file
BIN
Documentation/rc_mode_switch.pdf
Normal file
Binary file not shown.
2
Documentation/versionfilter.sh
Executable file
2
Documentation/versionfilter.sh
Executable file
@ -0,0 +1,2 @@
|
||||
#!/bin/sh
|
||||
git log --pretty=format:"Last change: commit %h - %aN, %ar : %s" -1 $1 || echo no git
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "AEROCORE2",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1032192,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "AEROFCv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 999424,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "AUAV X2.1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "CRAZYFLIE",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1032192,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "ESC35v1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 229376,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "MindPXFMUv2",
|
||||
"version": "2.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "NXPHLITEv3",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2096112,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4/SAME70xplained",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2097152,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4/STM32F4Discovery",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1032192,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4CANNODEv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 122880,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4ESCv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 475136,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -1,13 +1,12 @@
|
||||
{
|
||||
"board_id": 24,
|
||||
"magic": "FLOWv1",
|
||||
"description": "Firmware for the PX4FlowV2 board",
|
||||
"description": "Firmware for the PX4FLowV1 board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4FLOWv2",
|
||||
"summary": "PX4FLOWv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4FMUv2",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1032192,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4FMUv3",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4FMUv4",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4FMUv4PRO",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4FMUv5",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2064384,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4IOv2",
|
||||
"version": "2.0",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 61440,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "PX4NUCLEOF767ZIv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2097152,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "S2740VCv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 65536,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "TAPv1",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 999424,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@ -7,7 +7,6 @@
|
||||
"summary": "ZUBAXGNSSv1",
|
||||
"version": "0.0",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 253952,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
271
Jenkinsfile
vendored
271
Jenkinsfile
vendored
@ -114,7 +114,7 @@ pipeline {
|
||||
builds["${node_name}"] = {
|
||||
node {
|
||||
stage("Build Test ${node_name}") {
|
||||
docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
stage("${node_name}") {
|
||||
checkout scm
|
||||
sh "make clean"
|
||||
@ -136,7 +136,7 @@ pipeline {
|
||||
builds["${node_name}"] = {
|
||||
node {
|
||||
stage("Build Test ${node_name}") {
|
||||
docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
stage("${node_name}") {
|
||||
checkout scm
|
||||
sh "make clean"
|
||||
@ -158,7 +158,7 @@ pipeline {
|
||||
builds["${node_name}"] = {
|
||||
node {
|
||||
stage("Build Test ${node_name}") {
|
||||
docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
stage("${node_name}") {
|
||||
checkout scm
|
||||
sh "make clean"
|
||||
@ -181,7 +181,7 @@ pipeline {
|
||||
node {
|
||||
stage("Build Test ${node_name}") {
|
||||
docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
|
||||
docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
|
||||
stage("${node_name}") {
|
||||
checkout scm
|
||||
sh "make clean"
|
||||
@ -204,7 +204,7 @@ pipeline {
|
||||
builds["${node_name} (GCC7)"] = {
|
||||
node {
|
||||
stage("Build Test ${node_name} (GCC7)") {
|
||||
docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
|
||||
stage("${node_name}") {
|
||||
checkout scm
|
||||
sh "make clean"
|
||||
@ -250,7 +250,7 @@ pipeline {
|
||||
stage('check style') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-base:2017-12-30'
|
||||
image 'px4io/px4-dev-base:2017-10-23'
|
||||
args '-e CI=true'
|
||||
}
|
||||
}
|
||||
@ -262,7 +262,7 @@ pipeline {
|
||||
stage('clang analyzer') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-clang:2017-12-30'
|
||||
image 'px4io/px4-dev-clang:2017-10-23'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
|
||||
}
|
||||
}
|
||||
@ -280,19 +280,12 @@ pipeline {
|
||||
reportName: 'Clang Static Analyzer'
|
||||
]
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'beta'
|
||||
branch 'stable'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('clang tidy') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-clang:2017-12-30'
|
||||
image 'px4io/px4-dev-clang:2017-10-23'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
|
||||
}
|
||||
}
|
||||
@ -323,19 +316,12 @@ pipeline {
|
||||
reportName: 'Cppcheck'
|
||||
]
|
||||
}
|
||||
when {
|
||||
anyOf {
|
||||
branch 'master'
|
||||
branch 'beta'
|
||||
branch 'stable'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('tests') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-base:2017-12-30'
|
||||
image 'px4io/px4-dev-base:2017-10-23'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
|
||||
}
|
||||
}
|
||||
@ -346,227 +332,11 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS vtol mission new 1') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS vtol mission new 2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_new_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS vtol mission old 1') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_1.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS vtol mission old 2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_2.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS vtol mission old 3') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test vtol_old_3.txt: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS MC mission box') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS mission test multirotor_box.mission: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS offboard att') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS offboard attitude test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('ROS offboard pos') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-ros:2017-12-31'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make clean; rm -rf .ros; rm -rf .gazebo'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make posix_sitl_default'
|
||||
sh 'make posix_sitl_default sitl_gazebo'
|
||||
sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
|
||||
}
|
||||
post {
|
||||
success {
|
||||
sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
}
|
||||
failure {
|
||||
sh './Tools/upload_log.py -q --description "ROS offboard position test: ${CHANGE_ID}" --feedback "${CHANGE_TITLE} - ${CHANGE_URL}" --source CI --email "${CHANGE_AUTHOR_EMAIL}" .ros/rootfs/fs/microsd/log/*/*.ulg'
|
||||
archiveArtifacts '**/*.ulg'
|
||||
archiveArtifacts '.ros/*/px4/**.xml'
|
||||
archiveArtifacts '.ros/log/**.log'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// temporarily disabled until stable
|
||||
//stage('tests coverage') {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-base:2017-12-30'
|
||||
// image 'px4io/px4-dev-base:2017-10-23'
|
||||
// args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
|
||||
// }
|
||||
// }
|
||||
@ -594,7 +364,7 @@ pipeline {
|
||||
|
||||
stage('airframe') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base:2017-12-30' }
|
||||
docker { image 'px4io/px4-dev-base:2017-10-23' }
|
||||
}
|
||||
steps {
|
||||
sh 'make airframe_metadata'
|
||||
@ -604,7 +374,7 @@ pipeline {
|
||||
|
||||
stage('parameter') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base:2017-12-30' }
|
||||
docker { image 'px4io/px4-dev-base:2017-10-23' }
|
||||
}
|
||||
steps {
|
||||
sh 'make parameters_metadata'
|
||||
@ -614,32 +384,19 @@ pipeline {
|
||||
|
||||
stage('module') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base:2017-12-30' }
|
||||
docker { image 'px4io/px4-dev-base:2017-10-23' }
|
||||
}
|
||||
steps {
|
||||
sh 'make module_documentation'
|
||||
archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
|
||||
}
|
||||
}
|
||||
|
||||
stage('uorb graphs') {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx:2017-12-30'
|
||||
args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'make uorb_graphs'
|
||||
archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('S3 Upload') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-base:2017-12-30' }
|
||||
docker { image 'px4io/px4-dev-base:2017-10-23' }
|
||||
}
|
||||
|
||||
when {
|
||||
|
||||
28
Makefile
28
Makefile
@ -218,7 +218,7 @@ check_rtps: \
|
||||
check_posix_sitl_rtps \
|
||||
sizes
|
||||
|
||||
.PHONY: sizes check quick_check check_rtps uorb_graphs
|
||||
.PHONY: sizes check quick_check check_rtps
|
||||
|
||||
sizes:
|
||||
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
||||
@ -235,14 +235,6 @@ check_%:
|
||||
@$(MAKE) --no-print-directory $(subst check_,,$@)
|
||||
@echo
|
||||
|
||||
uorb_graphs:
|
||||
@./Tools/uorb_graph/create_from_startupscript.sh
|
||||
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
|
||||
@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
|
||||
@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
|
||||
@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
|
||||
|
||||
|
||||
.PHONY: coverity_scan
|
||||
|
||||
coverity_scan: posix_sitl_default
|
||||
@ -279,7 +271,7 @@ format:
|
||||
|
||||
# Testing
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: tests tests_coverage tests_mission tests_offboard rostest
|
||||
.PHONY: tests tests_coverage
|
||||
|
||||
tests:
|
||||
@$(MAKE) --no-print-directory posix_sitl_default test_results \
|
||||
@ -287,25 +279,9 @@ tests:
|
||||
UBSAN_OPTIONS="color=always"
|
||||
|
||||
tests_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
||||
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
|
||||
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
|
||||
@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
|
||||
|
||||
rostest: posix_sitl_default
|
||||
@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
|
||||
|
||||
tests_mission: rostest
|
||||
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
||||
|
||||
tests_offboard: rostest
|
||||
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
|
||||
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
|
||||
|
||||
# static analyzers (scan-build, clang-tidy, cppcheck)
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack
|
||||
|
||||
76
README.md
76
README.md
@ -1,42 +1,34 @@
|
||||
# PX4 Pro Drone Autopilot
|
||||
## PX4 Pro Drone Autopilot ##
|
||||
|
||||
[](https://github.com/PX4/Firmware/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
|
||||
|
||||
[](http://ci.px4.io:8080/blue/organizations/jenkins/Firmware/activity) [](https://scan.coverity.com/projects/3966?tab=overview)
|
||||
[](https://github.com/PX4/Firmware/releases) [](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware) [](https://travis-ci.org/PX4/Firmware) [](https://scan.coverity.com/projects/3966?tab=overview)
|
||||
|
||||
[](http://slack.px4.io)
|
||||
|
||||
This repository holds the [PX4 Pro](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
|
||||
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
|
||||
* [Supported airframes](https://docs.px4.io/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
|
||||
* [Multicopters](https://docs.px4.io/en/airframes/airframe_reference.html#copter)
|
||||
* [Fixed wing](https://docs.px4.io/en/airframes/airframe_reference.html#plane)
|
||||
* [VTOL](https://docs.px4.io/en/airframes/airframe_reference.html#vtol)
|
||||
* many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
|
||||
|
||||
|
||||
## PX4 Users
|
||||
|
||||
The [PX4 User Guide](https://docs.px4.io/en/) explains how to assemble [supported vehicles](https://docs.px4.io/en/airframes/airframe_reference.html) and fly drones with PX4.
