forked from Archive/PX4-Autopilot
Fix param scoping to use cmake for parsing.
This commit is contained in:
James Goppert
Lorenz Meier
parent
44c8857354
commit
85f62f5da0
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@ -273,6 +273,7 @@ if (CATKIN_DEVEL_PREFIX)
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endif()
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find_package(PythonInterp REQUIRED)
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px4_find_python_module(jinja2 REQUIRED)
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#=============================================================================
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# cmake testing
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@ -401,7 +402,7 @@ px4_generate_messages(TARGET msg_gen
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)
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px4_generate_parameters_xml(OUT parameters.xml
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BOARD ${BOARD}
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SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
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MODULES ${config_module_list}
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OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
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px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
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add_custom_target(xml_gen
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@ -1 +1 @@
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__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc", "cmakeparser", "scope"]
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__all__ = ["srcscanner", "srcparser", "xmlout", "dokuwikiout", "dokuwikirpc", "scope"]
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@ -1,37 +0,0 @@
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import re
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import codecs
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import sys
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class CMakeParser(object):
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"""
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Parses provided data and stores all found paths in scope.
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"""
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re_split_lines = re.compile(r'[\r\n]+')
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re_comment = re.compile(r'^\#')
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re_start = re.compile(r'set\s*\(\s*config_module_list')
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re_end = re.compile(r'\)\s*')
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def Parse(self, scope, contents):
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"""
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Incrementally parse cmake file contents and append all found path scope
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to scope.
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"""
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# This code is essentially a comment-parsing grammar. "state"
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# represents parser state. It contains human-readable state
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# names.
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state = None
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for line in self.re_split_lines.split(contents):
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line = line.strip()
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# Ignore empty lines
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if line == "":
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continue
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if self.re_comment.match(line):
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continue
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elif self.re_start.match(line):
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state = "gather"
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continue
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elif state is not None and state == "gather":
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if self.re_end.match(line):
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return True
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scope.Add(line)
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return False
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@ -1,107 +1,63 @@
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#!/usr/bin/env python
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"""
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Param source code generation script.
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"""
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from __future__ import print_function
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import xml.etree.ElementTree as ET
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import os
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import re
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import codecs
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import argparse
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from jinja2 import Environment, FileSystemLoader
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import os
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from px4params import scope, cmakeparser
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def generate(xml_file, dest='.', modules=None):
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"""
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Generate px4 param source from xml.
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if len(os.sys.argv) < 2:
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print("Error in %s" % os.sys.argv[0])
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print("Usage: %s <parameters.xml> [cmake-file-scoping] " % os.sys.argv[0])
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raise SystemExit
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@param xml_file: input parameter xml file
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@param dest: Destination directory for generated files
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@param modules: The list of px4 modules to search for params.
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None means to scan everything.
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"""
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# pylint: disable=broad-except
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tree = ET.parse(xml_file)
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root = tree.getroot()
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cmake_scope = scope.Scope()
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if len(os.sys.argv) == 3:
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with codecs.open(os.sys.argv[2], 'r', 'utf-8') as f:
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try:
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contents = f.read()
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f.close()
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parser = cmakeparser.CMakeParser()
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parser.Parse(cmake_scope, contents)
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except:
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contents = ''
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print('Failed reading file: %s, skipping scoping.' % os.sys.argv[2])
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pass
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params = []
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for group in root:
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if group.tag == "group" and "no_code_generation" not in group.attrib:
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for param in group:
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scope_ = param.find('scope').text
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if (modules is not None) and (not scope_ in modules):
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continue
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params.append(param)
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fp_header = open("px4_parameters.h", "w")
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fp_src = open("px4_parameters.c", "w")
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params = sorted(params, key=lambda name: name.attrib["name"])
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tree = ET.parse(os.sys.argv[1])
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root = tree.getroot()
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script_path = os.path.dirname(os.path.realpath(__file__))
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# Generate the header file content
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header = """
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#include <stdint.h>
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#include <systemlib/param/param.h>
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# for jinja docs see: http://jinja.pocoo.org/docs/2.9/api/
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env = Environment(
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loader=FileSystemLoader(os.path.join(script_path, 'templates')))
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// DO NOT EDIT
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// This file is autogenerated from parameters.xml
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if not os.path.isdir(dest):
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os.path.mkdir(dest)
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__BEGIN_DECLS
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template_files = [
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'px4_parameters.h.jinja',
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'px4_parameters.c.jinja',
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]
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for template_file in template_files:
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template = env.get_template(template_file)
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with open(os.path.join(
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dest, template_file.replace('.jinja','')), 'w') as fid:
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fid.write(template.render(params=params))
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struct px4_parameters_t {
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"""
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params = []
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for group in root:
