forked from Archive/PX4-Autopilot
Tools/serial: add script to generate ROMFS serial startup logic & serial parameters
This commit is contained in:
Beat Küng
parent
15044909a4
commit
5bb75a7ff8
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#! /usr/bin/env python
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""" Script to generate Serial (UART) parameters and the ROMFS startup script """
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from __future__ import print_function
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import argparse
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import os
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import sys
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from jinja2 import Environment, FileSystemLoader
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## Configuration
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# All possible Serial ports and their default param values.
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# Omitted default values will be set to 0.
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serial_ports = {
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"GPS1": {
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"label": "GPS 1",
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"defaults": {
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"CONFIG": 'Main GPS',
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"BAUD": 0,
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},
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},
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"GPS2": {
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"label": "GPS 2",
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"defaults": {
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"CONFIG": 'Disabled',
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"BAUD": 0,
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},
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},
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"TEL1": {
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"label": "TELEM 1",
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"defaults": {
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"CONFIG": 'MAVLink',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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"MAV_R": 1200,
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"MAV_FWD": 1,
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},
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},
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"TEL2": { # companion port
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"label": "TELEM 2",
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"defaults": {
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"CONFIG": 'Disabled', # disabled by default to reduce RAM usage
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"BAUD": 57600,
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"MAV_MDE": 'OSD',
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},
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},
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"TEL3": {
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"label": "TELEM 3",
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"defaults": {
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"CONFIG": 'Disabled',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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},
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},
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"TEL4": {
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"label": "TELEM 4",
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"defaults": {
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"CONFIG": 'MAVLink',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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"MAV_R": 1200,
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},
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},
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"URT3": { # for Omnibus
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"label": "UART 3",
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"defaults": {
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"CONFIG": 'MAVLink',
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"BAUD": 57600,
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"MAV_MDE": 'Normal',
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"MAV_R": 1200,
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"MAV_FWD": 1,
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},
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},
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"URT6": { # for Omnibus
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"label": "UART 6",
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"defaults": {
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"CONFIG": 'Main GPS',
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"BAUD": 0,
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},
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},
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}
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# Serial commands: each dict entry is a list with 2 items:
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# - user-facing label (must be short, will be shown in a drop-down list)
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# - ROMFS command (can be more than one or any scripting logic).
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# These variables can be used:
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# ${SER_DEV} Serial device (e.g. /dev/ttyS1)
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# ${SER_TAG} Serial tag (e.g. GPS1)
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# SER_${SER_TAG}_CONFIG Param name for the current configuration
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# SER_${SER_TAG}_BAUD Param name for the current baudrate
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# SER_${SER_TAG}_MAV_MDE Param name for the current mavlink mode
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# SER_${SER_TAG}_MAV_R Param name for the current mavlink rate
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# SER_${SER_TAG}_MAV_FWD Param name for current mavlink forwarding
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# ${DUAL_GPS_ARGS} Arguments passed to the gps to start the secondary GPS
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# ${MAV_ARGS} Mavlink arguments (baudrate, mode and rate)
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#
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# Note: do NOT re-use or change indexes. When adding a command, always use an
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# index that has never been used before. This is important for compatibility
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# with QGC
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serial_commands = {
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0: ["Disabled", ""],
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# MAVLink & RTPS
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1: ["MAVLink", "mavlink start -d ${SER_DEV} ${MAV_ARGS} -x"],
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2: ["MAVLink over Syslink", '''
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syslink start
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mavlink start -d /dev/bridge0 ${MAV_ARGS}
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'''],
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3: ["MAVLink over Iridium", '''
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iridiumsbd start -d ${SER_DEV}
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mavlink start -d /dev/iridium -b 19200 -m iridium -r 10
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'''],
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4: ["MAVLink + FastRTPS", '''