|
||||
See the [forum and chat](https://docs.px4.io/en/#support) if you need help!
|
||||
|
||||
|
||||
## PX4 Developers
|
||||
|
||||
This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
|
||||
|
||||
Developers should read the [Guide for Contributions](https://dev.px4.io/en/contribute/).
|
||||
See the [forum and chat](https://dev.px4.io/en/#support) if you need help!
|
||||
* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
|
||||
* Supported airframes:
|
||||
* [Multicopters](http://px4.io/portfolio_category/multicopter/)
|
||||
* [Fixed wing](http://px4.io/portfolio_category/plane/)
|
||||
* [VTOL](http://px4.io/portfolio_category/vtol/)
|
||||
* many more experimental types (Rovers, Blimps, Boats, Submarines, etc)
|
||||
* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
|
||||
|
||||
Please refer to the [user documentation](https://docs.px4.io/en/) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
|
||||
|
||||
### Weekly Dev Call
|
||||
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/#dev_call).
|
||||
The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribute/).
|
||||
|
||||
> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform.
|
||||
* [Wednesday 17:00 Central European Time, 11:00 Eastern Time, 08:00 Pacific Standard Time](https://www.google.com/calendar/embed?src=bGludXhmb3VuZGF0aW9uLm9yZ19nMjF0dmFtMjRtN3BtN2poZXYwMWJ2bHFoOEBncm91cC5jYWxlbmRhci5nb29nbGUuY29t)
|
||||
* [Uber conference (dial-in or web client)](https://www.uberconference.com/lf-dronecode)
|
||||
* The agenda is announced in advance on the [PX4 Discuss](http://discuss.px4.io/c/weekly-dev-call)
|
||||
* Issues and PRs may be labelled [devcall](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3Adevcall) to flag them for discussion
|
||||
|
||||
### Developers ###
|
||||
* [Developer Guide](https://dev.px4.io/)
|
||||
* [Build instructions](https://dev.px4.io/en/setup/building_px4.html)
|
||||
* [Guide for Contributions](https://dev.px4.io/en/contribute/)
|
||||
|
||||
## Maintenance Team
|
||||
|
||||
@ -79,32 +71,28 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/en/contribut
|
||||
* [Airmind MindPX / MindRacer](https://github.com/PX4/Firmware/labels/mindpx) - [Henry Zhang](https://github.com/iZhangHui)
|
||||
* RTPS/ROS2 Interface - [Vicente Monge](https://github.com/vicenteeprosima)
|
||||
|
||||
See also [About Us](http://px4.io/about-us/#development_team) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
This repository contains code supporting these boards:
|
||||
* [Snapdragon Flight](https://docs.px4.io/en/flight_controller/snapdragon_flight.html)
|
||||
* [Intel Aero](https://docs.px4.io/en/flight_controller/intel_aero.html)
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/en/flight_controller/raspberry_pi_navio2.html)
|
||||
* [Snapdragon Flight](https://dev.px4.io/en/flight_controller/snapdragon_flight.html)
|
||||
* [Intel Aero](https://dev.px4.io/en/flight_controller/intel_aero.html)
|
||||
* [Raspberry PI with Navio 2](https://dev.px4.io/en/flight_controller/raspberry_pi.html)
|
||||
* [Parrot Bebop 2](https://dev.px4.io/en/advanced/parrot_bebop.html)
|
||||
* FMUv2.x
|
||||
* [Pixhawk](https://docs.px4.io/en/flight_controller/pixhawk.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/en/flight_controller/pixhawk_mini.html)
|
||||
* [Pixfalcon](https://docs.px4.io/en/flight_controller/pixfalcon.html)
|
||||
* [Pixhawk](https://dev.px4.io/en/flight_controller/pixhawk.html)
|
||||
* Pixhawk Mini
|
||||
* [Pixfalcon](https://dev.px4.io/en/flight_controller/pixfalcon.html)
|
||||
* FMUv3.x [Pixhawk 2](https://pixhawk.org/modules/pixhawk2)
|
||||
* FMUv4.x
|
||||
* [Pixracer](https://docs.px4.io/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/en/flight_controller/pixhawk3_pro.html)
|
||||
* [Pixracer](https://dev.px4.io/en/flight_controller/pixracer.html)
|
||||
* Pixhawk 3 Pro
|
||||
* FMUv5.x (ARM Cortex M7, future Pixhawk)
|
||||
* [STM32F4Discovery](http://www.st.com/en/evaluation-tools/stm32f4discovery.html) (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
|
||||
* [Gumstix AeroCore](https://www.gumstix.com/aerocore-2/) (only v2)
|
||||
* STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
|
||||
* Gumstix AeroCore (v1 and v2)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/en/flight_controller/crazyflie2.html)
|
||||
* [Bitcraze Crazyflie 2.0](https://dev.px4.io/en/flight_controller/crazyflie2.html)
|
||||
|
||||
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/en/flight_controller/).
|
||||
## Project Milestones
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
A high level project roadmap is available [here](https://www.dronecode.org/roadmap/).
|
||||
The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by [Lorenz Meier](https://github.com/LorenzMeier).
