1 files changed, 199 insertions, 0 deletions
diff --git a/apps/sdlog/updatesdlog.py b/apps/sdlog/updatesdlog.py
new file mode 100644
index 000000000..5892bc40a
--- /dev/null
+++ b/apps/sdlog/updatesdlog.py
@@ -0,0 +1,199 @@
+import os
+import glob
+
+# path to global data files
+base_path = '../orb/'
+cfile = './sdlog_generated.h'
+mfile_template = './mfile.template'
+
+# there should be one LOGBROADCAST which gives the timing for the logging
+logbroadcast_found = 0
+
+# these types can nicely be imported into Matlab
+allowed_types = ['uint8_t','int8_t','uint16_t','int16_t','uint32_t','int32_t','uint64_t','int64_t','float','double']
+
+log_entries = []
+# loop through global_data_files ending in _t.h and look for LOGME (per variable) and LOGBROADCAST (overall)
+for path in glob.glob( os.path.join(base_path, '*_t.h') ):
+    # filename is supposed to be global_data_bapedibup_t.h
+    if 'global_data' not in path:   
+        print 'path: ' + path
+        raise 'wrong filename found'
+    f = open(path, 'r')
+    access_conf_found = False;
+    # strip away ../../../../apps/orb/ and _t.h
+    data_name = path.lstrip(base_path)[0:-4]
+    # strip away ../../../../apps/orb/ and global_data_ and _t.h
+    name = path.lstrip(base_path)[12:-4]
+    log_entry = {'data_name': data_name,'name':name,'vars': []}
+    
+    logbroadcast = False;
+    
+    # loop throug lines
+    for line in f:
+    
+        line_parts = line.split()
+        # access_conf is needed to lock the data
+        if 'access_conf_t' in line:
+            
+            # always use the access_conf which has the LOGBROADCAST flag
+            if 'LOGBROADCAST' in line:
+                access_conf_found = True
+                log_entry['access_conf_name'] = line_parts[1].rstrip(';')
+                logbroadcast = True
+                print 'LOGBROADCAST found in ' + data_name
+                logbroadcast_found += 1
+            # but use an access_conf anyway 
+            elif access_conf_found == False:
+                access_conf_found = True
+                log_entry['access_conf_name'] = line_parts[1].rstrip(';')
+        # variables flagged with LOGME should be logged
+        elif 'LOGME' in line:
+            var_entry = {'type': line_parts[0]}
+        
+            # check that it is an allowed type
+            if var_entry['type'] not in allowed_types:
+                print 'file: '+ path + ', type: ' + var_entry['type']
+                raise 'unsupported type'
+            
+            # save variable name and number for array
+            if '[' in line_parts[1]:
+                var_entry['name'] = line_parts[1].split('[')[0]
+                var_entry['number'] = line_parts[1].split('[')[1].rstrip('];')
+            else:
+                var_entry['name'] = line_parts[1].rstrip(';')
+                var_entry['number'] = 1
+                
+            # add the variable
+            log_entry['vars'].append(var_entry)
+    # only use the global data file if any variables have a LOGME
+    if logbroadcast == True and len(log_entry['vars']) > 0:
+        logbroadcast_entry = log_entry
+    elif len(log_entry['vars']) > 0:
+        print 'added ' + log_entry['data_name']
+        log_entries.append(log_entry)
+    f.close()
+
+# check that we have one and only one LOGBROADCAST
+if logbroadcast_found > 1:
+    raise 'too many LOGBROADCAST found\n'
