CI: param check for redefinition

Tools/Carbonix_scripts/param_check.py

@@ -33,6 +33,7 @@
 import re
 import glob
 import subprocess
+from fnmatch import fnmatch
 from argparse import ArgumentParser
 
 
@@ -46,6 +47,7 @@ def parse_arguments():
 
     # Add flags for enabling/disabling checks
     parser.add_argument('--no-missing', action='store_true', help='Disable missing check')
+    parser.add_argument('--no-redefinition', action='store_true', help='Disable redefinition check')
     parser.add_argument('--no-readonly', action='store_true', help='Disable read-only check')
     parser.add_argument('--no-bitmask', action='store_true', help='Disable bitmask check')
     parser.add_argument('--no-range', action='store_true', help='Disable range check')
@@ -115,7 +117,7 @@ def check_file(file, metadata, args=None):
     Returns:
         list: A list of error messages if any parameters are invalid.
     """
-    params, msgs = load_params(file)
+    params, msgs = load_params(file, args)
 
     skip_missing = args.no_missing if args else False
 
@@ -279,16 +281,22 @@ def check_values(name, value, metadata):
     return None
 
 
-def load_params(file):
+def load_params(file, args=None, depth=0):
     """Loads a parameter file and returns parameters and errors.
 
-    Reads the specified parameter file, stripping out comments and skipping
-    over directives like @include or @delete. It checks the comments for a
-    DISABLE_CHECKS flag. It builds a dictionary of parameters and their
-    values/disabled checks, and returns it along with any errors encountered.
+    Reads the specified parameter file, stripping out comments. It checks the
+    comments for a DISABLE_CHECKS flag. It builds a dictionary of parameters
+    and their values/disabled checks, and returns it along with any errors
+    encountered.
+
+    It will also check for redefinition of parameters within a file, including
+    handling @include and @delete directives, and log an error unless
+    args.no_redefinition is set.
 
     Args:
         file (str): The path to the parameter file to be loaded.
+        args (Namespace): An optional namespace containing flags to skip checks.
+        depth (int): The depth of the recursive call to prevent infinite loops.
 
     Returns:
         tuple: (params, errors)
@@ -298,12 +306,31 @@ def load_params(file):
             - errors (list): A list of error messages encountered during
               parsing.
     """
+    if depth > 10:
+        raise ValueError("Too many levels of @include")
+
     params = {}
     errors = []
 
+    skip_redefinition = args.no_redefinition if args else False
+
     with open(file, 'r') as file_object:
         lines = file_object.readlines()
 
+    # Build up seen parameters to check for redefinition
+    seen_params = set()
+    for line in lines:
+        if line.startswith('@include'):
+            rel_path = line.split(maxsplit=1)[1].strip()
+            path = os.path.join(os.path.dirname(file), rel_path)
+            params2, _ = load_params(path, args, depth + 1)
+            seen_params.update(params2.keys())
+        elif line.startswith('@delete'):
+            pattern = line.split(maxsplit=1)[1].strip()
+            seen_params = {
+                p for p in seen_params if not fnmatch(p, pattern)
+            }
+
     for i, line in enumerate(lines):
         # Strip whitespace
         processed_line = line.strip()
@@ -343,6 +370,11 @@ def load_params(file):
         # Split on , or any whitespace
         parts = re.split(r'[,\s]+', processed_line, 1)
 
+        # Check for redefinition
+        if parts[0] in seen_params and not skip_redefinition:
+            errors.append(f'{parts[0]} redefined')
+        seen_params.add(parts[0])
+
         # Try to convert the value string to a float
         try:
             value = parts[1]

Tools/Carbonix_scripts/param_check_unittests.py

@@ -48,10 +48,10 @@ def test_load_params(self):
 
         # Bad parameter lines that should fail to parse and exit the program
         bad_lines = [
-            'PARAM4 1 2\n',
-            'PARAM4\n',
-            'P#ARAM4 1\n',
-            'PARAM4, 0x10.0\n',
+            'PARAM5 1 2\n',
+            'PARAM5\n',
+            'P#ARAM5 1\n',
+            'PARAM5, 0x10.0\n',
         ]
         for line in bad_lines:
             content = mock_file_content + line
@@ -168,6 +168,7 @@ def test_check_param(self):
     def test_check_file(self, mock_check_param):
         mock_args = type('', (), {})()  # Creating a simple object to simulate args
         mock_args.no_missing = False
+        mock_args.no_redefinition = False
 
         # Case 1: All parameters pass their checks
         mock_file_content = "PARAM1, 10\nPARAM2, 20\n"
@@ -219,6 +220,20 @@ def test_check_file(self, mock_check_param):
         # Check that no error messages are returned because DISABLE_CHECKS is valid
         self.assertEqual(msgs, [])
 