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if group.tag == "group" and "no_code_generation" not in group.attrib:
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for param in group:
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scope_ = param.find('scope').text
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if not cmake_scope.Has(scope_):
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continue
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params.append(param)
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if __name__ == "__main__":
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arg_parser = argparse.ArgumentParser()
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arg_parser.add_argument("--xml", help="parameter xml file")
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arg_parser.add_argument("--modules", help="px4 module list", default=None)
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arg_parser.add_argument("--dest", help="destination path", default=os.path.curdir)
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args = arg_parser.parse_args()
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generate(xml_file=args.xml, modules=args.modules, dest=args.dest)
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params = sorted(params, key=lambda name: name.attrib["name"])
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for param in params:
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header += """
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const struct param_info_s __param__%s;""" % param.attrib["name"]
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header += """
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const unsigned int param_count;
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};
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extern const struct px4_parameters_t px4_parameters;
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"""
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# Generate the C file content
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src = """
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#include <px4_parameters.h>
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// DO NOT EDIT
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// This file is autogenerated from paramaters.xml
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const
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#ifndef __PX4_DARWIN
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__attribute__((used, section("__param")))
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#endif
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struct px4_parameters_t px4_parameters = {
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"""
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i=0
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for param in params:
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val_str = "#error UNKNOWN PARAM TYPE, FIX px_generate_params.py"
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if (param.attrib["type"] == "FLOAT"):
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val_str = ".val.f = "
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elif (param.attrib["type"] == "INT32"):
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val_str = ".val.i = "
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i+=1
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src += """
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{
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"%s",
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PARAM_TYPE_%s,
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%s%s
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},
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""" % (param.attrib["name"], param.attrib["type"], val_str, param.attrib["default"])
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src += """
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%d
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};
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//extern const struct px4_parameters_t px4_parameters;
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__END_DECLS
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""" % i
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fp_header.write(header)
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fp_src.write(src)
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fp_header.close()
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fp_src.close()
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# vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
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@ -50,7 +50,7 @@ from __future__ import print_function
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import sys
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import os
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import argparse
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from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc, scope, cmakeparser
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from px4params import srcscanner, srcparser, xmlout, dokuwikiout, dokuwikirpc
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import re
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import json
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@ -112,11 +112,12 @@ def main():
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default="Automagically updated parameter documentation from code.",
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help="DokuWiki page edit summary")
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parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
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parser.add_argument('--scope', default=None, action='store', help="pass the scope (list of compiled modules)")
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parser.add_argument("-o", "--overrides",
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default="{}",
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metavar="OVERRIDES",
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help="a dict of overrides in the form of a json string")
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parser.add_argument('--modules', default=None, action='store', help="list of compiled modules")
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args = parser.parse_args()
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@ -133,22 +134,8 @@ def main():
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# Scan directories, and parse the files
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if (args.verbose): print("Scanning source path " + args.src_path)
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use_scope = False
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cmake_scope = scope.Scope();
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if args.scope:
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with codecs.open(args.scope, 'r', 'utf-8') as f:
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try:
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contents = f.read()
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f.close()
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cmake_parser = cmakeparser.CMakeParser()
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cmake_parser.Parse(cmake_scope, contents)
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use_scope = True
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except:
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use_scope = False
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pass
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if use_scope and len(cmake_scope.scope) > 0:
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if not scanner.ScanDir([os.path.join(args.src_path, p) for p in cmake_scope.scope], parser):
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if args.modules is not None:
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if not scanner.ScanDir([os.path.join(args.src_path, p) for p in args.modules.split(',')], parser):
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sys.exit(1)
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else:
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if not scanner.ScanDir([args.src_path], parser):
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@ -0,0 +1,33 @@
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{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
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#include <px4_parameters.h>
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// DO NOT EDIT
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// This file is autogenerated from paramaters.xml
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__BEGIN_DECLS
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const
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#ifndef __PX4_DARWIN
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__attribute__((used, section("__param")))
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#endif
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struct px4_parameters_t px4_parameters = {
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{% for param in params %}
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{
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"{{ param.attrib["name"] }}",
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PARAM_TYPE_{{ param.attrib["type"] }},
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{%- if param.attrib["type"] == "FLOAT" %}
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.val.f = {{ param.attrib["default"] }}
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{%- elif param.attrib["type"] == "INT32" %}
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.val.i = {{ param.attrib["default"] }}
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{%- endif %}
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},
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{% endfor %}
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{{ params | length }}
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};
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//extern const struct px4_parameters_t px4_parameters;
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__END_DECLS
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{# vim: set noet ft=jinja fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : #}
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@ -0,0 +1,21 @@
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{# jinja syntax: http://jinja.pocoo.org/docs/2.9/templates/ #}
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#include <stdint.h>
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#include <systemlib/param/param.h>
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// DO NOT EDIT
