Merge pull request #1734 from PX4/ros_messagelayer_merge_attctrl_posctrl

Ros messagelayer merge attctrl posctrl

3 files changed, 82 insertions, 29 deletions

diff --git a/Tools/make_color.sh b/Tools/make_color.sh
new file mode 100755
index 000000000..81316a932
--- /dev/null
+++ b/Tools/make_color.sh
@@ -0,0 +1,36 @@
+#!/bin/sh
+# make_color.sh
+# 
+#   Author: Simon Wilks (simon@uaventure.com)
+#
+# A compiler color coder.
+#
+# To invoke this script everytime you run make simply create the alias:
+#
+#     alias make='<your-firmware-directory>/Tools/make_color.sh'
+#
+# Color codes:
+#
+# white        "\033[1,37m"
+# yellow       "\033[1,33m"
+# green        "\033[1,32m"
+# blue         "\033[1,34m"
+# cyan         "\033[1,36m"
+# red          "\033[1,31m"
+# magenta      "\033[1,35m"
+# black        "\033[1,30m"
+# darkwhite    "\033[0,37m"
+# darkyellow   "\033[0,33m"
+# darkgreen    "\033[0,32m"
+# darkblue     "\033[0,34m"
+# darkcyan     "\033[0,36m"
+# darkred      "\033[0,31m"
+# darkmagenta  "\033[0,35m"
+# off          "\033[0,0m"
+#
+OFF="\o033[0m"
+WARN="\o033[1;33m"
+ERROR="\o033[1;31m" 
+INFO="\o033[0;37m"
+
+make ${@} 2>&1 | sed "s/make\[[0-9]\].*/$INFO & $OFF/;s/.*: warning: .*/$WARN & $OFF/;s/.*: error: .*/$ERROR & $OFF/" 
diff --git a/Tools/px_generate_uorb_topic_headers.py b/Tools/px_generate_uorb_topic_headers.py
index 2ddbd6984..4bcab4d54 100755
--- a/Tools/px_generate_uorb_topic_headers.py
+++ b/Tools/px_generate_uorb_topic_headers.py
@@ -60,7 +60,7 @@ def convert_file(filename, outputdir, templatedir, includepath):
         """
         Converts a single .msg file to a uorb header
         """
-        print("Generating uORB headers from {0}".format(filename))
+        print("Generating headers from {0}".format(filename))
         genmsg.template_tools.generate_from_file(filename,
                                                  package,
                                                  outputdir,
@@ -85,16 +85,21 @@ def convert_dir(inputdir, outputdir, templatedir):
                             includepath)
 
 
-def copy_changed(inputdir, outputdir):
+def copy_changed(inputdir, outputdir, prefix=''):
         """
         Copies files from inputdir to outputdir if they don't exist in
         ouputdir or if their content changed
         """
+
+        # Make sure output directory exists:
+        if not os.path.isdir(outputdir):
+                os.makedirs(outputdir)
+
         for f in os.listdir(inputdir):
                 fni = os.path.join(inputdir, f)
                 if os.path.isfile(fni):
                         # Check if f exists in outpoutdir, copy the file if not
-                        fno = os.path.join(outputdir, f)
+                        fno = os.path.join(outputdir, prefix + f)
                         if not os.path.isfile(fno):
                                 shutil.copy(fni, fno)
                                 print("{0}: new header file".format(f))
@@ -108,7 +113,8 @@ def copy_changed(inputdir, outputdir):
 
                         print("{0}: unchanged".format(f))
 
-def convert_dir_save(inputdir, outputdir, templatedir, temporarydir):
+
+def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
         """
         Converts all .msg files in inputdir to uORB header files
         Unchanged existing files are not overwritten.
@@ -117,7 +123,7 @@ def convert_dir_save(inputdir, outputdir, templatedir, temporarydir):
         convert_dir(inputdir, temporarydir, templatedir)
 
         # Copy changed headers from temporary dir to output dir
-        copy_changed(temporarydir, outputdir)
+        copy_changed(temporarydir, outputdir, prefix)
 
 if __name__ == "__main__":
         parser = argparse.ArgumentParser(
@@ -132,6 +138,9 @@ if __name__ == "__main__":
                             help='output directory for header files')
         parser.add_argument('-t', dest='temporarydir',
                             help='temporary directory')
+        parser.add_argument('-p', dest='prefix', default='',
+                            help='string added as prefix to the output file '
+                            ' name when converting directories')
         args = parser.parse_args()
 
         if args.file is not None:
@@ -146,4 +155,5 @@ if __name__ == "__main__":
                     args.dir,
                     args.outputdir,
                     args.templatedir,
-                    args.temporarydir)
+                    args.temporarydir,
+                    args.prefix)
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index c46f6bede..95a3d4046 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -266,18 +266,19 @@ class uploader(object):
                 self.__getSync()
                 return value
 