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protocol_splitter start ${SER_DEV}
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mavlink start -d /dev/mavlink ${MAV_ARGS} -x
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micrortps_client start -d /dev/rtps -b p:SER_${SER_TAG}_BAUD -l -1
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'''],
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5: ["FastRTPS", "micrortps_client start -d ${SER_DEV} -b p:SER_${SER_TAG}_BAUD -l -1"],
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# GPS
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50: ["Main GPS", "gps start -d ${SER_DEV} ${DUAL_GPS_ARGS}"],
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51: ["Secondary GPS", ""], # special handling for the command
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# Telemetry
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100: ["FrSky Telemetry", "frsky_telemetry start -d ${SER_DEV}"],
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101: ["HoTT Telemetry", "hott_telemetry start -d ${SER_DEV}"],
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# Sensor drivers
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200: ["LeddarOne Rangefinder", "leddar_one start -d ${SER_DEV}"],
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201: ["Benewake TFmini Rangefinder", "tfmini start -d ${SER_DEV}"],
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202: ["Lightware Laser Rangefinder", "sf0x start -d ${SER_DEV}"],
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}
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mavlink_modes = {
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0: "Normal",
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1: "Custom",
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2: "Onboard",
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3: "OSD",
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4: "Magic",
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5: "Config",
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6: "Iridium",
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7: "Minimal",
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}
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parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
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parser.add_argument('--serial-ports', type=str, nargs='*', metavar="TAG:DEVICE",
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default=[],
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help='Serial ports: mappings from the tag name to the device (e.g. GPS1:/dev/ttyS1)')
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parser.add_argument('--all-ports', action='store_true',
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help='Generate output for all known ports (params file only)')
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parser.add_argument('--rc-file', type=str, action='store',
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help='ROMFS output script', default=None)
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parser.add_argument('--params-file', type=str, action='store',
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help='Parameter output file', default=None)
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parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
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help='Verbose Output')
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args = parser.parse_args()
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arg_board_serial_ports = args.serial_ports
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verbose = args.verbose
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rc_serial_output_file = args.rc_file
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rc_serial_template = 'rc.serial.jinja'
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serial_params_output_file = args.params_file
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serial_params_template = 'serial_params.c.jinja'
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generate_for_all_ports = args.all_ports
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if generate_for_all_ports:
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board_ports = [(key, "") for key in serial_ports]
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else:
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# convert arg_board_serial_ports list [ "TAG:DEVICE" ] into [ ("TAG", "DEVICE") ]
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board_ports = [tuple(port.split(":")) for port in arg_board_serial_ports]
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if rc_serial_output_file is None and serial_params_output_file is None:
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raise Exception("At least one of --rc-file (e.g. rc.serial) or --params-file "
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"(e.g. serial_params.c) needs to be specified")
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# replace strings in defaults with their numerical value
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for key in serial_ports:
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defaults = serial_ports[key]["defaults"]
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if "CONFIG" in defaults and isinstance(defaults["CONFIG"], str):
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config_index_list = [ key for key in serial_commands \
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if serial_commands[key][0] == defaults["CONFIG"]]
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if len(config_index_list) == 0:
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raise Exception("Config mode {:} not found".format(defaults["CONFIG"]))
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defaults["CONFIG"] = config_index_list[0]
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if "MAV_MDE" in defaults and isinstance(defaults["MAV_MDE"], str):
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mode_index_list = [ key for key in mavlink_modes \
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if mavlink_modes[key] == defaults["MAV_MDE"]]
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if len(mode_index_list) == 0:
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raise Exception("Mavlink mode {:} not found".format(defaults["MAV_MDE"]))
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defaults["MAV_MDE"] = mode_index_list[0]
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# sanity check (makes sure the param names don't exceed the max length of 16 chars)
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for key in serial_ports:
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if len(key) > 4:
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raise Exception("Serial tag {:} is too long (max length=4)".format(key))
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serial_devices = []
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for tag, device in board_ports:
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if tag not in serial_ports:
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raise Exception("Unknown serial port {:}. "
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"You might have to add it to serial_ports in\n {:}".format(tag,
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os.path.realpath(__file__)))
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serial_devices.append({
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'tag': tag,
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'device': device,
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'label': serial_ports[tag]["label"]
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})
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# construct commands based on selected board
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commands = []
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disabled_commands = [] # e.g. ["HoTT Telemetry"] TODO: do we need support for that and configure it from the board config?
