Parameter migration: code cleanup, migration script, and land_detector trial

.github/workflows/clang-tidy.yml

@@ -17,5 +17,8 @@ jobs:
       with:
         token: ${{secrets.ACCESS_TOKEN}}
 
+    - name: install dependencies
+      run: pip3 install dataclasses
+
     - name: make clang-tidy-quiet
       run: make clang-tidy-quiet

.github/workflows/mavros_mission_tests.yml

@@ -55,6 +55,9 @@ jobs:
           ccache -s
           ccache -z
 
+    - name: install dependencies
+      run: pip3 install dataclasses
+
     - name: check environment
       run: |
           export

.github/workflows/mavros_offboard_tests.yml

@@ -50,6 +50,9 @@ jobs:
           ccache -s
           ccache -z
 
+    - name: install dependencies
+      run: pip3 install dataclasses
+
     - name: check environment
       run: |
           export

Makefile

@@ -490,7 +490,7 @@ shellcheck_all:
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" -not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
-	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	xargs -0 "$(SRC_DIR)"/Tools/validate.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup
 # --------------------------------------------------------------------

Tools/module_config/generate_params.py

@@ -130,6 +130,8 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                 for tag in ['decimal', 'increment', 'category', 'volatile',
                             'min', 'max', 'unit', 'reboot_required']:
                     if tag in param:
+                        if type(param[tag]) is bool and not param[tag]:
+                            continue
                         tags += '\n * @{:} {:}'.format(tag, param[tag])
 
                 for i in range(num_instances):

Tools/serial/generate_config.py

@@ -269,7 +269,7 @@ def parse_yaml_serial_config(yaml_config):
             else:
                 default_port_str = port_config['default']
 
-            if default_port_str != "":
+            if default_port_str != "" and default_port_str != 0:
                 if default_port_str not in serial_ports:
                     raise Exception("Default Port {:} not found for {:}".format(default_port_str, serial_command['label']))
 

Tools/validate.py

@@ -0,0 +1,88 @@
+#! /usr/bin/env python3
+""" Script to validate YAML file(s) against a YAML schema file """
+
+import argparse
+import logging
+import pprint
+import sys
+import os
+
+try:
+    import yaml
+except ImportError as e:
+    print("Failed to import yaml: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user pyyaml")
+    print("")
+    sys.exit(1)
+
+try:
+    import cerberus
+except ImportError as e:
+    print("Failed to import cerberus: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user cerberus")
+    print("")
+    sys.exit(1)
+
+
+def load_data_file(file_name: str):
+    with open(file_name) as stream:
+        try:
+            return yaml.safe_load(stream)
+        except:
+            raise Exception("Unable to parse schema file: syntax error or unsupported file format")
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Validate YAML or JSON file(s) against a schema')
+
+    parser.add_argument('data_file', nargs='+', help='data file(s)')
+    parser.add_argument('--schema-file', type=str, action='store',
+                        help='schema file', required=True)
+    parser.add_argument('--skip-if-no-schema', dest='skip_if_no_schema',
+                        action='store_true',
+                        help='Skip test if schema file does not exist')
+    parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                        help='Verbose Output')
+
+    args = parser.parse_args()
+
+    data_files = args.data_file
+    schema_file = args.schema_file
+
+    if args.verbose:
+        logging.basicConfig(level=logging.INFO)
+    else:
+        logging.basicConfig(level=logging.ERROR)
+
+    if args.skip_if_no_schema and not os.path.isfile(schema_file):
+        logging.info(f"Schema file {schema_file} not found, skipping")
+        sys.exit(0)
+
+    # load the schema
+    schema = load_data_file(schema_file)
+    validator = cerberus.Validator(schema, allow_unknown=False)
+
+    # validate the specified data files
+    for data_file in data_files:
+        logging.info(f"Validating {data_file}")
+
+        document = load_data_file(data_file)
+
+        # ignore top-level entries prefixed with __ for yaml module definitions
+        for key in list(document.keys()):
+            if key.startswith('__'):
+                del document[key]
+
+        if not validator.validate(document):
+            logging.error(f"Found validation errors with {data_file}:")
+            logging.error(pprint.pformat(validator.errors))
+
+            raise Exception("Validation of {:} failed".format(data_file))
+
+
+if __name__ == "__main__":
+    main()