|
||||
|
||||
@ -8,6 +8,7 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
|
||||
sh /etc/init.d/4001_quad_x
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
set MIXER quad_x
|
||||
param set SYS_HITL 1
|
||||
|
||||
@ -17,6 +17,7 @@
|
||||
# @output AUX4 Rudder
|
||||
# @output AUX5 Throttle
|
||||
#
|
||||
# @board px4fmu-v1 exclude
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@ -16,8 +16,6 @@
|
||||
#
|
||||
# @maintainer Roman Bapst <roman@px4.io>
|
||||
#
|
||||
# @board px4fmu-v2 exclude
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@ -7,8 +7,6 @@
|
||||
#
|
||||
# @maintainer Samay Siga <samay_s@icloud.com>
|
||||
#
|
||||
# @board px4fmu-v2 exclude
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.vtol_defaults
|
||||
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
# @type Quadrotor x
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Beat Kueng <beat@px4.io>
|
||||
# @maintainer Lucas de Marchi
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
@ -10,8 +10,6 @@
|
||||
#
|
||||
# @maintainer
|
||||
#
|
||||
# @board px4fmu-v2 exclude
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.ugv_defaults
|
||||
|
||||
|
||||
@ -14,8 +14,6 @@
|
||||
# @output MAIN7 pass-through of control group 0, channel 6
|
||||
# @output MAIN8 pass-through of control group 0, channel 7
|
||||
#
|
||||
# @board px4fmu-v2 exclude
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.axialracing_ax10_defaults
|
||||
|
||||
|
||||
@ -12,8 +12,6 @@
|
||||
#
|
||||
# @maintainer Marco Zorzi
|
||||
#
|
||||
# @board px4fmu-v2 exclude
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.ugv_defaults
|
||||
|
||||
|
||||
@ -69,9 +69,6 @@ fi
|
||||
|
||||
if ver hwcmp PX4FMU_V2
|
||||
then
|
||||
# V2 build hwtypecmp is always false
|
||||
set BOARD_FMUV3 0
|
||||
|
||||
# External I2C bus
|
||||
hmc5883 -C -T -X start
|
||||
lis3mdl -X start
|
||||
@ -82,6 +79,8 @@ then
|
||||
# Internal SPI bus ICM-20608-G
|
||||
mpu6000 -T 20608 start
|
||||
|
||||
# V2 build hwtypecmp is always false
|
||||
set BOARD_FMUV3 0
|
||||
# V3 build hwtypecmp supports V2|V2M|V30
|
||||
if ver hwtypecmp V30
|
||||
then
|
||||
@ -100,26 +99,6 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# Check if a Pixhack (which reports as V2M) is present
|
||||
if ver hwtypecmp V2M
|
||||
then
|
||||
# Pixhawk Mini doesn't have these sensors,
|
||||
# so if they are found we know its a Pixhack
|
||||
|
||||
# external MPU6K is rotated 180 degrees yaw
|
||||
if mpu6000 -S -R 4 start
|
||||
then
|
||||
set BOARD_FMUV3 20
|
||||
else
|
||||
# Check for Pixhack 3.1
|
||||
# external MPU9250 is rotated 180 degrees yaw
|
||||
if mpu9250 -S -R 4 start
|
||||
then
|
||||
set BOARD_FMUV3 21
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $BOARD_FMUV3 != 0 ]
|
||||
then
|
||||
# sensor heating is available, but we disable it for now
|
||||
@ -393,12 +372,6 @@ then
|
||||
teraranger start
|
||||
fi
|
||||
|
||||
# Benewake TFMini
|
||||
if param greater SENS_EN_TFMINI 0
|
||||
then
|
||||
tfmini start
|
||||
fi
|
||||
|
||||
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
|
||||
usleep 20000
|
||||
sensors start
|
||||
|
||||
@ -60,6 +60,7 @@ set LOG_FILE /fs/microsd/bootlog.txt
|
||||
# REBOOTWORK this needs to start after the flight control loop
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[i] microSD mounted: /fs/microsd"
|
||||
if hardfault_log check
|
||||
then
|
||||
tone_alarm error
|
||||
@ -78,9 +79,9 @@ else
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "INFO [init] card formatted"
|
||||
echo "INFO [init] MicroSD card formatted"
|
||||
else
|
||||
echo "ERROR [init] format failed"
|
||||
echo "ERROR [init] Format failed"
|
||||
tone_alarm MNBG
|
||||
set LOG_FILE /dev/null
|
||||
fi
|
||||
@ -96,6 +97,7 @@ fi
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
if [ -f $FRC ]
|
||||
then
|
||||
echo "INFO [init] Executing script: ${FRC}"
|
||||
sh $FRC
|
||||
set MODE custom
|
||||
fi
|
||||
@ -192,7 +194,7 @@ then
|
||||
set MAV_TYPE none
|
||||
set FAILSAFE none
|
||||
set USE_IO no
|
||||
set LOGGER_BUF 14
|
||||
set LOGGER_BUF 16
|
||||
|
||||
if ver hwcmp PX4FMU_V4
|
||||
then
|
||||
@ -314,6 +316,8 @@ then
|
||||
|
||||
if px4io checkcrc ${IO_FILE}
|
||||
then
|
||||
echo "[init] PX4IO CRC OK" >> $LOG_FILE
|
||||
|
||||
set IO_PRESENT yes
|
||||
else
|
||||
tone_alarm MLL32CP8MB
|
||||
@ -460,6 +464,7 @@ then
|
||||
then
|
||||
if param compare UAVCAN_ENABLE 0
|
||||
then
|
||||
echo "OVERRIDING UAVCAN_ENABLE = 3" >> $LOG_FILE
|
||||
param set UAVCAN_ENABLE 3
|
||||
fi
|
||||
fi
|
||||
@ -500,6 +505,7 @@ then
|
||||
if mkblctrl $MKBLCTRL_ARG
|
||||
then
|
||||
else
|
||||
echo "MK start failed" >> $LOG_FILE
|
||||
tone_alarm $TUNE_ERR
|
||||
fi
|
||||
unset MKBLCTRL_ARG
|
||||
@ -817,6 +823,7 @@ then
|
||||
# Still no MAV_TYPE found
|
||||
if [ $MAV_TYPE == none ]
|
||||
then
|
||||
echo "Unknown MAV_TYPE"
|
||||
param set MAV_TYPE 2
|
||||
else
|
||||
param set MAV_TYPE ${MAV_TYPE}
|
||||
|
||||
@ -7,22 +7,22 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-10-23"
|
||||
elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
|
||||
# posix_rpi_cross, posix_bebop_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-12-30"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-10-23"
|
||||
elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
|
||||
# eagle, excelsior
|
||||
PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-12-29"
|
||||
PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-10-23"
|
||||
elif [[ $@ =~ .*ocpoc.* ]]; then
|
||||
# posix_ocpoc_ubuntu
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-12-30"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-10-23"
|
||||
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
|
||||
# clang tools
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-12-30"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-10-23"
|
||||
elif [[ $@ =~ .*cppcheck.* ]]; then
|
||||
# TODO: remove this once px4io/px4-dev-base updates
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-base:ubuntu17.10"
|
||||
elif [[ $@ =~ .*tests* ]]; then
|
||||
# run all tests with simulation
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-12-30"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-10-23"
|
||||
fi
|
||||
else
|
||||
echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
|
||||
|
||||
@ -1 +1 @@
|
||||
Subproject commit 21a0ad7790eb29346184a156468451608fe072ef
|
||||
Subproject commit d24a1e1a68a0fbf2d90c950f9d38d1f40680eb27
|
||||
@ -488,18 +488,9 @@ class uploader(object):
|
||||
print("FORCED WRITE, FLASHING ANYWAY!")