-        def __drawProgressBar(self, progress, maxVal):
+        def __drawProgressBar(self, label, progress, maxVal):
                 if maxVal < progress:
                     progress = maxVal
 
                 percent = (float(progress) / float(maxVal)) * 100.0
 
-                sys.stdout.write("\rprogress:[%-20s] %.2f%%" % ('='*int(percent/5.0), percent))
+                sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
                 sys.stdout.flush()
 
 
         # send the CHIP_ERASE command and wait for the bootloader to become ready
-        def __erase(self):
+        def __erase(self, label):
+                print("\n", end='')
                 self.__send(uploader.CHIP_ERASE
                             + uploader.EOC)
 
@@ -288,15 +289,14 @@ class uploader(object):
                         #Draw progress bar (erase usually takes about 9 seconds to complete)
                         estimatedTimeRemaining = deadline-time.time()
                         if estimatedTimeRemaining >= 9.0:
-                            self.__drawProgressBar(20.0-estimatedTimeRemaining, 9.0)
+                            self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0)
                         else:
-                            self.__drawProgressBar(10.0, 10.0)
+                            self.__drawProgressBar(label, 10.0, 10.0)
                             sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()) )
                             sys.stdout.flush()
 
                         if self.__trySync():
-                            self.__drawProgressBar(10.0, 10.0)
-                            sys.stdout.write("\nerase complete!\n")
+                            self.__drawProgressBar(label, 10.0, 10.0)
                             return;
 
                 raise RuntimeError("timed out waiting for erase")
@@ -350,7 +350,8 @@ class uploader(object):
                 return [seq[i:i+length] for i in range(0, len(seq), length)]
 
         # upload code
-        def __program(self, fw):
+        def __program(self, label, fw):
+                print("\n", end='')
                 code = fw.image
                 groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
 
@@ -361,31 +362,40 @@ class uploader(object):
                         #Print upload progress (throttled, so it does not delay upload progress)
                         uploadProgress += 1
                         if uploadProgress % 256 == 0:
-                            self.__drawProgressBar(uploadProgress, len(groups))
-                self.__drawProgressBar(100, 100)
-                print("\nprogram complete!")
+                            self.__drawProgressBar(label, uploadProgress, len(groups))
+                self.__drawProgressBar(label, 100, 100)
 
         # verify code
-        def __verify_v2(self, fw):
+        def __verify_v2(self, label, fw):
+                print("\n", end='')
                 self.__send(uploader.CHIP_VERIFY
                             + uploader.EOC)
                 self.__getSync()
                 code = fw.image
                 groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+                verifyProgress = 0
                 for bytes in groups:
+                        verifyProgress += 1
+                        if verifyProgress % 256 == 0:
+                            self.__drawProgressBar(label, verifyProgress, len(groups))
                         if (not self.__verify_multi(bytes)):
                                 raise RuntimeError("Verification failed")
+                self.__drawProgressBar(label, 100, 100)
 
-        def __verify_v3(self, fw):
-                expect_crc = fw.crc(self.fw_maxsize)
+        def __verify_v3(self, label, fw):
+                print("\n", end='')
+                self.__drawProgressBar(label, 1, 100)
+                expect_crc = fw.crc(self.fw_maxsize)                
                 self.__send(uploader.GET_CRC
                             + uploader.EOC)
                 report_crc = self.__recv_int()
                 self.__getSync()
+                verifyProgress = 0
                 if report_crc != expect_crc:
                         print("Expected 0x%x" % expect_crc)
                         print("Got      0x%x" % report_crc)
                         raise RuntimeError("Program CRC failed")
+                self.__drawProgressBar(label, 100, 100)
 
         # get basic data about the board
         def identify(self):
@@ -439,19 +449,16 @@ class uploader(object):
                     except Exception:
                             # ignore bad character encodings
                             pass
-                print("erase...")
-                self.__erase()
-
-                print("program...")
-                self.__program(fw)
+                
+                self.__erase("Erase  ")
+                self.__program("Program", fw)
 
-                print("verify...")
                 if self.bl_rev == 2:
-                        self.__verify_v2(fw)
+                        self.__verify_v2("Verify ", fw)
                 else:
-                        self.__verify_v3(fw)
+                        self.__verify_v3("Verify ", fw)
 
-                print("done, rebooting.")
+                print("\nRebooting.\n")
                 self.__reboot()
                 self.port.close()