Automated generation of the Geometry enum to make addition of the new multirotor a really simple task

src/modules/systemlib/mixer/mixer.h

@@ -453,23 +453,9 @@ public:
 	/**
 	 * Supported multirotor geometries.
 	 *
-	 * XXX add more
+	 * Values are generated by the multi_tables script and placed to mixer_multirotor.generated.h
 	 */
-	enum Geometry {
-		QUAD_X = 0,	/**< quad in X configuration */
-		QUAD_PLUS,	/**< quad in + configuration */
-		QUAD_V,		/**< quad in V configuration */
-		QUAD_WIDE,	/**< quad in wide configuration */
-		HEX_X,		/**< hex in X configuration */
-		HEX_PLUS,	/**< hex in + configuration */
-		HEX_COX,
-		OCTA_X,
-		OCTA_PLUS,
-		OCTA_COX,
-		TWIN_ENGINE, /**< VTOL: one engine on each wing */
-
-		MAX_GEOMETRY
-	};
+	enum Geometry : unsigned int;
 
 	/**
 	 * Precalculated rotor mix.

src/modules/systemlib/mixer/mixer_multirotor.cpp

@@ -55,6 +55,9 @@
 
 #include "mixer.h"
 
+// This file is generated by the multi_tables script which is invoked during the build process
+#include "mixer_multirotor.generated.h"
+
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
 //#include <debug.h>
@@ -72,10 +75,6 @@ float constrain(float val, float min, float max)
 {
 	return (val < min) ? min : ((val > max) ? max : val);
 }
-
-// This file is generated by the multi_tables script which is invoked during the build process
-#include "mixer_multirotor.generated.h"
-
 }
 
 MultirotorMixer::MultirotorMixer(ControlCallback control_cb,

src/modules/systemlib/mixer/multi_tables

@@ -3,9 +3,8 @@
 # Generate multirotor mixer scale tables compatible with the ArduCopter layout
 #
 
-
 puts "/*"
-puts "* These tables automatically generated by multi_tables - do not edit."
+puts "* These file is automatically generated by multi_tables - do not edit."
 puts "*/"
 puts ""
 
@@ -14,17 +13,17 @@ proc rcos {a} { expr cos([rad $a])}
 
 
 set quad_x {
-	  45 CCW
-	-135 CCW
-	 -45 CW
-	 135 CW
+      45 CCW
+    -135 CCW
+     -45 CW
+     135 CW
 }
 
 set quad_plus {
-	  90 CCW
-	 -90 CCW
-	   0 CW
-	 180 CW
+      90 CCW
+     -90 CCW
+       0 CW
+     180 CW
 }
 
 set quad_v {
@@ -35,70 +34,70 @@ set quad_v {
 }
 
 set quad_wide {
-	  68 CCW
-	-129 CCW
-	 -68 CW
-	 129 CW
+      68 CCW
+    -129 CCW
+     -68 CW
+     129 CW
 }
 
 set hex_x {
-	  90 CW
-	 -90 CCW
-	 -30 CW
-	 150 CCW
-	  30 CCW
-	-150 CW
+      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
+       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
+      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
+      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
+       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
+      45 CCW
+     -45 CW
+    -135 CCW
+     135 CW
+     -45 CCW
+      45 CW
+     135 CCW
+    -135 CW
 }
 
 set twin_engine {
@@ -106,39 +105,52 @@ set twin_engine {
      -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]
+    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 "};"
+    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\[MultirotorMixer::MAX_GEOMETRY\] = {"
+puts "const MultirotorMixer::Rotor *_config_index\[\] = {"
 foreach table $tables {
-	puts [format "\t&_config_%s\[0\]," $table]
+    puts [format "\t&_config_%s\[0\]," $table]
 }
-puts "};"
+puts "};\n"
 
-puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {"
+puts "const unsigned _config_rotor_count\[\] = {"
 foreach table $tables {
-	upvar #0 $table angles
-	puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
+    upvar #0 $table angles
+    puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
 }
-puts "};"
+puts "};\n"
+
+puts "} // anonymous namespace\n"
 
 # Newline at the end of file
 puts ""