|
||||
else:
|
||||
raise IOError(msg)
|
||||
|
||||
# Prevent uploads where the image would overflow the flash
|
||||
if self.fw_maxsize < fw.property('image_size'):
|
||||
raise RuntimeError("Firmware image is too large for this board")
|
||||
|
||||
# Prevent uploads where the maximum image size of the board config is smaller than the flash
|
||||
# of the board. This is a hint the user chose the wrong config and will lack features
|
||||
# for this particular board.
|
||||
if self.fw_maxsize > fw.property('image_maxsize'):
|
||||
raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
|
||||
% (self.fw_maxsize, fw.property('image_maxsize')))
|
||||
|
||||
# OTP added in v4:
|
||||
if self.bl_rev > 3:
|
||||
for byte in range(0, 32*6, 4):
|
||||
|
||||
@ -1 +1 @@
|
||||
Subproject commit b59e6e78e42d50f70224d1d0e506825590754d64
|
||||
Subproject commit b052c97f7c3a2c39ab8ec06ae79c66431f16c659
|
||||
2
Tools/uorb_graph/.gitignore
vendored
2
Tools/uorb_graph/.gitignore
vendored
@ -1,2 +0,0 @@
|
||||
*.json
|
||||
|
||||
@ -1,641 +0,0 @@
|
||||
#! /usr/bin/env python
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import codecs
|
||||
import re
|
||||
import colorsys
|
||||
import json
|
||||
|
||||
|
||||
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Generate uORB pub/sub dependency graph from source code')
|
||||
|
||||
parser.add_argument('-s', '--src-path', action='append',
|
||||
help='Source path(s) (default=src, can be specified multiple times)',
|
||||
default=[])
|
||||
parser.add_argument('-e', '--exclude-path', action='append',
|
||||
help='Excluded path(s), can be specified multiple times',
|
||||
default=[])
|
||||
parser.add_argument('-f', '--file', metavar='file', action='store',
|
||||
help='output file name prefix',
|
||||
default='graph')
|
||||
parser.add_argument('-o', '--output', metavar='output', action='store',
|
||||
help='output format (json or graphviz)',
|
||||
default='json')
|
||||
parser.add_argument('--use-topic-union', action='store_true',
|
||||
help='''
|
||||
Use the union of all publication and subscription topics (useful for complete
|
||||
graphs or only few/single module(s)). The default is to use the intersection
|
||||
(remove topics that have no subscriber or no publisher)''')
|
||||
parser.add_argument('-m', '--modules', action='store',
|
||||
help='Comma-separated whitelist of modules (the module\'s '+
|
||||
'MAIN, e.g. from a startup script)',
|
||||
default='')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
|
||||
g_debug = False
|
||||
def dbg_print(string):
|
||||
if g_debug:
|
||||
print(string)
|
||||
|
||||
|
||||
def get_N_colors(N, s=0.8, v=0.9):
|
||||
""" get N distinct colors as a list of hex strings """
|
||||
HSV_tuples = [(x*1.0/N, s, v) for x in range(N)]
|
||||
hex_out = []
|
||||
for rgb in HSV_tuples:
|
||||
rgb = map(lambda x: int(x*255), colorsys.hsv_to_rgb(*rgb))
|
||||
hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
|
||||
return hex_out
|
||||
|
||||
|
||||
class PubSub:
|
||||
""" Collects either publication or subscription information for nodes
|
||||
(modules and topics) & edges """
|
||||
|
||||
def __init__(self, is_publication, topic_blacklist, orb_pub_sub_regexes, special_cases):
|
||||
"""
|
||||
:param is_publication: if True, publications, False for
|
||||
subscriptions
|
||||
:param topic_blacklist: list of topics to blacklist
|
||||
:param orb_pub_sub_regexes: list of regexes to extract orb calls
|
||||
(e.g. orb_subscribe). They need to have 2 captures, the second
|
||||
one is the one capturing ORB_ID(<topic>
|
||||
"""
|
||||
self._module_pubsubs = {} # key = module name, value = set of topic names
|
||||
self._special_cases = special_cases
|
||||
self._special_cases_matched = None
|
||||
self._topic_blacklist = topic_blacklist
|
||||
self._orb_pub_sub_regexes = orb_pub_sub_regexes
|
||||
if is_publication:
|
||||
self._method = 'Publication'
|
||||
else:
|
||||
self._method = 'Subscription'
|
||||
|
||||
def reset(self):
|
||||
self._special_cases_matched = [False]*len(self._special_cases)
|
||||
|
||||
def filter_modules(self, module_whitelist):
|
||||
remove = [k for k in self._module_pubsubs if k not in module_whitelist]
|
||||
for k in remove: del self._module_pubsubs[k]
|
||||
|
||||
|
||||
def check_if_match_found(self, modules):
|
||||
""" check if all special cases got a match (if not, it means the source
|
||||
code got changed)
|
||||
"""
|
||||
for i, (module_match, file_match_re, src_match_re, _) in enumerate(self._special_cases):
|
||||
if module_match in modules and src_match_re is not None:
|
||||
if not self._special_cases_matched[i]:
|
||||
raise Exception('Module '+module_match+
|
||||
': no match for '+self._method+' special case'+
|
||||
src_match_re.pattern+'. The case needs to be updated')
|
||||
|
||||
|
||||
def extract(self, file_name, src_str, module, orb_id_vehicle_attitude_controls_topic):
|
||||
""" Extract subscribed/published topics from a source string
|
||||
:param src_str: string of C/C++ code with comments and whitespace removed
|
||||
"""
|
||||
|
||||
orb_pubsub_matches = []
|
||||
for regex in self._orb_pub_sub_regexes:
|
||||
orb_pubsub_matches += re.findall(regex, src_str)
|
||||
|
||||
orb_id = 'ORB_ID('
|
||||
|
||||
for _, match in orb_pubsub_matches:
|
||||
if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
|
||||
match = orb_id+orb_id_vehicle_attitude_controls_topic
|
||||
|
||||
# match has the form: '[ORB_ID(]<topic_name>'
|
||||
if match.startswith(orb_id):
|
||||
topic_name = match[len(orb_id):]
|
||||
self._add_topic(topic_name, file_name, module)
|
||||
else:
|
||||
ignore_found = False
|
||||
for module_match, file_match_re, _, ignore_re in self._special_cases:
|
||||
if module == module_match:
|
||||
if file_match_re.search(file_name):
|
||||
if ignore_re.search(match):
|
||||
ignore_found = True
|
||||
if not ignore_found:
|
||||
# If we land here, we need to add another special case
|
||||
raise Exception(self._method+' w/o ORB_ID(): '+match+' in '
|
||||
+file_name+' ('+module+'). You need to add another special case.')
|
||||
|
||||
# handle special cases
|
||||
for i, (module_match, file_match_re, src_match_re, _) in enumerate(self._special_cases):
|
||||
if src_match_re is None:
|
||||
continue
|
||||
if module == module_match:
|
||||
if file_match_re.search(file_name):
|
||||
matches = src_match_re.findall(src_str)
|
||||
for match in matches:
|
||||
# match has the form: '[ORB_ID(]<topic_name>'
|
||||
if match.startswith(orb_id):
|
||||
topic_name = match[len(orb_id):]
|
||||
dbg_print('Found '+self._method+' for special case in '
|
||||
+module+': '+topic_name)
|
||||
self._add_topic(topic_name, file_name, module)
|
||||
self._special_cases_matched[i] = True
|
||||
else:
|
||||
# this is not fatal, as it could be a method delaration/definition
|
||||
dbg_print('Special case '+self._method+' w/o ORB_ID(): '
|
||||
+match+' in '+file_name+' ('+module+')')
|
||||
|
||||
def _add_topic(self, topic_name, file_name, module):
|
||||
""" add a subscription/publication for a module
|
||||
"""
|
||||
if topic_name in self._topic_blacklist:
|
||||
dbg_print('ignoring blacklisted topic '+topic_name)
|
||||
return
|
||||
|
||||
if module is None:
|
||||
if not file_name.endswith('hott/messages.cpp'): # hott has a special module structure. just ignore it
|
||||
print('Warning: found '+self._method+' without associated module: '
|
||||
+topic_name+' in '+file_name)
|
||||
return
|
||||
|
||||
if not module in self._module_pubsubs:
|
||||
self._module_pubsubs[module] = set()
|
||||
self._module_pubsubs[module].add(topic_name)
|
||||
|
||||
|
||||
def get_topics(self, modules):
|
||||
""" get the set of topics
|
||||
:param modules: list of modules to take into account
|
||||
"""
|
||||
topics = set()
|
||||
for module in modules:
|
||||
if module in self._module_pubsubs:
|
||||
topics |= self._module_pubsubs[module]
|
||||
return topics
|
||||
|
||||
@property
|
||||
def pubsubs(self):
|
||||
""" get dict of all publication/subscriptions (key=modules, value=set of
|
||||
topic names"""
|
||||
return self._module_pubsubs
|
||||
|
||||
|
||||
class Graph:
|
||||
""" Collects Node and Edge information by parsing the source tree """
|
||||
def __init__(self, module_whitelist=[], topic_blacklist=[]):
|
||||
self._current_module = [] # stack with current module (they can be nested)
|
||||
self._all_modules = set() # set of all found modules
|
||||
|
||||
self._comment_remove_pattern = re.compile(
|
||||
r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
|
||||
re.DOTALL | re.MULTILINE)
|
||||
self._whitespace_pattern = re.compile(r'\s+')
|
||||
self._module_whitelist = module_whitelist
|
||||
self._excluded_paths = []
|
||||
|
||||
self._orb_id_vehicle_attitude_controls_topic = 'actuator_controls_0'
|
||||
self._orb_id_vehicle_attitude_controls_re = \
|
||||
re.compile(r'\#define\s+ORB_ID_VEHICLE_ATTITUDE_CONTROLS\s+([^,)]+)')
|
||||
|
||||
self._module_subscriptions = {} # key = module name, value = set of topic names
|
||||
self._module_publications = {} # key = module name, value = set of topic names
|
||||
|
||||
self._modules = set() # all modules
|
||||
self._topics = set() # all topics
|
||||
self._topic_colors = {} # key = topic, value = color (html string)