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for key in serial_commands:
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if serial_commands[key][0] in disabled_commands:
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continue
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label = serial_commands[key][0]
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command = serial_commands[key][1]
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commands.append({
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'value': key,
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'command': command,
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'label': label
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})
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if verbose:
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print("Serial Devices: {:}".format(serial_devices))
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#print("Commands: {:}".format(commands))
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jinja_env = Environment(loader=FileSystemLoader(
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os.path.dirname(os.path.realpath(__file__))))
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# generate the ROMFS script using a jinja template
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if rc_serial_output_file is not None:
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if generate_for_all_ports:
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raise Exception("Cannot create rc file for --all-ports")
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if verbose: print("Generating {:}".format(rc_serial_output_file))
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if len(serial_devices) == 0:
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# if the board has no UARTs, create an empty rc file
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open(rc_serial_output_file, 'w').close()
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else:
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template = jinja_env.get_template(rc_serial_template)
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with open(rc_serial_output_file, 'w') as fid:
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secondary_gps_value = 51
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# sanity-check
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if serial_commands[secondary_gps_value][0] != "Secondary GPS":
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raise Exception("Unexpected value for Secondary GPS")
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fid.write(template.render(serial_devices=serial_devices,
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secondary_gps_value=secondary_gps_value,
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commands=commands))
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# parameter definitions
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if serial_params_output_file is not None:
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if verbose: print("Generating {:}".format(serial_params_output_file))
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template = jinja_env.get_template(serial_params_template)
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with open(serial_params_output_file, 'w') as fid:
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fid.write(template.render(serial_devices=serial_devices,
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commands=commands, mavlink_modes=mavlink_modes,
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serial_ports=serial_ports))
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{# jinja template to generate the serial autostart script. #}
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# serial autostart script generated with generate_serial_config.py
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# set dual gps args
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set DUAL_GPS_ARGS ""
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set SER_TAG {{ serial_devices[0].tag }}
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set SER_DEV {{ serial_devices[0].device }}
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while [ ${SER_TAG} != exit ]
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do
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if param compare SER_${SER_TAG}_CONFIG {{ secondary_gps_value }}
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then
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set DUAL_GPS_ARGS "-e ${SER_DEV}"
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echo "Starting Secondary GPS on ${SER_DEV} (${SER_TAG})"
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fi
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# loop iteration
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{# need to iterate in reversed order -#}
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{% set last = serial_devices|last -%}
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if [ ${SER_TAG} == {{ last.tag }} ]
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then
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set SER_TAG exit
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fi
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{% for serial_device in serial_devices | reverse -%}
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{% if not loop.first -%}
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{% set next = loop.previtem -%}
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if [ ${SER_TAG} == {{ serial_device.tag }} ]
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then
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set SER_TAG {{ next.tag }}
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set SER_DEV {{ next.device }}
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fi
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{% endif -%}
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{% endfor %}
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done
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# start the devices on the configured ports
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set SER_TAG {{ serial_devices[0].tag }}
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set SER_DEV {{ serial_devices[0].device }}
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while [ ${SER_TAG} != exit ]
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do
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# Access all params so that they're sent to a GCS upon param loading
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param touch SER_${SER_TAG}_BAUD SER_${SER_TAG}_MAV_MDE SER_${SER_TAG}_MAV_R SER_${SER_TAG}_MAV_FWD
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# initialize params
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set MAV_ARGS "-b p:SER_${SER_TAG}_BAUD -m p:SER_${SER_TAG}_MAV_MDE -r p:SER_${SER_TAG}_MAV_R"
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if param compare SER_${SER_TAG}_MAV_FWD 1
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then
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set MAV_ARGS "${MAV_ARGS} -f"
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fi
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# start commands
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{% for command in commands -%}
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{% if command.command | length > 0 -%}
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if param compare SER_${SER_TAG}_CONFIG {{ command.value }}
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then
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{# the echo can be disabled if too verbose... -#}
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echo "Starting {{ command.label }} on ${SER_DEV} (${SER_TAG})"
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{{ command.command }}
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fi
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{% endif -%}
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{% endfor %}
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# loop iteration
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{# need to iterate in reversed order -#}
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{% set last = serial_devices|last -%}
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if [ ${SER_TAG} == {{ last.tag }} ]
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then
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set SER_TAG exit
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fi
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{% for serial_device in serial_devices | reverse -%}
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{% if not loop.first -%}
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{% set next = loop.previtem -%}
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if [ ${SER_TAG} == {{ serial_device.tag }} ]
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then
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set SER_TAG {{ next.tag }}
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set SER_DEV {{ next.device }}
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fi
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{% endif -%}
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{% endfor %}
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done
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unset DUAL_GPS_ARGS
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unset SER_TAG
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unset SER_DEV
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unset MAV_ARGS
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{# jinja template to generate the serial parameters. #}
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{% for serial_device in serial_devices -%}
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/**
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* Serial Configuration for {{ serial_device.label }} Port
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*
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* Configure what is running on the {{ serial_device.label }} Serial Port.
