forked from Archive/PX4-Autopilot
200 lines
6.7 KiB
Python
200 lines
6.7 KiB
Python
import os
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import glob
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# path to global data files
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base_path = '../orb/'
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cfile = './sdlog_generated.h'
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mfile_template = './mfile.template'
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# there should be one LOGBROADCAST which gives the timing for the logging
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logbroadcast_found = 0
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# these types can nicely be imported into Matlab
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allowed_types = ['uint8_t','int8_t','uint16_t','int16_t','uint32_t','int32_t','uint64_t','int64_t','float','double']
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log_entries = []
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# loop through global_data_files ending in _t.h and look for LOGME (per variable) and LOGBROADCAST (overall)
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for path in glob.glob( os.path.join(base_path, '*_t.h') ):
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# filename is supposed to be global_data_bapedibup_t.h
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if 'global_data' not in path:
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print 'path: ' + path
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raise 'wrong filename found'
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f = open(path, 'r')
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access_conf_found = False;
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# strip away ../../../../apps/orb/ and _t.h
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data_name = path.lstrip(base_path)[0:-4]
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# strip away ../../../../apps/orb/ and global_data_ and _t.h
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name = path.lstrip(base_path)[12:-4]
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log_entry = {'data_name': data_name,'name':name,'vars': []}
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logbroadcast = False;
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# loop throug lines
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for line in f:
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line_parts = line.split()
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# access_conf is needed to lock the data
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if 'access_conf_t' in line:
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# always use the access_conf which has the LOGBROADCAST flag
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if 'LOGBROADCAST' in line:
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access_conf_found = True
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log_entry['access_conf_name'] = line_parts[1].rstrip(';')
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logbroadcast = True
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print 'LOGBROADCAST found in ' + data_name
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logbroadcast_found += 1
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# but use an access_conf anyway
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elif access_conf_found == False:
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access_conf_found = True
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log_entry['access_conf_name'] = line_parts[1].rstrip(';')
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# variables flagged with LOGME should be logged
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elif 'LOGME' in line:
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var_entry = {'type': line_parts[0]}
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# check that it is an allowed type
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if var_entry['type'] not in allowed_types:
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print 'file: '+ path + ', type: ' + var_entry['type']
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raise 'unsupported type'
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# save variable name and number for array
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if '[' in line_parts[1]:
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var_entry['name'] = line_parts[1].split('[')[0]
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var_entry['number'] = line_parts[1].split('[')[1].rstrip('];')
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else:
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var_entry['name'] = line_parts[1].rstrip(';')
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var_entry['number'] = 1
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# add the variable
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log_entry['vars'].append(var_entry)
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# only use the global data file if any variables have a LOGME
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if logbroadcast == True and len(log_entry['vars']) > 0:
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logbroadcast_entry = log_entry
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elif len(log_entry['vars']) > 0:
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print 'added ' + log_entry['data_name']
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log_entries.append(log_entry)
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f.close()
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# check that we have one and only one LOGBROADCAST
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if logbroadcast_found > 1:
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raise 'too many LOGBROADCAST found\n'
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elif logbroadcast_found == 0:
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raise 'no LOGBROADCAST found\n'
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# write function to c file
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header = '/* This file is autogenerated in nuttx/configs/px4fmu/include/updatesdlog.py */\n\
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\n\
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#ifndef SDLOG_GENERATED_H_\n\
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#define SDLOG_GENERATED_H_\n\
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\n\
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\n\
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'
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cstruct = 'typedef struct\n{\n'
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for j in logbroadcast_entry['vars']:
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cstruct += '\t' + j['type'] + ' ' + logbroadcast_entry['name'] + '_' + j['name']