|
||||
|
||||
# handle special cases
|
||||
# format: list of tuples with 4 entries:
|
||||
# - module name to match (module MAIN)
|
||||
# - regex for file name(s) to match within the module (matched against the full path)
|
||||
# - regex to extract the topic name: the match must be ORB_ID(<topic_name>
|
||||
# Note: whitespace is removed from source code, so it does not need to be
|
||||
# accounted for in the regex.
|
||||
# If this is None, it will just be ignored
|
||||
# - regex to ignore matches in the form orb_[subscribe|advertise](<match>
|
||||
# (the expectation is that the previous matching ORB_ID() will be passed
|
||||
# to this, so that we can ignore it)
|
||||
special_cases_sub = [
|
||||
('sensors', r'voted_sensors_update\.cpp$', r'\binit_sensor_class\b\(([^,)]+)', r'^meta$'),
|
||||
('mavlink', r'.*', r'\badd_orb_subscription\b\(([^,)]+)', r'^_topic$'),
|
||||
('sdlog2', r'.*', None, r'^topic$'),
|
||||
('logger', r'.*', None, r'^(topic|sub\.metadata|_polling_topic_meta)$'),
|
||||
|
||||
('uavcan', r'uavcan_main\.cpp$', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
|
||||
('tap_esc', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
|
||||
('pwm_out_sim', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
|
||||
('snapdragon_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
|
||||
('fmu', r'.*', r'\b_control_topics\[[0-9]\]=([^,)]+)', r'^_control_topics\[i\]$'),
|
||||
('linux_pwm_out', r'.*', r'\b_controls_topics\[[0-9]\]=([^,)]+)', r'^_controls_topics\[i\]$'),
|
||||
]
|
||||
special_cases_sub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
|
||||
for a,b,c,d in special_cases_sub]
|
||||
|
||||
self._subscriptions = PubSub(False, topic_blacklist,
|
||||
[r"\borb_subscribe(_multi|)\b\(([^,)]+)"],
|
||||
special_cases_sub)
|
||||
|
||||
|
||||
special_cases_pub = [
|
||||
('replay', r'replay_main\.cpp$', None, r'^sub\.orb_meta$'),
|
||||
('fw_pos_control_l1', r'FixedwingPositionControl\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
|
||||
|
||||
('mc_pos_control', r'mc_pos_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
|
||||
|
||||
('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
|
||||
('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
|
||||
|
||||
('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
|
||||
('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
|
||||
('fw_att_control', r'fw_att_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
|
||||
|
||||
('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
|
||||
('batt_smbus', r'batt_smbus\.cpp$', r'\b_batt_orb_id=([^,)]+)', r'^_batt_orb_id$'),
|
||||
]
|
||||
special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
|
||||
for a,b,c,d in special_cases_pub]
|
||||
self._publications = PubSub(True, topic_blacklist,
|
||||
[r"\borb_advertise(_multi|_queue|_multi_queue|)\b\(([^,)]+)",
|
||||
r"\borb_publish_auto()\b\(([^,)]+)"],
|
||||
special_cases_pub)
|
||||
|
||||
|
||||
def _get_current_module(self):
|
||||
if len(self._current_module) == 0:
|
||||
return None
|
||||
return self._current_module[-1]
|
||||
|
||||
def build(self, src_path_list, excluded_paths=[], use_topic_pubsub_union=True):
|
||||
""" parse the source tree & extract pub/sub information.
|
||||
:param use_topic_pubsub_union: if true, use all topics that have a
|
||||
publisher or subscriber. If false, use only topics with at least one
|
||||
publisher and subscriber.
|
||||
|
||||
fill in self._module_subsciptions & self._module_publications
|
||||
"""
|
||||
|
||||
self._subscriptions.reset()
|
||||
self._publications.reset()
|
||||
|
||||
self._excluded_paths = [os.path.normpath(p) for p in excluded_paths]
|
||||
for path in src_path_list:
|
||||
self._build_recursive(path)
|
||||
|
||||
# filter by whitelist
|
||||
if len(self._module_whitelist) > 0:
|
||||
self._subscriptions.filter_modules(self._module_whitelist)
|
||||
self._publications.filter_modules(self._module_whitelist)
|
||||
|
||||
# modules & topics sets
|
||||
self._modules = set(self._publications.pubsubs.keys() +
|
||||
self._subscriptions.pubsubs.keys())
|
||||
print('number of modules: '+str(len(self._modules)))
|
||||
self._topics = self._get_topics(use_topic_pubsub_union=use_topic_pubsub_union)
|
||||
print('number of topics: '+str(len(self._topics)))
|
||||
|
||||
# initialize colors
|
||||
color_list = get_N_colors(len(self._topics), 0.7, 0.85)
|
||||
self._topic_colors = {}
|
||||
for i, topic in enumerate(self._topics):
|
||||
self._topic_colors[topic] = color_list[i]
|
||||
|
||||
|
||||
# validate that all special rules got used
|
||||
self._subscriptions.check_if_match_found(self._all_modules)
|
||||
self._publications.check_if_match_found(self._all_modules)
|
||||
|
||||
|
||||
def _get_topics(self, use_topic_pubsub_union=True):
|
||||
""" get the set of topics
|
||||
"""
|
||||
subscribed_topics = self._subscriptions.get_topics(self._modules)
|
||||
published_topics = self._publications.get_topics(self._modules)
|
||||
if use_topic_pubsub_union:
|
||||
return subscribed_topics | published_topics
|
||||
return subscribed_topics & published_topics
|
||||
|
||||
def _build_recursive(self, path):
|
||||
|
||||
if os.path.normpath(path) in self._excluded_paths:
|
||||
dbg_print('ignoring excluded path '+path)
|
||||
return
|
||||
|
||||
entries = os.listdir(path)
|
||||
|
||||
# check if entering a new module
|
||||
cmake_file = 'CMakeLists.txt'
|
||||
new_module = False
|
||||
if cmake_file in entries:
|
||||
new_module = self._extract_module_name(os.path.join(path, cmake_file))
|
||||
|
||||
# iterate directories recursively
|
||||
for entry in entries:
|
||||
file_name = os.path.join(path, entry)
|
||||
if os.path.isdir(file_name):
|
||||
self._build_recursive(file_name)
|
||||
|
||||
|
||||
# iterate source files
|
||||
# Note: we could skip the entries if we're not in a module, but we don't
|
||||
# so that we get appropriate error messages to know where we miss subs
|
||||
# or pubs
|
||||
for entry in entries:
|
||||
file_name = os.path.join(path, entry)
|
||||
if os.path.isfile(file_name):
|
||||
_, ext = os.path.splitext(file_name)
|
||||
if ext in ['.cpp', '.c', '.h', '.hpp']:
|
||||
self._process_source_file(file_name)
|
||||
|
||||
|
||||
if new_module:
|
||||
self._current_module.pop()
|
||||
|
||||
|
||||
def _extract_module_name(self, file_name):
|
||||
""" extract the module name from a CMakeLists.txt file and store
|
||||
in self._current_module if there is any """
|
||||
datafile = file(file_name)
|
||||
found_module_def = False
|
||||
for line in datafile:
|
||||
if 'px4_add_module' in line: # must contain 'px4_add_module'
|
||||
found_module_def = True
|
||||
|
||||
words = line.split()
|
||||
# get the definition of MAIN
|
||||
if found_module_def and 'MAIN' in words and len(words) >= 2:
|
||||
self._current_module.append(words[1])
|
||||
self._all_modules.add(words[1])
|
||||
dbg_print('Found module name: '+words[1])
|
||||
return True
|
||||
return False
|
||||
|
||||
|
||||
def _process_source_file(self, file_name):
|
||||
""" extract information from a single source file """
|
||||
|
||||
with codecs.open(file_name, 'r', 'utf-8') as f:
|
||||
try:
|
||||
content = f.read()
|
||||
except:
|
||||
print('Failed reading file: %s, skipping content.' % path)
|
||||
return
|
||||
|
||||
|
||||
current_module = self._get_current_module()
|
||||
if current_module == 'uorb_tests': # skip this
|
||||
return
|
||||
if current_module == 'uorb':
|
||||
|
||||
# search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
|
||||
matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
|
||||
for match in matches:
|
||||
if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
|
||||
# if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
|
||||
raise Exception(
|
||||
'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
|
||||
'is '+match+' but expected ORB_ID('+
|
||||
self._orb_id_vehicle_attitude_controls_topic)
|
||||
|
||||
return # skip uorb module for the rest
|
||||
|
||||
|
||||
|
||||
if content.lower().find('orb_') != -1: # approximative filter to quickly
|
||||
# discard files we're not interested in
|
||||
# (speedup the parsing)
|
||||
src = self._comment_remover(content)
|
||||
src = re.sub(self._whitespace_pattern, '', src) # remove all whitespace
|
||||
|
||||
|
||||
# subscriptions
|
||||
self._subscriptions.extract(file_name, src, current_module,
|
||||
self._orb_id_vehicle_attitude_controls_topic)
|
||||
|
||||
# publications
|
||||
self._publications.extract(file_name, src, current_module,
|
||||
self._orb_id_vehicle_attitude_controls_topic)
|
||||
|
||||
# TODO: handle Publication & Subscription template classes
|
||||
|
||||
|
||||
|
||||
def _comment_remover(self, text):
|
||||
""" remove C++ & C style comments.
|
||||
Source: https://stackoverflow.com/a/241506 """
|
||||
def replacer(match):
|
||||
s = match.group(0)
|
||||
if s.startswith('/'):
|
||||
return " " # note: a space and not an empty string
|
||||
else:
|
||||
return s
|
||||
return re.sub(self._comment_remove_pattern, replacer, text)
|
||||
|
||||
|
||||
@property
|
||||
def modules(self):
|
||||
""" get the set of all modules """
|
||||
return self._modules
|
||||
|
||||
@property
|
||||
def topics(self):
|
||||
""" get set set of all topics """
|
||||
return self._topics
|
||||
|
||||
@property
|
||||
def topic_colors(self):
|
||||
""" get a dict of all topic colors with key=topic, value=color """
|
||||
return self._topic_colors
|
||||
|
||||
@property
|
||||
def module_subscriptions(self):
|
||||
""" get a dict of all subscriptions with key=module name, value=set(topic names) """
|
||||
return self._subscriptions.pubsubs
|
||||
|
||||
@property
|
||||
def module_publications(self):
|
||||
""" get a dict of all publications with key=module name, value=set(topic names) """
|
||||
return self._publications.pubsubs
|
||||
|
||||
|
||||
|
||||
class OutputGraphviz:
|
||||
""" write graph using Graphviz """
|
||||
|
||||
def __init__(self, graph):
|
||||
self._graph = graph
|
||||
|
||||
def write(self, file_name, engine='fdp',
|
||||
show_publications=True, show_subscriptions=True):
|
||||
""" write the graph to a file
|
||||
:param engine: graphviz engine
|
||||
- fdp works for large graphs
|
||||
- neato works better for smaller graphs
|
||||
- circo works for single modules
|
||||
CLI: fdp graph.fv -Tpdf -o test.pdf
|
||||
"""
|
||||
|
||||
print('Writing to '+file_name)
|
||||
|
||||
ratio = 1 # aspect ratio
|
||||
|
||||
modules = self._graph.modules
|
||||
topics = self._graph.topics
|
||||
topic_colors = self._graph.topic_colors
|
||||
module_publications = self._graph.module_publications
|
||||
module_subscriptions = self._graph.module_subscriptions
|
||||
|
||||
graph_attr={'splines': 'true', 'ratio': str(ratio), 'overlap': 'false'}
|
||||
graph_attr['sep'] = '"+15,15"' # increase spacing between nodes
|
||||
graph = Digraph(comment='autogenerated graph with graphviz using uorb_graph.py',
|
||||
engine=engine, graph_attr=graph_attr)
|
||||
|
||||
|
||||
# nodes
|
||||
for module in modules:
|
||||
graph.node('m_'+module, module, shape='box', fontcolor='#ffffff',
|
||||
style='filled', color='#666666', fontsize='16')
|
||||
|
||||
for topic in topics:
|
||||
graph.node('t_'+topic, topic, shape='ellipse', fontcolor='#ffffff',
|
||||
style='filled', color=topic_colors[topic])
|
||||
|
||||
|
||||
# edges
|
||||
if show_publications:
|
||||
for module in modules:
|
||||
if module in module_publications:
|
||||
for topic in module_publications[module]:
|
||||
if topic in topics:
|
||||
graph.edge('m_'+module, 't_'+topic,
|
||||
color=topic_colors[topic], style='dashed')
|
||||
|
||||
if show_subscriptions:
|
||||
for module in modules:
|
||||
if module in module_subscriptions:
|
||||
for topic in module_subscriptions[module]:
|
||||
if topic in topics:
|
||||
graph.edge('t_'+topic, 'm_'+module,
|
||||
color=topic_colors[topic])
|
||||
|
||||
graph.render(file_name, view=False)
|
||||
|
||||
|
||||
class OutputJSON:
|
||||
""" write graph to a JSON file (that can be used with D3.js) """
|
||||
|
||||
def __init__(self, graph):
|
||||
self._graph = graph
|
||||
|
||||
def write(self, file_name):
|
||||
|
||||
print('Writing to '+file_name)
|
||||
|
||||
modules = self._graph.modules
|
||||
topics = self._graph.topics
|
||||
topic_colors = self._graph.topic_colors
|
||||
module_publications = self._graph.module_publications
|
||||
module_subscriptions = self._graph.module_subscriptions
|
||||
|
||||
data = {}
|
||||
nodes = []
|
||||
|
||||
# nodes
|
||||
# (sort by length, such that short names are last. The rendering order
|
||||
# will be the same, so that in case of an overlap, the shorter label
|
||||
# will be on top)
|
||||
for module in sorted(modules, key=len, reverse=True):
|
||||
node = {}
|
||||
node['id'] = 'm_'+module
|
||||
node['name'] = module
|
||||
node['type'] = 'module'
|
||||
node['color'] = '#666666'
