From 9c467198bef1b7f7effe961ce54f2617ba4c213b Mon Sep 17 00:00:00 2001
From: SalimTerryLi <lhf2613@gmail.com>
Date: Sat, 29 Apr 2023 18:57:14 +0800
Subject: [PATCH] module_config: support custom actuators_metadata backed by
 module-level params

---
 .../generate_actuators_metadata.py            | 13 ++++-
 validation/module_schema.yaml                 | 53 ++++++++++---------
 2 files changed, 40 insertions(+), 26 deletions(-)

diff --git a/Tools/module_config/generate_actuators_metadata.py b/Tools/module_config/generate_actuators_metadata.py
index 089e4585ed..196119259b 100755
--- a/Tools/module_config/generate_actuators_metadata.py
+++ b/Tools/module_config/generate_actuators_metadata.py
@@ -264,7 +264,18 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             }
         per_channel_params.append(param)
 
-        # TODO: support non-standard per-channel parameters
+        custom_params = group.get('custom_params', [])
+        for custom_param in custom_params:
+            # Simply pulls all custom params, assuming they are valid ones
+            param = {
+                'name': param_prefix+'_'+custom_param['name'],
+            }
+            # TODO: check and match the custom params in output_groups with module-level parameters
+            del custom_param['name']
+            for param_key in custom_param:
+                # '-' is used in actuators.schema.json, while '_' is used in module_schema.yml
+                param[param_key.replace('_', '-')] = custom_param[param_key]
+            per_channel_params.append(param)
 
         subgroup['per-channel-parameters'] = per_channel_params
 
diff --git a/validation/module_schema.yaml b/validation/module_schema.yaml
index d66b65bf80..6d733a6e51 100644
--- a/validation/module_schema.yaml
+++ b/validation/module_schema.yaml
@@ -369,6 +369,33 @@ actuator_output:
                                         # ui only shows the param if this condition is true
                                         type: string
                                         regex: *condition_regex
+                    custom_params:
+                        type: list
+                        schema: &mixer_parameter
+                            type: dict
+                            schema:
+                                label:
+                                    type: string
+                                name:
+                                    # param name
+                                    type: string
+                                    required: true
+                                show_as:
+                                    type: string
+                                    allowed: [ 'bitset', 'true-if-positive' ]
+                                show_if:
+                                    # condition
+                                    type: string
+                                    regex: *condition_regex
+                                index_offset:
+                                    type: integer
+                                advanced:
+                                    type: integer
+                                function:
+                                    type: string
+                                identifier:
+                                    # for rules
+                                    type: string
                     extra_function_groups:
                         # Additional function groups to add, defined in output_functions.yaml
                         type: list
@@ -477,31 +504,7 @@ mixer:
                     per_item_parameters:
                         type: list
                         minlength: 1
-                        schema: &mixer_parameter
-                            type: dict
-                            schema:
-                                label:
-                                    type: string
-                                name:
-                                    # param name
-                                    type: string
-                                    required: true
-                                show_as:
-                                    type: string
-                                    allowed: [ 'bitset', 'true-if-positive' ]
-                                show_if:
-                                    # condition
-                                    type: string
-                                    regex: *condition_regex
-                                index_offset:
-                                    type: integer
-                                advanced:
-                                    type: integer
-                                function:
-                                    type: string
-                                identifier:
-                                    # for rules
-                                    type: string
+                        schema: *mixer_parameter
         rules:
             # mixer rules, validated by the mavlink actuator component information schema
             type: list