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Merge pull request #1734 from PX4/ros_messagelayer_merge_attctrl_posctrl

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Ros messagelayer merge attctrl posctrl
This commit is contained in:
Thomas Gubler
2015-02-01 11:58:37 +01:00
parent d74b81ba4f 84ff3c671d
commit e547176ba1
213 changed files with 7669 additions and 5590 deletions
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36
Tools/make_color.sh Executable file
View File

@@ -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/"

22
Tools/px_generate_uorb_topic_headers.py
View File

@@ -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)

53
Tools/px_uploader.py
View File

@@ -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()
self.__erase("Erase ")
self.__program("Program", fw)
print("program...")
self.__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()