def get_actuator_output_params(yaml_config, output_functions,
timer_config_file, verbose):
""" parse the actuator_output section from the yaml config file
:return: dict of param definitions
"""
if not 'actuator_output' in yaml_config:
return {}
output_groups = yaml_config['actuator_output']['output_groups']
all_params = {}
group_idx = 0
def add_local_param(param_name, param_def):
nonlocal all_params
# add as a list, as there can be multiple entries with the same param_name
if not param_name in all_params:
all_params[param_name] = []
all_params[param_name].append(param_def)
while group_idx < len(output_groups):
group = output_groups[group_idx]
group_idx += 1
if verbose: print("processing group: {:}".format(group))
# Check for generator and generate additional data.
# We do this by extending the output_groups list and parse in a later iteration
if 'generator' in group:
if group['generator'] == 'pwm':
param_prefix = process_param_prefix(group['param_prefix'])
channel_labels = [
process_channel_label(label)
for label in group['channel_labels']
]
standard_params = group.get('standard_params', [])
extra_function_groups = group.get('extra_function_groups', [])
pwm_timer_param = group.get('pwm_timer_param', None)
if 'timer_config_file' in group:
timer_config_file = os.path.join(
root_dir, group['timer_config_file'])
if timer_config_file is None:
raise Exception(
'trying to generate pwm outputs, but --timer-config not set'
)
timer_groups = get_timer_groups(timer_config_file, verbose)
timer_output_groups, timer_params = get_output_groups(
timer_groups,
param_prefix,
channel_labels,
standard_params,
extra_function_groups,
pwm_timer_param,
verbose=verbose)
all_params.update(timer_params)
output_groups.extend(timer_output_groups)
else:
raise Exception('unknown generator {:}'.format(
group['generator']))
continue
num_channels = group['num_channels']
param_prefix = process_param_prefix(group['param_prefix'])
channel_label = process_channel_label(group['channel_label'])
standard_params = group.get('standard_params', {})
instance_start = group.get('instance_start', 1)
instance_start_label = group.get('instance_start_label',
instance_start)
if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
raise Exception("param prefix {:} too long (max length=10)".format(
param_prefix))
# collect the functions
function_groups = ['common']
function_groups.extend(group.get('extra_function_groups', []))
output_function_values = {}
for function_group in function_groups:
group = output_functions[function_group]
for function_name in group:
function_name_label = function_name.replace('_', ' ')
if isinstance(group[function_name], int):
output_function_values[
group[function_name]] = function_name_label
else:
start = group[function_name]['start']
count = group[function_name]['count']
for i in range(count):
output_function_values[
start + i] = function_name_label + ' ' + str(i + 1)
# function param
param = {
'description': {
'short':
channel_label + ' ${i} Output Function',
'long':
'''Select what should be output on {:} ${{i}}.
The default failsafe value is set according to the selected function:
- 'Min' for ConstantMin
- 'Max' for ConstantMax
- 'Max' for Parachute
- ('Max'+'Min')/2 for Servos
- 'Disarmed' for the rest
'''.format(channel_label),
},
'type': 'enum',
'instance_start': instance_start,
'instance_start_label': instance_start_label,
'num_instances': num_channels,
'default': 0,
'values': output_function_values
}
add_local_param(param_prefix + '_FUNC${i}', param)
# handle standard_params
disarmed_description = \
'''This is the output value that is set when not armed.
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
'''
minimum_description = \
'''Minimum output value (when not disarmed).
The output range can be reversed by setting Min > Max.
'''
maximum_description = \
'''Maxmimum output value (when not disarmed).
The output range can be reversed by setting Min > Max.
'''
failsafe_description = \
'''This is the output value that is set when in failsafe mode.
When set to -1 (default), the value depends on the function (see {:}).
'''.format(param_prefix+'_FUNC${i}')
standard_params_array = [
('disarmed', 'Disarmed', 'DIS', disarmed_description),
('min', 'Minimum', 'MIN', minimum_description),
('max', 'Maximum', 'MAX', maximum_description),
('failsafe', 'Failsafe', 'FAIL', failsafe_description),
]
for key, label, param_suffix, description in standard_params_array:
if key in standard_params:
# values must be in range of an uint16_t
if standard_params[key]['min'] < 0:
raise Exception(
'minimum value for {:} expected >= 0 (got {:})'.format(
key, standard_params[key]['min']))
if standard_params[key]['max'] >= 1 << 16:
raise Exception(
'maximum value for {:} expected <= {:} (got {:})'.