+elif logbroadcast_found == 0:
+    raise 'no LOGBROADCAST found\n'
+
+# write function to c file
+
+header = '/* This file is autogenerated in nuttx/configs/px4fmu/include/updatesdlog.py */\n\
+\n\
+#ifndef SDLOG_GENERATED_H_\n\
+#define SDLOG_GENERATED_H_\n\
+\n\
+\n\
+'
+
+cstruct = 'typedef struct\n{\n'
+
+for j in logbroadcast_entry['vars']:
+    cstruct += '\t' + j['type'] + ' ' + logbroadcast_entry['name'] + '_' + j['name']
+    if j['number'] == 1:
+        cstruct += ';\n'
+    else:
+        cstruct += '[' + j['number'] + '];\n'
+
+for i in log_entries:
+    for j in i['vars']:
+        cstruct += '\t' + j['type'] + ' ' + i['name'] + '_' + j['name']
+        if j['number'] == 1:
+            cstruct += ';\n'
+        else:
+            cstruct += '[' + j['number'] + '];\n'
+
+cstruct += '\tchar check[4];\n} __attribute__((__packed__)) log_block_t;\n\n'
+
+
+copy_function = 'void copy_block(log_block_t* log_block)\n{\n'
+copy_function += '\tif(global_data_wait(&' + logbroadcast_entry['data_name'] + '->' + logbroadcast_entry['access_conf_name'] + ') == 0)\n\t{\n'
+
+for j in logbroadcast_entry['vars']:
+    copy_function += '\t\tmemcpy(&log_block->' + logbroadcast_entry['name'] + '_' + j['name'] + ',&' + logbroadcast_entry['data_name'] + '->' + j['name'] + ',sizeof(' + j['type'] + ')*' + str(j['number']) + ');\n'
+    #copy_function += '\t\t}\n'
+
+# generate logging MACRO
+
+
+for i in log_entries:
+    copy_function += '\t\tif(global_data_trylock(&' + i['data_name'] + '->' + i['access_conf_name'] + ') == 0)\n\t\t{\n'
+    
+    for j in i['vars']:
+        copy_function += '\t\t\tmemcpy(&log_block->' + i['name'] + '_' + j['name'] + ',&' + i['data_name'] + '->' + j['name'] + ',sizeof(' + j['type'] + ')*' + str(j['number']) + ');\n'
+        
+    copy_function += '\t\t\tglobal_data_unlock(&' + i['data_name'] + '->' + i['access_conf_name'] + ');\n'
+    copy_function += '\t\t}\n'
+copy_function += '\t\tglobal_data_unlock(&' + logbroadcast_entry['data_name'] + '->' + logbroadcast_entry['access_conf_name'] + ');\n'
+copy_function += '\t}\n'
+
+copy_function += '}\n'
+
+footer = '\n#endif'
+
+
+
+# generate mfile
+
+type_bytes = {
+'uint8_t' : 1,
+'int8_t' : 1,
+'uint16_t' : 2,
+'int16_t' : 2,
+'uint32_t' : 4,
+'int32_t' : 4,
+'uint64_t' : 8,
+'int64_t' : 8,
+'float' : 4,
+'double' : 8,
+}
+
+type_names_matlab = {
+'uint8_t' : 'uint8',
+'int8_t' : 'int8',
+'uint16_t' : 'uint16',
+'int16_t' : 'int16',
+'uint32_t' : 'uint32',
+'int32_t' : 'int32',
+'uint64_t' : 'uint64',
+'int64_t' : 'int64',
+'float' : 'float',
+'double' : 'double',
+}
+
+
+# read template mfile
+mf = open(mfile_template, 'r')
+mfile_template_string = mf.read()
+
+mfile_define = '#define MFILE_STRING "% This file is autogenerated in updatesdlog.py and mfile.template in apps/sdlog\\n\\\n'
+mfile_define += '%% Define logged values \\n\\\n\\n\\\nlogTypes = {};\\n\\\n'
+
+for j in logbroadcast_entry['vars']:
+    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'
+
+for i in log_entries:
+    for j in i['vars']:
+        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'
+        
+
+
+mfile_define += '\\\n' + mfile_template_string.replace('\n', '\\n\\\n').replace('\"','\\\"') + '"'
+
+
+# write to c File
+cf = open(cfile, 'w')
+cf.write(header)
+cf.write(cstruct);
+cf.write(copy_function)
+
+cf.write(mfile_define)
+
+cf.write(footer)
+cf.close()
+
+print 'finished, cleanbuild needed!'