|
||||
# TODO: add url to open module documentation?
|
||||
nodes.append(node)
|
||||
|
||||
for topic in sorted(topics, key=len, reverse=True):
|
||||
node = {}
|
||||
node['id'] = 't_'+topic
|
||||
node['name'] = topic
|
||||
node['type'] = 'topic'
|
||||
node['color'] = topic_colors[topic]
|
||||
# url is opened when double-clicking on the node
|
||||
# TODO: does not work for multi-topics
|
||||
node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
|
||||
nodes.append(node)
|
||||
|
||||
data['nodes'] = nodes
|
||||
|
||||
edges = []
|
||||
|
||||
# edges
|
||||
for module in modules:
|
||||
if module in module_publications:
|
||||
for topic in module_publications[module]:
|
||||
if topic in topics:
|
||||
edge = {}
|
||||
edge['source'] = 'm_'+module
|
||||
edge['target'] = 't_'+topic
|
||||
edge['color'] = topic_colors[topic]
|
||||
edge['style'] = 'dashed'
|
||||
edges.append(edge)
|
||||
|
||||
for module in modules:
|
||||
if module in module_subscriptions:
|
||||
for topic in module_subscriptions[module]:
|
||||
if topic in topics:
|
||||
edge = {}
|
||||
edge['source'] = 't_'+topic
|
||||
edge['target'] = 'm_'+module
|
||||
edge['color'] = topic_colors[topic]
|
||||
edge['style'] = 'normal'
|
||||
edges.append(edge)
|
||||
|
||||
data['links'] = edges
|
||||
|
||||
with open(file_name, 'w') as outfile:
|
||||
json.dump(data, outfile) # add indent=2 for readable formatting
|
||||
|
||||
|
||||
|
||||
# ignore topics that are subscribed/published by many topics, but are not really
|
||||
# useful to show in the graph
|
||||
topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
|
||||
print('Excluded topics: '+str(topic_blacklist))
|
||||
|
||||
if len(args.modules) == 0:
|
||||
module_whitelist = []
|
||||
else:
|
||||
module_whitelist = [ m.strip() for m in args.modules.split(',')]
|
||||
|
||||
graph = Graph(module_whitelist=module_whitelist, topic_blacklist=topic_blacklist)
|
||||
if len(args.src_path) == 0:
|
||||
args.src_path = ['src']
|
||||
graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union)
|
||||
|
||||
|
||||
if args.output == 'json':
|
||||
output_json = OutputJSON(graph)
|
||||
output_json.write(args.file+'.json')
|
||||
|
||||
elif args.output == 'graphviz':
|
||||
try:
|
||||
from graphviz import Digraph
|
||||
except:
|
||||
print("Failed to import graphviz.")
|
||||
print("You may need to install it with 'pip install graphviz'")
|
||||
print("")
|
||||
raise
|
||||
output_graphviz = OutputGraphviz(graph)
|
||||
engine='fdp' # use neato or fdp
|
||||
output_graphviz.write(args.file+'.fv', engine=engine)
|
||||
output_graphviz.write(args.file+'_subs.fv', show_publications=False, engine=engine)
|
||||
output_graphviz.write(args.file+'_pubs.fv', show_subscriptions=False, engine=engine)
|
||||
else:
|
||||
print('Error: unknown output format '+args.output)
|
||||
|
||||
|
||||
|
||||
@ -1,13 +0,0 @@
|
||||
#! /bin/bash
|
||||
# create the graph from a posix (e.g. SITL) startup script
|
||||
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
|
||||
startup_file="$SCRIPT_DIR"/../../posix-configs/SITL/init/ekf2/typhoon_h480
|
||||
[ -n "$1" ] && startup_file=$1
|
||||
# get the modules as comma-separated list
|
||||
modules=$(cat "$startup_file"|cut -f1 -d' '|sort|uniq|tr '\n' ,)
|
||||
|
||||
cd "$SCRIPT_DIR/../.."
|
||||
"$SCRIPT_DIR"/create.py --src-path src -m "$modules" -f "$SCRIPT_DIR/graph_runtime_sitl"
|
||||
|
||||
131
Vagrantfile
vendored
Normal file
131
Vagrantfile
vendored
Normal file
@ -0,0 +1,131 @@
|
||||
# -*- mode: ruby -*-
|
||||
# vi: set ft=ruby :
|
||||
|
||||
# All Vagrant configuration is done below. The "2" in Vagrant.configure
|
||||
# configures the configuration version (we support older styles for
|
||||
# backwards compatibility). Please don't change it unless you know what
|
||||
# you're doing.
|
||||
Vagrant.configure(2) do |config|
|
||||
|
||||
# Every Vagrant development environment requires a box. You can search for
|
||||
# boxes at https://atlas.hashicorp.com/search.
|
||||
config.vm.box = "ubuntu/trusty64"
|
||||
|
||||
# Disable automatic box update checking. If you disable this, then
|
||||
# boxes will only be checked for updates when the user runs
|
||||
# `vagrant box outdated`. This is not recommended.
|
||||
# config.vm.box_check_update = false
|
||||
|
||||
# Create a forwarded port mapping which allows access to a specific port
|
||||
# within the machine from a port on the host machine. In the example below,
|
||||
# accessing "localhost:8080" will access port 80 on the guest machine.
|
||||
# MAVLink telemetry via UDP in SITL mode
|
||||
config.vm.network "forwarded_port", guest: 14556, host: 14556, protocol: "udp"
|
||||
# SITL simulation data
|
||||
config.vm.network "forwarded_port", guest: 14560, host: 14560, protocol: "udp"
|
||||
|
||||
# Create a private network, which allows host-only access to the machine
|
||||
# using a specific IP.
|
||||
config.vm.network "private_network", ip: "192.168.33.10"
|
||||
|
||||
# Create a public network, which generally matched to bridged network.
|
||||
# Bridged networks make the machine appear as another physical device on
|
||||
# your network.
|
||||
# config.vm.network "public_network"
|
||||
|
||||
# Share an additional folder to the guest VM. The first argument is
|
||||
# the path on the host to the actual folder. The second argument is
|
||||
# the path on the guest to mount the folder. And the optional third
|
||||
# argument is a set of non-required options.
|
||||
# NFS should be faster: https://stefanwrobel.com/how-to-make-vagrant-performance-not-suck
|
||||
config.vm.synced_folder ".", "/Firmware", type: "nfs"
|
||||
|
||||
# Provider-specific configuration so you can fine-tune various
|
||||
# backing providers for Vagrant. These expose provider-specific options.
|
||||
# Example for VirtualBox:
|
||||
#
|
||||
|
||||
# This is to configure the machine to be as fast as possible
|
||||
# Alternative: https://github.com/rdsubhas/vagrant-faster
|
||||
config.vm.provider "virtualbox" do |vb|
|
||||
# Display the VirtualBox GUI when booting the machine
|
||||
vb.gui = false
|
||||
vb.customize ["modifyvm", :id, "--ioapic", "on"]
|
||||
#vb.customize ["modifyvm", :id, "--cpus", "2"]
|
||||
|
||||
config.vm.provider "virtualbox" do |v|
|
||||
host = RbConfig::CONFIG['host_os']
|
||||
|
||||
# Give VM 1/4 system memory & access to all cpu cores on the host
|
||||
if host =~ /darwin/
|
||||
cpus = `sysctl -n hw.ncpu`.to_i
|
||||
# sysctl returns Bytes and we need to convert to MB
|
||||
mem = `sysctl -n hw.memsize`.to_i / 1024 / 1024 / 4
|
||||
elsif host =~ /linux/
|
||||
cpus = `nproc`.to_i
|
||||
# meminfo shows KB and we need to convert to MB
|
||||
mem = `grep 'MemTotal' /proc/meminfo | sed -e 's/MemTotal://' -e 's/ kB//'`.to_i / 1024 / 4
|
||||
else # sorry Windows folks, I can't help you
|
||||
cpus = 2
|
||||
mem = 1024
|
||||
end
|
||||
|
||||
v.customize ["modifyvm", :id, "--memory", mem]
|
||||
v.customize ["modifyvm", :id, "--cpus", cpus]
|
||||
end
|
||||
|
||||
# Since make and other tools freak out if they see timestamps
|
||||
# from the future and we share directories, tightly lock the host and guest clocks together (clock sync if more than 2 seconds off)
|
||||
vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", 2000]
|
||||
# Do this on start and restore
|
||||
vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
|
||||
vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
|
||||
|
||||
# Customize the amount of memory on the VM:
|
||||
#vb.memory = "2048"
