Rewrote multi_tables with python

2 files changed, 159 insertions, 156 deletions

diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
deleted file mode 100755
index b29bf540a..000000000
--- a/src/modules/systemlib/mixer/multi_tables
+++ /dev/null
@@ -1,156 +0,0 @@
-#!/usr/bin/tclsh
-#
-# Generate multirotor mixer scale tables compatible with the ArduCopter layout
-#
-
-puts "/*"
-puts "* These file is automatically generated by multi_tables - do not edit."
-puts "*/"
-puts ""
-
-proc rad {a} { expr ($a / 360.0) * 2 * acos(-1) }
-proc rcos {a} { expr cos([rad $a])}
-
-
-set quad_x {
-      45 CCW
-    -135 CCW
-     -45 CW
-     135 CW
-}
-
-set quad_plus {
-      90 CCW
-     -90 CCW
-       0 CW
-     180 CW
-}
-
-set quad_v {
-      18.8 0.4242
-     -18.8 1.0
-     -18.8 -0.4242
-      18.8 -1.0
-}
-
-set quad_wide {
-      68 CCW
-    -129 CCW
-     -68 CW
-     129 CW
-}
-
-set hex_x {
-      90 CW
-     -90 CCW
-     -30 CW
-     150 CCW
-      30 CCW
-    -150 CW
-}
-
-set hex_plus {
-       0 CW
-     180 CCW
-    -120 CW
-      60 CCW
-     -60 CCW
-     120 CW
-}
-
-set hex_cox {
-      60 CW
-      60 CCW
-     180 CW
-     180 CCW
-     -60 CW
-     -60 CCW
-}
-
-set octa_x {
-      22.5 CW
-    -157.5 CW
-      67.5 CCW
-     157.5 CCW
-     -22.5 CCW
-    -112.5 CCW
-     -67.5 CW
-     112.5 CW
-}
-
-set octa_plus {
-       0 CW
-     180 CW
-      45 CCW
-     135 CCW
-     -45 CCW
-    -135 CCW
-     -90 CW
-      90 CW
-}
-
-set octa_cox {
-      45 CCW
-     -45 CW
-    -135 CCW
-     135 CW
-     -45 CCW
-      45 CW
-     135 CCW
-    -135 CW
-}
-
-set twin_engine {
-      90 0.0
-     -90 0.0
-}
-
-
-set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox twin_engine}
-
-puts "enum MultirotorMixer::Geometry : unsigned int {"
-foreach table $tables {
-    puts [format "\t%s," [string toupper $table]]
-}
-puts "\n\tMAX_GEOMETRY"
-puts "}; // enum MultirotorMixer::Geometry\n"
-
-
-puts "namespace {"
-
-proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %9.6f }," [rcos [expr $a + 90]] [rcos $a] [expr $d]]}
-
-foreach table $tables {
-    puts [format "const MultirotorMixer::Rotor _config_%s\[\] = {" $table]
-
-    upvar #0 $table angles
-    foreach {angle dir} $angles {
-        if {$dir == "CW"} {
-            set dd -1.0
-        } elseif {$dir == "CCW"} {
-            set dd 1.0
-        } else {
-            set dd $dir
-        }
-        factors $angle $dd
-    }
-    puts "};\n"
-}
-
-puts "const MultirotorMixer::Rotor *_config_index\[\] = {"
-foreach table $tables {
-    puts [format "\t&_config_%s\[0\]," $table]
-}
-puts "};\n"
-
-puts "const unsigned _config_rotor_count\[\] = {"
-foreach table $tables {
-    upvar #0 $table angles
-    puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
-}
-puts "};\n"
-
-puts "} // anonymous namespace\n"
-
-# Newline at the end of file
-puts ""
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
new file mode 100755
index 000000000..07594ee72
--- /dev/null
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -0,0 +1,159 @@
+#!/usr/bin/python
+#
+# Generate multirotor mixer scale tables compatible with the ArduCopter layout
+#
+
+import math
+
+print "/*"
+print "* These file is automatically generated by multi_tables.py - do not edit."
+print "*/"
+print ""
+
+def rcos(angleInRadians):
+  return math.cos(math.radians(angleInRadians))
+
+CCW = 1.0
+CW = -CCW
+
+quad_x = [
+   	[  45, CCW],
+   	[-135, CCW],
+   	[-45,  CW],
+    [135,  CW],
+]
+
+quad_plus = [
+	[  90, CCW],
+    [ -90, CCW],
+    [   0, CW],
+    [ 180, CW],
+]
+
+quad_v = [
+    [  18.8, 0.4242],
+    [ -18.8, 1.0],
+    [ -18.8, -0.4242],
+    [  18.8, -1.0],
+]
+
+quad_wide = [
+	[   68, CCW],
+    [ -129, CCW],
+    [  -68, CW],
+    [  129, CW],
+]
+
+hex_x = [
+	[  90, CW],
+    [ -90, CCW],
+    [ -30, CW],
+    [ 150, CCW],
+    [  30, CCW],
+    [-150, CW],
+]
+
+hex_plus = [
+    [   0, CW],
+    [ 180, CCW],
+    [-120, CW],
+    [  60, CCW],
+    [ -60, CCW],
+    [ 120, CW],
+]
+
+hex_cox = [
+    [  60, CW],
+    [  60, CCW],
+    [ 180, CW],
+    [ 180, CCW],
+    [ -60, CW],
+    [ -60, CCW],
+]
+
+octa_x = [
+    [  22.5, CW],
+    [-157.5, CW],
+    [  67.5, CCW],
+    [ 157.5, CCW],
+    [ -22.5, CCW],
+    [-112.5, CCW],
+    [ -67.5, CW],
+    [ 112.5, CW],
+]
+
+octa_plus = [
+    [   0, CW],
+    [ 180, CW],
+    [  45, CCW],
+    [ 135, CCW],
+    [ -45, CCW],
+    [-135, CCW],
+    [ -90, CW],
+    [  90, CW],
+]
+
+octa_cox = [
+    [  45, CCW],
+    [ -45, CW],
+    [-135, CCW],
+    [ 135, CW],
+    [ -45, CCW],
+    [  45, CW],
+    [ 135, CCW],
+    [-135, CW],
+]
+
+twin_engine = [
+    [ 90, 0.0],
+    [-90, 0.0],
+]
+
+def variableName(variable):
+	for variableName, value in list(globals().iteritems()):
+		if value is variable:
+			return variableName
+
+tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
+
+
+def printEnum():
+	print "enum MultirotorMixer::Geometry : unsigned int {"
+	for table in tables:
+		print "\t{},".format(variableName(table).upper())
+
+	print "\n\tMAX_GEOMETRY"
+	print "}; // enum MultirotorMixer::Geometry\n"
+
+def printScaleTables():
+	for table in tables:
+		print "const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table))
+		for (angle, yawScale) in table:
+			rollScale = rcos(angle + 90)
+			pitchScale = rcos(angle)
+			print "\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale)
+		print "};\n"
+	
+def printScaleTablesIndex():
+	print "const MultirotorMixer::Rotor *_config_index[] = {"
+	for table in tables:
+		print "\t&_config_{}[0],".format(variableName(table))
+	print "};\n"
+
+
+def printScaleTablesCounts():
+	print "const unsigned _config_rotor_count[] = {"
+	for table in tables:
+		print "\t{}, /* {} */".format(len(table), variableName(table))
+	print "};\n"
+	
+	
+
+printEnum()
+
+print "namespace {"
+printScaleTables()
+printScaleTablesIndex()
+printScaleTablesCounts()
+
+print "} // anonymous namespace\n"