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*
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{% for command in commands -%}
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* @value {{ command.value }} {{ command.label }}
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{% endfor -%}
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* @group Serial
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_CONFIG, {{
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serial_ports[serial_device.tag].defaults["CONFIG"]|default(0) }});
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/**
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* Baudrate for {{ serial_device.label }} Port
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*
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* Configure the Baudrate for the {{ serial_device.label }} Serial Port.
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*
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* Certain drivers such as the GPS determine the Baudrate automatically, and
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* changing this parameter will have no effect.
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*
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* @value 0 Auto
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* @value 50 50 8N1
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* @value 75 75 8N1
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* @value 110 110 8N1
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* @value 134 134 8N1
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* @value 150 150 8N1
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* @value 200 200 8N1
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* @value 300 300 8N1
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* @value 600 600 8N1
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* @value 1200 1200 8N1
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* @value 1800 1800 8N1
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* @value 2400 2400 8N1
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* @value 4800 4800 8N1
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* @value 9600 9600 8N1
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* @value 19200 19200 8N1
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* @value 38400 38400 8N1
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* @value 57600 57600 8N1
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* @value 115200 115200 8N1
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* @value 230400 230400 8N1
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* @value 460800 460800 8N1
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* @value 500000 500000 8N1
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* @value 921600 921600 8N1
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* @value 1000000 1000000 8N1
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* @value 1500000 1500000 8N1
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* @value 3000000 3000000 8N1
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* @group Serial
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{
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serial_ports[serial_device.tag].defaults["BAUD"]|default(0) }});
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/**
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* MAVLink Mode for {{ serial_device.label }} Port
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*
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* The MAVLink Mode defines the set of streamed messages (for example the
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* vehicle's attitude) and their sending rates.
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*
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* Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
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*
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{% for key, value in mavlink_modes.iteritems() -%}
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* @value {{ key }} {{ value }}
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{% endfor -%}
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* @group Serial
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_MDE, {{
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serial_ports[serial_device.tag].defaults["MAV_MDE"]|default(0) }});
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/**
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* Maximum MAVLink sending rate for {{ serial_device.label }} Port
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*
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* Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
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* If the configured streams exceed the maximum rate, the sending rate of
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* each stream is automatically decreased.
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*
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* If this is set to 0, a value of <baudrate>/20 is used, which corresponds to
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* half of the theoretical maximum bandwidth.
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*
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* Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
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*
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* @min 0
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* @unit B/s
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* @group Serial
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_R, {{
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serial_ports[serial_device.tag].defaults["MAV_R"]|default(0) }});
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|
||||
/**
|
||||
* Enable MAVLink Message forwarding for {{ serial_device.label }} Port
|
||||
*
|
||||
* If enabled, forward incoming MAVLink messages to other MAVLink ports if the
|
||||
* message is either broadcast or the target is not the autopilot.
|
||||
*
|
||||
* This allows for example a GCS to talk to a camera that is connected to the
|
||||
* autopilot via MAVLink (on a different link than the GCS).
|
||||
*
|
||||
* Note: this is only used if the {{ serial_device.label }} Port is configured to run MAVLink.
|
||||
*
|
||||
* @boolean
|
||||
* @group Serial
|
||||
* @reboot_required true
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_MAV_FWD, {{
|
||||
serial_ports[serial_device.tag].defaults["MAV_FWD"]|default(0) }});
|
||||
|
||||
{% endfor %}
|
||||
Loading…
Reference in New Issue