+        # Case 6: Redefined parameter
+        mock_file_content = "PARAM1, 10\nPARAM1, 20\n"
+        with patch('builtins.open', mock_open(read_data=mock_file_content)):
+            msgs = check_file('fake_file.parm', mock_metadata, mock_args)
+        # Check that a redefined parameter error is reported
+        self.assertEqual(msgs, ['PARAM1 redefined'])
+
+        # Case 7: Redefined parameter but with no-redefinition flag
+        mock_args.no_redefinition = True
+        with patch('builtins.open', mock_open(read_data=mock_file_content)):
+            msgs = check_file('fake_file.parm', mock_metadata, mock_args)
+        # Check that no error messages are returned when no-redefinition is enabled
+        self.assertEqual(msgs, [])
+
     @patch('param_check.parse_arguments')
     @patch('param_check.generate_metadata')
     @patch('param_check.check_file')

libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm

@@ -121,47 +121,15 @@ SCR_ENABLE,1
 SCR_HEAP_SIZE,200000
 SCR_VM_I_COUNT,100000
 SERVO1_FUNCTION,33 # Motor 1
-SERVO1_MAX,2000 # Setting all servos to 2000/1000, overriding in platforms if needed
-SERVO1_MIN,1000
 SERVO10_FUNCTION,4 # Aileron
-SERVO10_MAX,2000
-SERVO10_MIN,1000
 SERVO11_FUNCTION,21 # Rudder
-SERVO11_MAX,2000
-SERVO11_MIN,1000
-SERVO12_MAX,2000
-SERVO12_MIN,1000
-SERVO13_MAX,2000
-SERVO13_MIN,1000
 SERVO14_FUNCTION,0 # PLB Servo/GPIO
-SERVO14_MAX,2000
-SERVO14_MIN,1000
-SERVO15_MAX,2000
-SERVO15_MIN,1000
-SERVO16_MAX,2000
-SERVO16_MIN,1000
 SERVO2_FUNCTION,34 # Motor 2
-SERVO2_MAX,2000
-SERVO2_MIN,1000
 SERVO3_FUNCTION,35 # Motor 3
-SERVO3_MAX,2000
-SERVO3_MIN,1000
 SERVO4_FUNCTION,36 # Motor 4
-SERVO4_MAX,2000
-SERVO4_MIN,1000
 SERVO5_FUNCTION,70 # Pusher throttle
-SERVO5_MAX,2000
-SERVO5_MIN,1000
 SERVO6_FUNCTION,19 # Elevator
-SERVO6_MAX,2000
-SERVO6_MIN,1000
 SERVO7_FUNCTION,0 # PLB Servo/GPIO
-SERVO7_MAX,2000
-SERVO7_MIN,1000
 SERVO8_FUNCTION,-1 # IGN relay GPIO
-SERVO8_MAX,2000
-SERVO8_MIN,1000
 SERVO9_FUNCTION,94 # Scripting function for LEDs
-SERVO9_MAX,2000
-SERVO9_MIN,1000
 TERRAIN_FOLLOW,72 # Enabled Auto and Guided (the command being executed must have the terrain frame though)

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm

@@ -212,8 +212,39 @@ SERIAL4_PROTOCOL,2
 SERIAL5_PROTOCOL,28
 SERIAL6_BAUD,115
 SERIAL6_PROTOCOL,2
-SERVO5_MAX,1950
-SERVO5_MIN,980
+# Defaulting servos to 1000-2000us except throttle
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO10_MAX,2000
+SERVO10_MIN,1000
+SERVO11_MAX,2000
+SERVO11_MIN,1000
+SERVO12_MAX,2000
+SERVO12_MIN,1000
+SERVO13_MAX,2000
+SERVO13_MIN,1000
+SERVO14_MAX,2000
+SERVO14_MIN,1000
+SERVO15_MAX,2000
+SERVO15_MIN,1000
+SERVO16_MAX,2000
+SERVO16_MIN,1000
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO5_MAX,1950 # Throttle servo endpoints
+SERVO5_MIN,980  # Throttle servo endpoints
+SERVO6_MAX,2000
+SERVO6_MIN,1000
+SERVO7_MAX,2000
+SERVO7_MIN,1000
+SERVO8_MAX,2000
+SERVO8_MIN,1000
+SERVO9_MAX,2000
+SERVO9_MIN,1000
 TECS_CLMB_MAX,4
 TECS_INTEG_GAIN,0.15
 TECS_LAND_ARSPD,24

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm

@@ -184,6 +184,39 @@ SERIAL5_BAUD,115
 SERIAL5_PROTOCOL,2
 SERIAL6_BAUD,115
 SERIAL6_PROTOCOL,2
+# Defaulting servos to 1000-2000us
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO10_MAX,2000
+SERVO10_MIN,1000
+SERVO11_MAX,2000
+SERVO11_MIN,1000
+SERVO12_MAX,2000
+SERVO12_MIN,1000
+SERVO13_MAX,2000
+SERVO13_MIN,1000
+SERVO14_MAX,2000
+SERVO14_MIN,1000
+SERVO15_MAX,2000
+SERVO15_MIN,1000
+SERVO16_MAX,2000
+SERVO16_MIN,1000
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO5_MAX,2000
+SERVO5_MIN,1000
+SERVO6_MAX,2000
+SERVO6_MIN,1000
+SERVO7_MAX,2000
+SERVO7_MIN,1000
+SERVO8_MAX,2000
+SERVO8_MIN,1000
+SERVO9_MAX,2000
+SERVO9_MIN,1000
 TECS_CLMB_MAX,3.1
 TECS_PITCH_MAX,10
 TECS_PITCH_MIN,-10