|
||||
end
|
||||
#
|
||||
# View the documentation for the provider you are using for more
|
||||
# information on available options.
|
||||
|
||||
# Define a Vagrant Push strategy for pushing to Atlas. Other push strategies
|
||||
# such as FTP and Heroku are also available. See the documentation at
|
||||
# https://docs.vagrantup.com/v2/push/atlas.html for more information.
|
||||
# config.push.define "atlas" do |push|
|
||||
# push.app = "YOUR_ATLAS_USERNAME/YOUR_APPLICATION_NAME"
|
||||
# end
|
||||
|
||||
# Enable provisioning with a shell script. Additional provisioners such as
|
||||
# Puppet, Chef, Ansible, Salt, and Docker are also available. Please see the
|
||||
# documentation for more information about their specific syntax and use.
|
||||
config.vm.provision "shell", privileged: false, inline: <<-SHELL
|
||||
# Ensure we start in the Firmware folder
|
||||
echo "cd /Firmware" >> ~/.bashrc
|
||||
# Install software
|
||||
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded -y
|
||||
sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y build-essential ccache cmake clang-3.5 lldb-3.5 g++-4.8 gcc-4.8 genromfs libc6-i386 libncurses5-dev python-argparse python-empy python-serial s3cmd texinfo zlib1g-dev git-core zip gdb gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
|
||||
pushd .
|
||||
cd ~
|
||||
wget -q https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
|
||||
tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
|
||||
exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
|
||||
if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
|
||||
exportline2="export HEXAGON_TOOLS_ROOT=$HOME/Qualcomm/HEXAGON_Tools/7.2.10/Tools"
|
||||
if grep -Fxq "$exportline2" ~/.profile; then echo nothing to do ; else echo $exportline2 >> ~/.profile; fi
|
||||
. ~/.profile
|
||||
popd
|
||||
# setup ccache
|
||||
mkdir -p ~/bin
|
||||
ln -s /usr/bin/ccache ~/bin/arm-none-eabi-g++
|
||||
ln -s /usr/bin/ccache ~/bin/arm-none-eabi-gcc
|
||||
ln -s /usr/bin/ccache ~/bin/g++-4.8
|
||||
ln -s /usr/bin/ccache ~/bin/gcc-4.8
|
||||
export PATH=~/bin:$PATH
|
||||
|
||||
# Configure hardware related bits
|
||||
sudo apt-get -y remove modemmanager
|
||||
sudo usermod -a -G dialout $USER
|
||||
SHELL
|
||||
end
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
|
||||
|
||||
@ -48,7 +49,6 @@ set(config_module_list
|
||||
drivers/bst
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/lis3mdl
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
add_definitions(
|
||||
-DFLASH_BASED_PARAMS
|
||||
@ -27,7 +28,7 @@ add_definitions(
|
||||
)
|
||||
|
||||
px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
|
||||
BIN ${PX4_BINARY_DIR}/platforms/nuttx/esc35-v1.bin
|
||||
BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/esc35-v1.bin
|
||||
HWNAME ${uavcanblid_name}
|
||||
HW_MAJOR ${uavcanblid_hw_version_major}
|
||||
HW_MINOR ${uavcanblid_hw_version_minor}
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
@ -51,7 +52,6 @@ set(config_module_list
|
||||
drivers/camera_trigger
|
||||
drivers/bst
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
@ -58,7 +59,6 @@ set(config_module_list
|
||||
drivers/teraranger
|
||||
drivers/vmount
|
||||
modules/sensors
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
@ -47,8 +48,6 @@ set(config_module_list
|
||||
drivers/bst
|
||||
drivers/snapdragon_rc_pwm
|
||||
drivers/lis3mdl
|
||||
drivers/tfmini
|
||||
|
||||
|
||||
#
|
||||
# System commands
|
||||
@ -168,4 +167,4 @@ set(config_module_list
|
||||
|
||||
# Hardware test
|
||||
#examples/hwtest
|
||||
)
|
||||
)
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
add_definitions(
|
||||
-DPARAM_NO_ORB
|
||||
@ -25,7 +26,7 @@ add_definitions(
|
||||
)
|
||||
|
||||
px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
|
||||
BIN ${PX4_BINARY_DIR}/platforms/nuttx/px4cannode-v1.bin
|
||||
BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
|
||||
HWNAME ${uavcanblid_name}
|
||||
HW_MAJOR ${uavcanblid_hw_version_major}
|
||||
HW_MINOR ${uavcanblid_hw_version_minor}
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
add_definitions(
|
||||
-DFLASH_BASED_PARAMS
|
||||
@ -27,7 +28,7 @@ add_definitions(
|
||||
)
|
||||
|
||||
px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
|
||||
BIN ${PX4_BINARY_DIR}/platforms/nuttx/px4esc-v1.bin
|
||||
BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
|
||||
HWNAME ${uavcanblid_name}
|
||||
HW_MAJOR ${uavcanblid_hw_version_major}
|
||||
HW_MINOR ${uavcanblid_hw_version_minor}
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
|
||||
|
||||
#set(config_uavcan_num_ifaces 2)
|
||||
@ -58,7 +59,6 @@ set(config_module_list
|
||||
#drivers/ulanding
|
||||
drivers/vmount
|
||||
modules/sensors
|
||||
#drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test)
|
||||
|
||||
@ -47,7 +48,6 @@ set(config_module_list
|
||||
#drivers/bst
|
||||
#drivers/snapdragon_rc_pwm
|
||||
#drivers/lis3mdl
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -2,9 +2,9 @@
|
||||
# FMUv3 is FMUv2 with access to the full 2MB flash
|
||||
set(BOARD px4fmu-v2 CACHE string "" FORCE)
|
||||
set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
|
||||
set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
|
||||
set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
|
||||
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
|
||||
|
||||
set(config_uavcan_num_ifaces 2)
|
||||
@ -64,7 +64,6 @@ set(config_module_list
|
||||
drivers/ulanding
|
||||
drivers/vmount
|
||||
modules/sensors
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
@ -55,7 +56,6 @@ set(config_module_list
|
||||
drivers/teraranger
|
||||
drivers/vmount
|
||||
modules/sensors
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
|
||||
|
||||
@ -55,7 +56,6 @@ set(config_module_list
|
||||
drivers/teraranger
|
||||
drivers/vmount
|
||||
modules/sensors
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
@ -55,7 +56,6 @@ set(config_module_list
|
||||
drivers/teraranger
|
||||
drivers/vmount
|
||||
modules/sensors
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
|
||||
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
@ -49,7 +50,6 @@ set(config_module_list
|
||||
drivers/tap_esc
|
||||
drivers/teraranger
|
||||
modules/sensors
|
||||
drivers/tfmini
|
||||
|
||||
#
|
||||
# System commands
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
include(nuttx/px4_impl_nuttx)
|
||||
|
||||
add_definitions(
|
||||
-DPARAM_NO_ORB
|
||||
@ -25,7 +26,7 @@ include(configs/uavcan_board_ident/s2740vc-v1)
|
||||
|
||||
# N.B. this would be uncommented when there is an APP
|
||||
#px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
|
||||
# BIN ${PX4_BINARY_DIR}/platforms/nuttx/s2740vc-v1.bin
|
||||
# BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/s2740vc-v1.bin
|
||||
# HWNAME ${uavcanblid_name}
|
||||
# HW_MAJOR ${uavcanblid_hw_version_major}
|
||||
# HW_MINOR ${uavcanblid_hw_version_minor}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
x
Reference in New Issue
Block a user