improve docs generator by updating libparams from v0.9.0 to v0.9.1

CMakeLists.txt

@@ -7,6 +7,7 @@ set(ROOT_DIR ${CMAKE_CURRENT_LIST_DIR})
 set(SRC_DIR ${ROOT_DIR}/Src)
 set(CMAKE_DIR ${ROOT_DIR}/cmake)
 set(LIBPARAMS_PATH ${ROOT_DIR}/Libs/libparams)
+set(DOC_PATH ${ROOT_DIR}/docs/${CAN_PROTOCOL}/README.md)
 
 # Option 1. Choose the platform
 option(USE_PLATFORM_UBUNTU "Build for SITL (Software In The Loop)" OFF)

cmake/params.cmake

@@ -3,25 +3,29 @@
 
 if(NOT LIBPARAMS_PATH)
     message(SEND_ERROR "LIBPARAMS_PATH is unknown.")
+elseif(NOT DOC_PATH)
+    message(SEND_ERROR "ROOT_DIR is unknown.")
 elseif(NOT BUILD_SRC_DIR)
     message(SEND_ERROR "BUILD_SRC_DIR is unknown.")
 elseif(NOT LIBPARAMS_PARAMS)
     message(SEND_ERROR "LIBPARAMS_PARAMS is unknown.")
 elseif(NOT APPLICATION_DIR)
     message(SEND_ERROR "APPLICATION_DIR is unknown.")
-
 endif()
 
 execute_process(
     COMMAND python ${LIBPARAMS_PATH}/scripts/generate_params.py --out-dir ${BUILD_SRC_DIR} -f ${LIBPARAMS_PARAMS}
     RESULT_VARIABLE result
 )
-
 if(NOT result EQUAL 0)
     message(FATAL_ERROR "Failed to execute generate_params.py script. Return code: ${result}")
 endif()
 
 execute_process(
-    COMMAND ${LIBPARAMS_PATH}/scripts/generate_docs.py ${LIBPARAMS_PARAMS}
+    COMMAND python3 ${LIBPARAMS_PATH}/scripts/generate_docs.py --output ${DOC_PATH} ${LIBPARAMS_PARAMS}
     WORKING_DIRECTORY ${APPLICATION_DIR}
+    RESULT_VARIABLE result
 )
+if(NOT result EQUAL 0)
+    message(FATAL_ERROR "Failed to execute generate_docs.py script. Return code: ${result}")
+endif()

docs/both/README.md

@@ -0,0 +1,51 @@
+The node has the following interface:
+
+Cyphal Publishers:
+| Data type and topic name  | Description |
+| ------------------------- | ----------- |
+| [uavcan.si.sample.voltage.Scalar](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/si/sample/voltage/Scalar.1.0.dsdl) </br> crct.5v | Voltage 5V (after DC-DC).</br>The normal values are within [4.5, 5.5] Volts.</br>|
+| [uavcan.si.sample.voltage.Scalar](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/si/sample/voltage/Scalar.1.0.dsdl) </br> crct.vin | Voltage Vin (before DC-DC).</br>It make sense only when you power up the node from Molex 6-pin connector.</br>The normal values are within [5.5, 55] Volts.</br>|
+| [uavcan.si.sample.temperature.Scalar](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/si/sample/temperature/Scalar.1.0.dsdl) </br> crct.temperature | STM32 internal temperature.</br>It it expected that the temperature is a little bit higher then your room environment.</br>|
+| [reg.udral.service.actuator.common.Feedback](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/reg/udral/service/actuator/common/Feedback.0.1.dsdl) </br> feedback | |
+
+Cyphal Subscribers:
+| Data type and topic name  | Description |
+| ------------------------- | ----------- |
+| [reg.udral.service.actuator.common.sp.Vector31](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/reg/udral/service/actuator/common/sp/Vector31.0.1.dsdl) </br> setpoint | |
+
+The node has the following registers:
+
+| Register name           | Description |
+| ----------------------- | ----------- |
+| uavcan.node.id          | Defines a node-ID. Allowed values [0,127]. |
+| uavcan.node.description | User/integrator-defined, human-readable description of this specific node. |
+| system.can_terminator   | Bitmask which switch can terminators (0 - both off, 1 - enables second, 2 - enables first, 3 - enables both). Works only for v3. |
+| system.name             | Defines custom node name. If empty, the node will use the default name. |
+| system.protocol         | Auto, Cyphal/CAN or DroneCAN |
+| system.log_level        | Log level. See [debug.LogLevel](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#loglevel) and [diagnostic.Severity](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/diagnostic/Severity.1.0.dsdl). </br> 0 - Log everything (DEBUG, INFO, WARNING, ERROR) </br> 1 - Log at least INFO level </br> 2 - Log at least WARNING level </br> 3 - Log at least ERROR level </br> 4 - Disable logging </br> By default 3 to show only realy important messages. |
+| pwm.cmd_ttl_ms          | TTL of specified by pwm.cmd_type commands [ms]. |
+| pwm.frequency           | PWM frequency [Hz]. |
+| pwm1.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+| pwm1.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+| pwm1.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+| pwm1.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+| pwm2.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+| pwm2.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+| pwm2.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+| pwm2.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+| pwm3.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+| pwm3.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+| pwm3.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+| pwm3.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+| pwm4.ch                 | Index of setpoint channel. [-1; 255]. -1 means disabled, |
+| pwm4.min                | PWM duration when setpoint is min (RawCommand is 0 or Command is -1.0) |
+| pwm4.max                | PWM duration when setpoint is max (RawCommand is 8191 or Command is 1.0) |
+| pwm4.def                | PWM duration when setpoint is negative or there is no setpoint at all. |
+| pwm.cmd_type            | 0 means RawCommand, 1 means ArrayCommand, 2 is reserved for hardpoint.Command. |
+| stats.engaged_time      | Total engaged time of node in seconds. |
+| crct.bitmask            | Bit mask to enable CircuitStatus features: </br> Bit 1 - enable dev.Temperature with device_id=NODE_ID, </br> Bit 2 - enable 5v publisher, </br> Bit 3 - enable Vin publisher. </br> Bit 4 - enable overvoltage, undervoltage, overcurrent and overheat checks. </br> By default 15 that mean enable all publishers |
+| feedback.type           | Indicates the operational mode of the node. 0 means disabled. When set to 1, the command of corresponding Status type for cmd_type will be transmitted (esc.RawCommand - esc.Status, actuator.ArrayCommand - actuator.Status) with frequency 1 Hz. When set to 2 - 10 Hz. |
+| imu.enable              | Enable or disable IMU publisher. |
+
+> This docs was automatically generated. Do not edit it manually.
+