Tools/validate_json.py

@@ -47,7 +47,9 @@
 
     try:
         validate(instance=json_data, schema=schema)
-    except:
+    except Exception as ex:
+        print(ex.path.pop(), ex.instance)
         print("JSON validation for {:} failed (schema: {:})".format(json_file, schema_file))
         raise
 
+

requirements.txt

@@ -0,0 +1,24 @@
+argparse
+argcomplete
+coverage
+cerberus
+empy
+jinja2
+kconfiglib
+matplotlib==3.0.*
+numpy
+nunavut>=1.1.0
+packaging
+pkgconfig
+pyros-genmsg
+pyulog
+pyyaml
+requests
+serial
+six
+toml
+psutil
+wheel
+jsonschema
+dataclasses
+pynacl

src/drivers/actuators/modalai_esc/CMakeLists.txt

@@ -45,6 +45,8 @@ px4_add_module(
 		qc_esc_packet_types.h
 		qc_esc_packet.c
 		qc_esc_packet.h
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		px4_work_queue
 	)

src/drivers/actuators/modalai_esc/module.yaml

@@ -0,0 +1,113 @@
+module_name: modalai_esc
+parameters:
+  - definitions:
+      UART_ESC_BAUD:
+        default: 250000
+        description:
+          long: Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.
+          short: UART ESC baud rate
+        type: int32
+        unit: bit/s
+        volatile: false
+      UART_ESC_CONFIG:
+        default: 0
+        description:
+          long: Selects what type of UART ESC, if any, is being used.
+          short: UART ESC configuration
+        max: 1
+        min: 0
+        reboot_required: true
+        type: enum
+        values:
+          0: '- Disabled'
+          1: '- VOXL ESC'
+        volatile: false
+      UART_ESC_MODE:
+        default: 0
+        description:
+          long: Selects what type of mode is enabled, if any
+          short: UART ESC Mode
+        max: 2
+        min: 0
+        reboot_required: true
+        type: enum
+        values:
+          0: '- None'
+          1: '- Turtle Mode enabled via AUX1'
+          2: '- Turtle Mode enabled via AUX2'
+        volatile: false
+      UART_ESC_MOTOR1:
+        default: 3
+        description:
+          short: UART ESC Motor 1 Mapping.  1-4 (negative for reversal)
+        max: 4
+        min: -4
+        type: int32
+        volatile: false
+      UART_ESC_MOTOR2:
+        default: 2
+        description:
+          short: UART ESC Motor 2 Mapping.  1-4 (negative for reversal)
+        max: 4
+        min: -4
+        type: int32
+        volatile: false
+      UART_ESC_MOTOR3:
+        default: 4
+        description:
+          short: UART ESC Motor 3 Mapping.  1-4 (negative for reversal)
+        max: 4
+        min: -4
+        type: int32
+        volatile: false
+      UART_ESC_MOTOR4:
+        default: 1
+        description:
+          short: UART ESC Motor 4 Mapping.  1-4 (negative for reversal)
+        max: 4
+        min: -4
+        type: int32
+        volatile: false
+      UART_ESC_RPM_MAX:
+        default: 15000
+        description:
+          long: Maximum RPM for ESC
+          short: UART ESC RPM Max
+        type: int32
+        unit: RPM
+        volatile: false
+      UART_ESC_RPM_MIN:
+        default: 5500
+        description:
+          long: Minimum RPM for ESC
+          short: UART ESC RPM Min
+        type: int32
+        unit: RPM
+        volatile: false
+    group: UART ESC
+  - definitions:
+      UART_ESC_DEAD1:
+        decimal: 10
+        default: 0.3
+        description:
+          long: Must be greater than Deadzone 2. Absolute value of stick position needed to activate a motor.
+          short: UART ESC Mode Deadzone 1
+        increment: 0.01
+        max: 0.99
+        min: 0.01
+        type: float
+        volatile: false
+    group: UART ESC Mode Deadzone 1
+  - definitions:
+      UART_ESC_DEAD2:
+        decimal: 10
+        default: 0.02
+        description:
+          long: Must be less than Deadzone 1. Absolute value of stick position considered no longer on the X or Y axis, thus targetting a specific motor (single).
+          short: UART ESC Mode Deadzone 2
+        increment: 0.01
+        max: 0.99
+        min: 0.01
+        type: float
+        volatile: false
+    group: UART ESC Mode Deadzone 2