1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
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!'
|
