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LUA : restructure to manage prearm-checks #261

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merged 7 commits into from
Dec 30, 2024
Merged

LUA : restructure to manage prearm-checks #261

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a4a143b
AP_Filesystem: support full direcotry listing in ROMFS
IamPete1 Feb 20, 2024
9ec663e
AP_ROMFS: don't require / in filename
IamPete1 Feb 20, 2024
2b584f9
GCS_MAVLink: FTP: strip trailing `/` in dir list request
IamPete1 Feb 20, 2024
126ca8e
waf: fixed leading slashes in root of ROMFS
tridge Feb 21, 2024
af6e0ca
AP_ROMFS: fixed duplicate directories
tridge Feb 21, 2024
8ca2895
AP_Scripting: allow loading moduels from ROMFS
IamPete1 Feb 23, 2024
0afcc7c
LUA : restructure to manage prearm-checks
Pradeep-Carbonix Dec 23, 2024
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2 changes: 2 additions & 0 deletions Tools/ardupilotwaf/boards.py
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Original file line number Diff line number Diff line change
Expand Up @@ -514,6 +514,8 @@ def configure_env(self, cfg, env):
# exclude emacs tmp files
continue
fname = root[len(custom_dir)+1:]+"/"+f
if fname.startswith("/"):
fname = fname[1:]
env.ROMFS_FILES += [(fname,root+"/"+f)]

def pre_build(self, bld):
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36 changes: 33 additions & 3 deletions Tools/autotest/pysim/vehicleinfo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -440,19 +440,49 @@ def __init__(self):
"waf_target": "bin/arduplane",
"model": "quadplane:@ROMFS/models/Ottano.json",
"default_params_filename": "../../build/ottano-headless.parm",
"scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
"scripts": [
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua",
(
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/*.lua",
"modules"
),
(
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua",
"modules/aircraft.lua"
),
],
},
"volanti-headless": {
"waf_target": "bin/arduplane",
"model": "quadplane:@ROMFS/models/Volanti.json",
"default_params_filename": "../../build/volanti-headless.parm",
"scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
"scripts": [
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua",
(
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/*.lua",
"modules"
),
(
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua",
"modules/aircraft.lua"
),
],
},
"volanti-realflight": {
"waf_target": "bin/arduplane",
"model": "flightaxis",
"default_params_filename": "../../build/volanti-realflight.parm",
"scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
"scripts": [
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua",
(
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/*.lua",
"modules"
),
(
"../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua",
"modules/aircraft.lua"
),
],
"external": True,
}
},
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1 change: 1 addition & 0 deletions libraries/AP_Filesystem/AP_Filesystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ const AP_Filesystem::Backend AP_Filesystem::backends[] = {
{ nullptr, fs_local },
#if AP_FILESYSTEM_ROMFS_ENABLED
{ "@ROMFS/", fs_romfs },
{ "@ROMFS", fs_romfs },
#endif
#if AP_FILESYSTEM_PARAM_ENABLED
{ "@PARAM/", fs_param },
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33 changes: 29 additions & 4 deletions libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,6 +159,15 @@ void *AP_Filesystem_ROMFS::opendir(const char *pathname)
if (!dir[idx].path) {
return nullptr;
}

// Take a sneak peek and reset
const char *name = AP_ROMFS::dir_list(dir[idx].path, dir[idx].ofs);
dir[idx].ofs = 0;
if (!name) {
// Directory does not exist
return nullptr;
}

return (void*)&dir[idx];
}

Expand All @@ -174,12 +183,28 @@ struct dirent *AP_Filesystem_ROMFS::readdir(void *dirp)
return nullptr;
}
const uint32_t plen = strlen(dir[idx].path);
if (strncmp(name, dir[idx].path, plen) != 0 || name[plen] != '/') {
return nullptr;
if (plen > 0) {
// Offset to get just file/directory name
name += plen + 1;
}
name += plen + 1;
dir[idx].de.d_type = DT_REG;

// Copy full name
strncpy(dir[idx].de.d_name, name, sizeof(dir[idx].de.d_name));

const char* slash = strchr(name, '/');
if (slash == nullptr) {
// File
dir[idx].de.d_type = DT_REG;

} else {
// Directory
dir[idx].de.d_type = DT_DIR;

// Add null termination after directory name
const size_t index = slash - name;
dir[idx].de.d_name[index] = 0;
}

return &dir[idx].de;
}

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12 changes: 12 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Ottano_AC_1.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -139,5 +139,17 @@
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
<destination_path>cx_vtol_info.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
<destination_path>modules/bit_esc.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
<destination_path>modules/msg.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua</source_path>
<destination_path>modules/aircraft.lua</destination_path>
</lua_script>
</lua_script_list>
</data>
12 changes: 12 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Ottano_AC_2.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -139,5 +139,17 @@
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
<destination_path>cx_vtol_info.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
<destination_path>modules/bit_esc.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
<destination_path>modules/msg.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua</source_path>
<destination_path>modules/aircraft.lua</destination_path>
</lua_script>
</lua_script_list>
</data>
12 changes: 12 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_1.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -109,5 +109,17 @@
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
<destination_path>cx_vtol_info.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
<destination_path>modules/bit_esc.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
<destination_path>modules/msg.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua</source_path>
<destination_path>modules/aircraft.lua</destination_path>
</lua_script>
</lua_script_list>
</data>
12 changes: 12 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_2.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -120,5 +120,17 @@
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
<destination_path>cx_vtol_info.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
<destination_path>modules/bit_esc.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
<destination_path>modules/msg.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua</source_path>
<destination_path>modules/aircraft.lua</destination_path>
</lua_script>
</lua_script_list>
</data>
12 changes: 12 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/Volanti_AC_3.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -120,5 +120,17 @@
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_vtol_info.lua</source_path>
<destination_path>cx_vtol_info.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua</source_path>
<destination_path>modules/bit_esc.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/msg.lua</source_path>
<destination_path>modules/msg.lua</destination_path>
</lua_script>
<lua_script>
<source_path>libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua</source_path>
<destination_path>modules/aircraft.lua</destination_path>
</lua_script>
</lua_script_list>
</data>
4 changes: 2 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
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Original file line number Diff line number Diff line change
Expand Up @@ -119,8 +119,8 @@ RTL_RADIUS,200
SCHED_LOOP_RATE,200 # Loop Rate for Control in flight Controller set to 200Hz from 400Hz Results SW-171.
SCR_ENABLE,1
SCR_HEAP_SIZE,200000
SCR_LD_CHECKSUM,8357358
SCR_RUN_CHECKSUM,8357358
SCR_LD_CHECKSUM,1341533
SCR_RUN_CHECKSUM,1341533
SCR_VM_I_COUNT,100000
SERVO1_FUNCTION,33 # Motor 1
SERVO10_FUNCTION,4 # Aileron R
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1 change: 1 addition & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/ottano.lua
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
return "Ottano"
1 change: 1 addition & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/aircraft/volanti.lua
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
return "Volanti"
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