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if j['number'] == 1:
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cstruct += ';\n'
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else:
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cstruct += '[' + j['number'] + '];\n'
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for i in log_entries:
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for j in i['vars']:
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cstruct += '\t' + j['type'] + ' ' + i['name'] + '_' + j['name']
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if j['number'] == 1:
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cstruct += ';\n'
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else:
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cstruct += '[' + j['number'] + '];\n'
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cstruct += '\tchar check[4];\n} __attribute__((__packed__)) log_block_t;\n\n'
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copy_function = 'void copy_block(log_block_t* log_block)\n{\n'
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copy_function += '\tif(global_data_wait(&' + logbroadcast_entry['data_name'] + '->' + logbroadcast_entry['access_conf_name'] + ') == 0)\n\t{\n'
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for j in logbroadcast_entry['vars']:
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copy_function += '\t\tmemcpy(&log_block->' + logbroadcast_entry['name'] + '_' + j['name'] + ',&' + logbroadcast_entry['data_name'] + '->' + j['name'] + ',sizeof(' + j['type'] + ')*' + str(j['number']) + ');\n'
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#copy_function += '\t\t}\n'
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# generate logging MACRO
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for i in log_entries:
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copy_function += '\t\tif(global_data_trylock(&' + i['data_name'] + '->' + i['access_conf_name'] + ') == 0)\n\t\t{\n'
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for j in i['vars']:
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copy_function += '\t\t\tmemcpy(&log_block->' + i['name'] + '_' + j['name'] + ',&' + i['data_name'] + '->' + j['name'] + ',sizeof(' + j['type'] + ')*' + str(j['number']) + ');\n'
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copy_function += '\t\t\tglobal_data_unlock(&' + i['data_name'] + '->' + i['access_conf_name'] + ');\n'
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copy_function += '\t\t}\n'
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copy_function += '\t\tglobal_data_unlock(&' + logbroadcast_entry['data_name'] + '->' + logbroadcast_entry['access_conf_name'] + ');\n'
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copy_function += '\t}\n'
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copy_function += '}\n'
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footer = '\n#endif'
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# generate mfile
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type_bytes = {
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'uint8_t' : 1,
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'int8_t' : 1,
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'uint16_t' : 2,
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'int16_t' : 2,
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'uint32_t' : 4,
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'int32_t' : 4,
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'uint64_t' : 8,
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'int64_t' : 8,
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'float' : 4,
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'double' : 8,
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}
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type_names_matlab = {
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'uint8_t' : 'uint8',
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'int8_t' : 'int8',
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'uint16_t' : 'uint16',
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'int16_t' : 'int16',
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'uint32_t' : 'uint32',
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'int32_t' : 'int32',
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'uint64_t' : 'uint64',
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'int64_t' : 'int64',
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'float' : 'float',
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'double' : 'double',
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}
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# read template mfile
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mf = open(mfile_template, 'r')
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mfile_template_string = mf.read()
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mfile_define = '#define MFILE_STRING "% This file is autogenerated in updatesdlog.py and mfile.template in apps/sdlog\\n\\\n'
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mfile_define += '%% Define logged values \\n\\\n\\n\\\nlogTypes = {};\\n\\\n'
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for j in logbroadcast_entry['vars']:
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mfile_define += 'logTypes{end+1} = struct(\'data\',\'' + logbroadcast_entry['name'] + '\',\'variable_name\',\'' + j['name'] + '\',\'type_name\',\'' + type_names_matlab.get(j['type']) + '\',\'type_bytes\',' + str(type_bytes.get(j['type'])) + ',\'number_of_array\',' + str(j['number']) + ');\\n\\\n'
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for i in log_entries:
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for j in i['vars']:
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mfile_define += 'logTypes{end+1} = struct(\'data\',\'' + i['name'] + '\',\'variable_name\',\'' + j['name'] + '\',\'type_name\',\'' + type_names_matlab.get(j['type']) + '\',\'type_bytes\',' + str(type_bytes.get(j['type'])) + ',\'number_of_array\',' + str(j['number']) + ');\\n\\\n'
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mfile_define += '\\\n' + mfile_template_string.replace('\n', '\\n\\\n').replace('\"','\\\"') + '"'
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# write to c File
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cf = open(cfile, 'w')
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cf.write(header)
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cf.write(cstruct);
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cf.write(copy_function)
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cf.write(mfile_define)
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cf.write(footer)
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cf.close()
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print 'finished, cleanbuild needed!'
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