migrate to a new parameters style

Innopolis-UAV-Team · Jan 15, 2024 · db881ee · db881ee
1 parent dc42e8f
commit db881ee
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Showing 10 changed files with 46 additions and 57 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -11,6 +11,12 @@ endif()
 # Pathes
 set(ROOT_DIR ${CMAKE_CURRENT_LIST_DIR})
 set(LIBPARAMS_PATH ${ROOT_DIR}/Libs/libparams)
+set(BUILD_SRC_DIR ${ROOT_DIR}/build/src)
+if(USE_DRONECAN)
+    set(APPLICATION_DIR ${ROOT_DIR}/Src/dronecan_application)
+else()
+    set(APPLICATION_DIR ${ROOT_DIR}/Src/cyphal_application)
+endif()
 
 # platform
 if(USE_PLATFORM_UBUNTU)
@@ -23,14 +29,8 @@ else()
     set(APP_PLATFORM stm32f103)
 endif()
 
-# libparams
 include(${LIBPARAMS_PATH}/CMakeLists.txt)
-
-if(USE_DRONECAN)
-    include(${ROOT_DIR}/Src/dronecan_application/CMakeLists.txt)
-else()
-    include(${ROOT_DIR}/Src/cyphal_application/CMakeLists.txt)
-endif()
+include(${APPLICATION_DIR}/CMakeLists.txt)
 
 if(USE_PLATFORM_UBUNTU)
 else()
@@ -62,28 +62,30 @@ add_executable(${EXECUTABLE}
     ${stm32CubeMxGeneratedFiles}
     ${libsSourceCode}
     ${applicationSourceCode}
+    ${BUILD_SRC_DIR}/params.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/adc.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/pwm.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/led.cpp
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}/platform_specific.cpp
 )
 
-include_directories(${libsHeaders})
-
 target_include_directories(${EXECUTABLE} PRIVATE
-    ${ROOT_DIR}/build/src
+    ${BUILD_SRC_DIR}
     ${stm32CubeMxHeaders}
     ${applicationHeaders}
     ${ROOT_DIR}/Src/platform/${APP_PLATFORM}
 )
 
 SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wno-volatile")
 
-if(NOT USE_DRONECAN)
-    execute_process(
-        COMMAND ${CMAKE_CURRENT_LIST_DIR}/scripts/prebuild_cyphal.sh ${cyphalRegisters}
-    )
-endif()
+execute_process(
+    COMMAND ${LIBPARAMS_PATH}/scripts/generate_params.py --out-dir ${BUILD_SRC_DIR} -f ${LIBPARAMS_PARAMS}
+)
+
+execute_process(
+    COMMAND ${LIBPARAMS_PATH}/scripts/generate_docs.py ${LIBPARAMS_PARAMS}
+    WORKING_DIRECTORY ${APPLICATION_DIR}
+)
 
 execute_process(
     COMMAND git rev-parse --short=16 HEAD

diff --git a/Src/dronecan_application/CMakeLists.txt b/Src/dronecan_application/CMakeLists.txt
@@ -18,11 +18,14 @@ set(applicationSourceCode
     ${ROOT_DIR}/Src/dronecan_application/application.cpp
     ${ROOT_DIR}/Src/dronecan_application/modules/buzzer.cpp
     ${ROOT_DIR}/Src/dronecan_application/modules/pmu.cpp
-    ${ROOT_DIR}/Src/dronecan_application/params.cpp
 )
 set(applicationHeaders
     ${libparamsHeaders}
     ${DRONECAN_HEADERS}
     ${ROOT_DIR}/Src
     ${ROOT_DIR}/Src/dronecan_application
 )
+
+set(LIBPARAMS_PARAMS
+    ${CMAKE_CURRENT_LIST_DIR}/params.yaml
+)
diff --git a/Src/dronecan_application/README.md b/Src/dronecan_application/README.md
@@ -0,0 +1,9 @@
+The node has the following registers:
+
+| №  | Register name           | Description |
+| -- | ----------------------- | ----------- |
+|  1 | uavcan.node.id          | Defines a node-ID. Allowed values [0,127]. |
+|  2 | system.name             | Defines custom node name. If empty, the node will use the default name. |
+
+> This docs was automatically generated. Do not edit it manually.
+
diff --git a/Src/dronecan_application/application.cpp b/Src/dronecan_application/application.cpp
@@ -5,7 +5,6 @@
 #include "dronecan.h"
 #include "main.h"
 #include "params.hpp"
-#include "string_params.hpp"
 #include "storage.h"
 #include "periphery/led/led.hpp"
 #include "periphery/adc/adc.hpp"
@@ -15,7 +14,7 @@ void application_entry_point() {
     paramsInit(static_cast<uint8_t>(IntParamsIndexes::INTEGER_PARAMS_AMOUNT), NUM_OF_STR_PARAMS);
     paramsLoadFromFlash();
 
-    auto node_id = paramsGetIntegerValue(UAVCAN_NODE_ID);
+    auto node_id = paramsGetIntegerValue(PARAM_UAVCAN_NODE_ID);
     auto node_name = (const char*)paramsGetStringValue(static_cast<uint8_t>(IntParamsIndexes::INTEGER_PARAMS_AMOUNT));
 
     LedPeriphery::reset();

diff --git a/Src/dronecan_application/modules/buzzer.cpp b/Src/dronecan_application/modules/buzzer.cpp
@@ -5,7 +5,6 @@
 #include "dronecan.h"
 #include "main.h"
 #include "params.hpp"
-#include "string_params.hpp"
 #include "storage.h"
 #include "periphery/pwm/pwm.hpp"
 

diff --git a/Src/dronecan_application/modules/pmu.cpp b/Src/dronecan_application/modules/pmu.cpp
@@ -6,8 +6,6 @@
 #include "dronecan.h"
 #include "main.h"
 #include "params.hpp"
-#include "string_params.hpp"
-#include "string_params.hpp"
 #include "storage.h"
 #include "periphery/adc/adc.hpp"
 #include "uavcan/protocol/debug/LogMessage.h"

diff --git a/Src/dronecan_application/params.cpp b/Src/dronecan_application/params.cpp
diff --git a/Src/dronecan_application/params.hpp b/Src/dronecan_application/params.hpp
diff --git a/Src/dronecan_application/params.yaml b/Src/dronecan_application/params.yaml
@@ -0,0 +1,15 @@
+uavcan.node.id:
+  type: Integer
+  note: Defines a node-ID. Allowed values [0,127].
+  enum: PARAM_UAVCAN_NODE_ID
+  flags: mutable
+  default: 42
+  min: 0
+  max: 255
+
+system.name:
+  type: String
+  note: Defines custom node name. If empty, the node will use the default name.
+  enum: PARAM_SYSTEM_NAME
+  flags: mutable
+  default: "arl.pmu"
diff --git a/Src/dronecan_application/string_params.hpp b/Src/dronecan_application/string_params.hpp