format(key, 1 << 16, standard_params[key]['max']))
if key == 'failsafe':
standard_params[key]['default'] = -1
standard_params[key]['min'] = -1
param = {
'description': {
'short': channel_label + ' ${i} ' + label + ' Value',
'long': description
},
'type': 'int32',
'instance_start': instance_start,
'instance_start_label': instance_start_label,
'num_instances': num_channels,
'min': standard_params[key]['min'],
'max': standard_params[key]['max'],
'default': standard_params[key]['default'],
}
add_local_param(param_prefix + '_' + param_suffix + '${i}',
param)
if verbose: print('adding actuator params: {:}'.format(all_params))
return all_params
def get_actuator_output(yaml_config, output_functions, timer_config_file,
verbose):
""" parse the actuator_output section from the yaml config file
"""
if not 'actuator_output' in yaml_config:
return None
actuator_output_yaml = yaml_config['actuator_output']
output_groups = actuator_output_yaml['output_groups']
module_name = process_module_name(yaml_config['module_name'])
group_idx = 0
if verbose: print('processing module: {}'.format(module_name))
actuator_output = {'label': module_name}
if 'show_subgroups_if' in actuator_output_yaml:
actuator_output['show-subgroups-if'] = actuator_output_yaml[
'show_subgroups_if']
# config parameters
def get_config_params(param_list):
""" convert config parameter list (per group or per subgroup) """
parameters = []
for config_param in param_list:
if verbose:
print('config param: {}'.format(config_param))
param = {
'name': config_param['param'],
}
if 'label' in config_param:
param['label'] = config_param['label']
if 'function' in config_param:
param['function'] = config_param['function']
parameters.append(param)
return parameters
parameters = get_config_params(
actuator_output_yaml.get('config_parameters', []))
if len(parameters) > 0:
actuator_output['parameters'] = parameters
subgroups = []
while group_idx < len(output_groups):
group = output_groups[group_idx]
group_idx += 1
if verbose: print("processing group: {:}".format(group))
# Check for generator and generate additional data.
if 'generator' in group:
if group['generator'] == 'pwm':
param_prefix = process_param_prefix(group['param_prefix'])
no_prefix = not group.get('channel_label_module_name_prefix',
True)
channel_labels = [
process_channel_label(module_name, label, no_prefix)
for label in group['channel_labels']
]
standard_params = group.get('standard_params', [])
extra_function_groups = group.get('extra_function_groups', [])
pwm_timer_param = group.get('pwm_timer_param', None)
if 'timer_config_file' in group:
timer_config_file = os.path.join(
root_dir, group['timer_config_file'])
if timer_config_file is None:
raise Exception(
'trying to generate pwm outputs, but --timer-config not set'
)
timer_groups = get_timer_groups(timer_config_file, verbose)
timer_output_groups, timer_params = get_output_groups(
timer_groups,
param_prefix,
channel_labels,
standard_params,
extra_function_groups,
pwm_timer_param,
verbose=verbose)
output_groups.extend(timer_output_groups)
else:
raise Exception('unknown generator {:}'.format(
group['generator']))
continue
subgroup = {}
# supported actions
if 'supported_actions' in group:
actions = {}
for action_name in group['supported_actions']:
action = group['supported_actions'][action_name]
action_name = action_name.replace('_', '-')
actions[action_name] = {}
if 'supported_if' in action:
actions[action_name]['supported-if'] = action[
'supported_if']
if 'actuator_types' in action:
actions[action_name]['actuator-types'] = action[
'actuator_types']
subgroup['supported-actions'] = actions
# channels
num_channels = group['num_channels']
no_prefix = not group.get('channel_label_module_name_prefix', True)
channel_label = process_channel_label(module_name,
group['channel_label'],
no_prefix)
instance_start = group.get('instance_start', 1)
instance_start_label = group.get('instance_start_label',
instance_start)
channels = []
for channel in range(num_channels):
channels.append({
'label':
channel_label + ' ' + str(channel + instance_start_label),
'param-index':
channel + instance_start
})
subgroup['channels'] = channels
if 'group_label' in group:
subgroup['label'] = group['group_label']
# per-channel-params
per_channel_params = []
param_prefix = process_param_prefix(group['param_prefix'])
standard_params = group.get('standard_params', {})
standard_params_array = [
('function', 'Function', 'FUNC', False),
('disarmed', 'Disarmed', 'DIS', False),
('min', 'Minimum', 'MIN', False),
('max', 'Maximum', 'MAX', False),
('failsafe', 'Failsafe', 'FAIL', True),
]
for key, label, param_suffix, advanced in standard_params_array:
show_if = None
if key in standard_params and 'show_if' in standard_params[key]:
show_if = standard_params[key]['show_if']
if key in standard_params or key == 'function':
param = {
'label': label,
'name': param_prefix + '_' + param_suffix + '${i}',
'function': key,
}
if advanced: param['advanced'] = True
if show_if: param['show-if'] = show_if
per_channel_params.append(param)
param = {
'label': 'Rev Range\n(for Servos)',
'name': param_prefix + '_REV',
'index-offset': -1,
'show-as': 'bitset',
}
per_channel_params.append(param)
# TODO: support non-standard per-channel parameters
subgroup['per-channel-parameters'] = per_channel_params
# group config params
parameters = get_config_params(group.get('config_parameters', []))
if len(parameters) > 0:
subgroup['parameters'] = parameters
subgroups.append(subgroup)
actuator_output['subgroups'] = subgroups
return actuator_output