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// This file is autogenerated from parameters.xml
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__BEGIN_DECLS
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struct px4_parameters_t {
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{%- for param in params %}
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const struct param_info_s __param__{{ param.attrib["name"] }};
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{%- endfor %}
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const unsigned int param_count;
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};
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extern const struct px4_parameters_t px4_parameters;
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__END_DECLS
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{# vim: set noet ft=jinja fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : #}
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@ -1008,6 +1008,9 @@ endfunction()
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#
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# Input:
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# BOARD : the board
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# MODULES : a list of px4 modules used to limit scope of the paramaters
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# OVERRIDES : A json dict with param names as keys and param default
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# overrides as values
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#
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# Output:
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# OUT : the generated xml file
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@ -1018,8 +1021,9 @@ endfunction()
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function(px4_generate_parameters_xml)
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px4_parse_function_args(
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NAME px4_generate_parameters_xml
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ONE_VALUE OUT BOARD SCOPE OVERRIDES
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REQUIRED OUT BOARD
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ONE_VALUE OUT BOARD OVERRIDES
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MULTI_VALUE MODULES
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REQUIRED MODULES OUT BOARD
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ARGN ${ARGN})
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set(path ${PX4_SOURCE_DIR}/src)
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file(GLOB_RECURSE param_src_files
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@ -1028,10 +1032,11 @@ function(px4_generate_parameters_xml)
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if (NOT OVERRIDES)
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set(OVERRIDES "{}")
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endif()
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px4_join(OUT module_list LIST ${MODULES} GLUE ",")
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
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-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml --scope ${SCOPE}
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--overrides ${OVERRIDES}
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-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
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--overrides ${OVERRIDES} --modules ${module_list}
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DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
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${PX4_SOURCE_DIR}/Tools/px_generate_params.py
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)
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@ -1045,36 +1050,36 @@ endfunction()
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# Generates a source file with all parameters.
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#
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# Usage:
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# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> [SCOPE <cmake file for scoping>])
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# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> MODULES px4 module list)
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#
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# Input:
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# XML : the parameters.xml file
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# SCOPE : the cmake file used to limit scope of the paramaters
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# MODULES : a list of px4 modules used to limit scope of the paramaters
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# DEPS : target dependencies
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#
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# Output:
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# OUT : the generated source files
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#
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# Example:
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# px4_generate_parameters_source(OUT param_files XML parameters.xml SCOPE ${OS}_${BOARD}_${LABEL}.cmake )
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# px4_generate_parameters_source(OUT param_files XML parameters.xml MODULES lib/controllib modules/ekf2)
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#
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function(px4_generate_parameters_source)
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px4_parse_function_args(
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NAME px4_generate_parameters_source
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ONE_VALUE OUT XML SCOPE DEPS
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REQUIRED OUT XML
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ONE_VALUE OUT XML DEPS
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MULTI_VALUE MODULES
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REQUIRED MODULES OUT XML
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ARGN ${ARGN})
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set(generated_files
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${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
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${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
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set_source_files_properties(${generated_files}
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PROPERTIES GENERATED TRUE)
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if ("${config_generate_parameters_scope}" STREQUAL "ALL")
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set(SCOPE "")
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endif()
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px4_join(OUT module_list LIST ${MODULES} GLUE ",")
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add_custom_command(OUTPUT ${generated_files}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
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DEPENDS ${XML} ${DEPS} ${SCOPE}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
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--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
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DEPENDS ${XML} ${DEPS}
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)
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set(${OUT} ${generated_files} PARENT_SCOPE)
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endfunction()
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@ -1259,4 +1264,43 @@ function(px4_add_library target)
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set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_find_python_module
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#
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# Find a required python module
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#
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# Usage
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# px4_find_python_module(module_name [REQUIRED])
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#
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function(px4_find_python_module module)
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string(TOUPPER ${module} module_upper)
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if(NOT PY_${module_upper})
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if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED")
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set(PY_${module}_FIND_REQUIRED TRUE)
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endif()
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# A module's location is usually a directory, but for binary modules
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# it's a .so file.
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execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
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"import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
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RESULT_VARIABLE _${module}_status
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OUTPUT_VARIABLE _${module}_location
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ERROR_QUIET
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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if(NOT _${module}_status)
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set(PY_${module_upper} ${_${module}_location} CACHE STRING
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"Location of Python module ${module}")
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endif()
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endif()
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find_package_handle_standard_args(PY_${module}
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"couldn't find python module ${module}:
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\nfor debian systems try: \
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\n\tsudo apt-get install python-${module} \
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\nor for all other OSs/debian: \
|
||||
\n\tpip install ${module}\n" PY_${module_upper})
|
||||
#if (NOT PY_${module}_FOUND)
|
||||
#message(FATAL_ERROR "python module not found, exitting")
|
||||
#endif()
|
||||
endfunction(px4_find_python_module)
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
|||
|
||||
px4_generate_parameters_source(OUT param_files
|
||||
XML ${PX4_BINARY_DIR}/parameters.xml
|
||||
SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
|
||||
MODULES ${config_module_list}
|
||||
DEPS xml_gen
|
||||
)
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue