#!/usr/bin/env python3 """ Script to generate actuators.json metadata from module.yaml config file(s) """ import argparse import lzma #to create .xz file import json import os import sys from output_groups_from_timer_config import get_timer_groups, get_output_groups try: import yaml except ImportError as e: print("Failed to import yaml: " + str(e)) print("") print("You may need to install it using:") print(" pip3 install --user pyyaml") print("") sys.exit(1) parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)') parser.add_argument('--config-files', type=str, nargs='*', default=[], help='YAML module config file(s)') parser.add_argument('--output-file', type=str, action='store', help='JSON output file', required=True) parser.add_argument('--compress', action='store_true', help='Add a compressed output file') parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', help='Verbose Output') parser.add_argument('--timer-config', type=str, action='store', help='board-specific timer_config.cpp file') parser.add_argument('--board', type=str, action='store', help='board name, e.g. ') parser.add_argument('--board-with-io', dest='board_with_io', action='store_true', help='Indicate that the board as an IO for extra PWM', default=False) args = parser.parse_args() compress = args.compress verbose = args.verbose output_file = args.output_file timer_config_file = args.timer_config board_with_io = args.board_with_io board = args.board root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..") output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml") def save_compressed(filename): #create lzma compressed version xz_filename=filename+'.xz' with lzma.open(xz_filename, 'wt', preset=9) as f: with open(filename, 'r') as content_file: f.write(content_file.read()) def load_yaml_file(file_name): with open(file_name, 'r') as stream: try: return yaml.safe_load(stream) except yaml.YAMLError as exc: print(exc) raise # functions output_functions_yaml = load_yaml_file(output_functions_file) output_functions = output_functions_yaml['functions'] functions = {} def add_function(functions, index, name, function_obj=None): functions[index] = { "label": name } if function_obj is not None: if function_obj.get('exclude_from_actuator_testing', False): functions[index]['exclude-from-actuator-testing'] = True if 'note' in function_obj: functions[index]['note'] = function_obj['note'] for group_key in output_functions: group = output_functions[group_key] for function_name in group: function_name_label = function_name.replace('_', ' ') if isinstance(group[function_name], int): add_function(functions, group[function_name], function_name_label) elif not 'count' in group[function_name]: add_function(functions, group[function_name]['start'], function_name_label, group[function_name]) else: start = group[function_name]['start'] count = group[function_name]['count'] for i in range(count): add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name]) # outputs outputs = [] def process_module_name(module_name): if module_name == '${PWM_MAIN_OR_AUX}': if board_with_io: return 'PWM AUX' return 'PWM MAIN' if '${' in module_name: raise Exception('unhandled variable in {:}'.format(module_name)) return module_name def process_param_prefix(param_prefix): if param_prefix == '${PWM_MAIN_OR_AUX}': if board_with_io: return 'PWM_AUX' return 'PWM_MAIN' if '${' in param_prefix: raise Exception('unhandled variable in {:}'.format(param_prefix)) return param_prefix def process_channel_label(module_name, channel_label, no_prefix): if channel_label == '${PWM_MAIN_OR_AUX_CAP}': return 'CAP' if channel_label == '${PWM_MAIN_OR_AUX}': if board_with_io: return 'AUX' return 'MAIN' if '${' in channel_label: raise Exception('unhandled variable in {:}'.format(channel_label)) if no_prefix: return channel_label return channel_label def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose): """ parse the actuator_output section from the yaml config file """ if not 'actuator_output' in yaml_config: return None actuator_output_yaml = yaml_config['actuator_output'] output_groups = actuator_output_yaml['output_groups'] module_name = process_module_name(yaml_config['module_name']) group_idx = 0 if verbose: print('processing module: {}'.format(module_name)) actuator_output = { 'label': module_name } if 'show_subgroups_if' in actuator_output_yaml: actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if'] # config parameters def get_config_params(param_list): """ convert config parameter list (per group or per subgroup) """ parameters = [] for config_param in param_list: if verbose: print('config param: {}'.format(config_param)) param = { 'name': config_param['param'], } if 'label' in config_param: param['label'] = config_param['label'] if 'function' in config_param: param['function'] = config_param['function'] parameters.append(param) return parameters parameters = get_config_params(actuator_output_yaml.get('config_parameters', [])) if len(parameters) > 0: actuator_output['parameters'] = parameters subgroups = [] while group_idx < len(output_groups): group = output_groups[group_idx] group_idx += 1 if verbose: print("processing group: {:}".format(group)) # Check for generator and generate additional data. if 'generator' in group: if group['generator'] == 'pwm': param_prefix = process_param_prefix(group['param_prefix']) no_prefix = not group.get('channel_label_module_name_prefix', True) channel_labels = [process_channel_label(module_name, label, no_prefix) for label in group['channel_labels']] standard_params = group.get('standard_params', []) extra_function_groups = group.get('extra_function_groups', []) pwm_timer_param = group.get('pwm_timer_param', None) if 'timer_config_file' in group: timer_config_file = os.path.join(root_dir, group['timer_config_file']) if timer_config_file is None: raise Exception('trying to generate pwm outputs, but --timer-config not set') timer_groups = get_timer_groups(timer_config_file, verbose) timer_output_groups, timer_params = get_output_groups(timer_groups, param_prefix, channel_labels, standard_params, extra_function_groups, pwm_timer_param, verbose=verbose) output_groups.extend(timer_output_groups) else: raise Exception('unknown generator {:}'.format(group['generator'])) continue subgroup = {} # supported actions if 'supported_actions' in group: actions = {} for action_name in group['supported_actions']: action = group['supported_actions'][action_name] action_name = action_name.replace('_', '-') actions[action_name] = {} if 'supported_if' in action: actions[action_name]['supported-if'] = action['supported_if'] if 'actuator_types' in action: actions[action_name]['actuator-types'] = action['actuator_types'] subgroup['supported-actions'] = actions # channels num_channels = group['num_channels'] no_prefix = not group.get('channel_label_module_name_prefix', True) channel_label = process_channel_label(module_name, group['channel_label'], no_prefix) instance_start = group.get('instance_start', 1) instance_start_label = group.get('instance_start_label', instance_start) channels = [] for channel in range(num_channels): channels.append({ 'label': channel_label + ' ' +str(channel+instance_start_label), 'param-index': channel+instance_start }) subgroup['channels'] = channels if 'group_label' in group: subgroup['label'] = group['group_label'] # per-channel-params per_channel_params = [] param_prefix = process_param_prefix(group['param_prefix']) standard_params = group.get('standard_params', {}) standard_params_array = [ ( 'function', 'Function', 'FUNC', False ), ( 'disarmed', 'Disarmed', 'DIS', False ), ( 'min', 'Minimum', 'MIN', False ), ( 'max', 'Maximum', 'MAX', False ), ( 'failsafe', 'Failsafe', 'FAIL', True ), ] for key, label, param_suffix, advanced in standard_params_array: show_if = None if key in standard_params and 'show_if' in standard_params[key]: show_if = standard_params[key]['show_if'] if key in standard_params or key == 'function': param = { 'label': label, 'name': param_prefix+'_'+param_suffix+'${i}', 'function': key, } if advanced: param['advanced'] = True if show_if: param['show-if'] = show_if per_channel_params.append(param) param = { 'label': 'Rev Range\n(for Servos)', 'name': param_prefix+'_REV', 'index-offset': -1, 'show-as': 'bitset', } per_channel_params.append(param) # TODO: support non-standard per-channel parameters subgroup['per-channel-parameters'] = per_channel_params # group config params parameters = get_config_params(group.get('config_parameters', [])) if len(parameters) > 0: subgroup['parameters'] = parameters subgroups.append(subgroup) actuator_output['subgroups'] = subgroups return actuator_output # Mixers mixers = None def get_mixers(yaml_config, output_functions, verbose): if not 'mixer' in yaml_config: return None actuator_types = {} for actuator_type_key in yaml_config['mixer']['actuator_types']: actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key] actuator_type = { } if actuator_type_key != 'DEFAULT': actuator_type['label-index-offset'] = 1 # always 1 if 'functions' in actuator_type_conf: function_name = actuator_type_conf['functions'] # we expect the function to be in 'common' (this is not a requirement, just simplicity) output_function = output_functions['common'][function_name] actuator_type['function-min'] = output_function['start'] actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1 values = actuator_type_conf['actuator_testing_values'] actuator_type['values'] = { 'min': values['min'], 'max': values['max'], } if values.get('default_is_nan', False): actuator_type['values']['default-is-nan'] = True else: actuator_type['values']['default'] = values['default'] if values.get('reversible', False): actuator_type['values']['reversible'] = True # per item params per_item_params = [] for per_item_param in actuator_type_conf.get('per_item_parameters', []): per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()}) if len(per_item_params) > 0: actuator_type['per-item-parameters'] = per_item_params actuator_types[actuator_type_key] = actuator_type if verbose: print('Actuator types: {}'.format(actuator_types)) config = [] yaml_mixer_config = yaml_config['mixer']['config'] select_param = yaml_mixer_config['param'] types = yaml_mixer_config['types'] for type_index in types: current_type = types[type_index] option = select_param + '==' + str(type_index) mixer_config = { 'option': option, 'help-url': 'https://docs.px4.io/main/en/config/actuators.html', } for optional in ['type', 'title']: if optional in current_type: mixer_config[optional] = current_type[optional] actuators = [] for actuator_conf in current_type['actuators']: actuator = { 'actuator-type': actuator_conf['actuator_type'], 'required': True, # for now always set as required } # sanity check that actuator type exists if actuator_conf['actuator_type'] not in actuator_types: raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys())) if 'group_label' in actuator_conf: actuator['group-label'] = actuator_conf['group_label'] else: # infer from actuator type if actuator_conf['actuator_type'] == 'motor': actuator['group-label'] = 'Motors' elif actuator_conf['actuator_type'] == 'servo': actuator['group-label'] = 'Servos' else: raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type'])) if 'count' in actuator_conf: # possibly dynamic size actuator['count'] = actuator_conf['count'] per_item_params = actuator_conf.get('per_item_parameters', {}) params = [] if 'standard' in per_item_params: standard_params = per_item_params['standard'] index_offset = standard_params.get('index_offset', 0) if 'position' in standard_params: params.extend([ { 'label': 'Position X', 'function': 'posx', 'name': standard_params['position'][0], 'index-offset': index_offset, }, { 'label': 'Position Y', 'function': 'posy', 'name': standard_params['position'][1], 'index-offset': index_offset, }, { 'label': 'Position Z', 'function': 'posz', 'name': standard_params['position'][2], 'advanced': True, 'index-offset': index_offset, }, ]) if 'extra' in per_item_params: for extra_param in per_item_params['extra']: params.append({k.replace('_','-'): v for k, v in extra_param.items()}) actuator['per-item-parameters'] = params if 'item_label_prefix' in actuator_conf: actuator['item-label-prefix'] = actuator_conf['item_label_prefix'] else: # fixed size labels = [] pos_x = [] pos_y = [] pos_z = [] for instance in actuator_conf['instances']: labels.append(instance['name']) pos_x.append(instance['position'][0]) pos_y.append(instance['position'][1]) pos_z.append(instance['position'][2]) actuator['count'] = len(labels) actuator['item-label-prefix'] = labels actuator['per-item-parameters'] = [ { 'label': 'Position X', 'function': 'posx', 'value': pos_x, }, { 'label': 'Position Y', 'function': 'posy', 'value': pos_y, }, { 'label': 'Position Z', 'function': 'posz', 'value': pos_z, 'advanced': True, }, ] # actuator parameters parameters = [] for param in actuator_conf.get('parameters', []): parameters.append({k.replace('_','-'): v for k, v in param.items()}) actuator['parameters'] = parameters actuators.append(actuator) mixer_config['actuators'] = actuators config.append(mixer_config) if verbose: print('Mixer configs: {}'.format(config)) rules = [] for rule in yaml_config['mixer'].get('rules', []): rules.append({k.replace('_','-'): v for k, v in rule.items()}) if verbose: print('Mixer rules: {}'.format(rules)) mixers = { 'actuator-types': actuator_types, 'config': config, 'rules': rules, } return mixers for yaml_file in args.config_files: yaml_config = load_yaml_file(yaml_file) try: actuator_output = get_actuator_output(yaml_config, output_functions, timer_config_file, verbose) if actuator_output: outputs.append(actuator_output) parsed_mixers = get_mixers(yaml_config, output_functions, verbose) if parsed_mixers is not None: if mixers is not None: # only expected to be configured in one module raise Exception('multiple "mixer" sections in module config files') mixers = parsed_mixers except Exception as e: print('Exception while parsing {:}:'.format(yaml_file)) raise e if mixers is None: if len(outputs) > 0: raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)') else: # set a minimal default mixers = { 'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } }, 'config': [], } actuators = { 'version': 1, 'outputs_v1': outputs, 'functions_v1': functions, 'mixer_v1': mixers, } with open(output_file, 'w') as outfile: indent = 2 if verbose else None json.dump(actuators, outfile, indent=indent) if compress: save_compressed(output_file)