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Aspect-Oriented Programming (AOP) by source-level weaving

Aspect-Oriented Programming (AOP) by source-level weaving
Aspect-oriented programming is a very appealing concept for simplifying your codebase, creating clean code, improving modularity, structure of code and minimizing copy-paste errors.
Today, in most cases, weaving aspect's advices is implemented at the bytecode level, i.e. after compilation, a certain tool «weave» an additional byte code with the support of the required logic.
Our approach (as well as the approach of some other tools) is modifying the source code to implement aspect logic. With introduction of the .NET Compiler Platform (aka Roslyn), it is quite easy to achieve this goal, and the result gives certain advantages over the modification of the byte code itself.
You may think that aspect-oriented programming is not for you and does not particularly concern you, just a bunch of incomprehensible words, but in fact it is much easier than it seems, this is about the problems of real world product development and if you are a software developer, then you and your project can definitely get benefit from using it.
Especially in medium-large sized projects of a corporate level, where the requirements for the functionality of the products are formalized. For example, there may be a requirement — when setting the configuration flag, log all input parameters for all public methods. Or for all methods in a project to have a notification functionality that will send a message when a certain threshold of the execution time of a method is exceeded.
How would you do it without AOP? Either you ignore the rule and do it only for the most important parts of your program, or when writing new methods, you do copy-paste of similar code from neighboring methods, and you could imagine what copy-paste approach brings with it.
With AOP, it is very easy, you write an advice an apply it to the whole project's code and the job is done. When you need to update the logic, you will again update just the advice and it will be re-applied on the next transformation. Without AOP, some many updates throughout the project code, that most probably you will implement the changes only to the critical parts and leave everything else as is.
On the plus side is that your code will not look like a crater covered moon landscape, because it is sprinkled with such functionality, the same way as moon sprinkled with craters and when reading the code it looks like mixed with white noise.
It is my feeling that aspect-oriented programming in .Net ecosystem is significantly less popular in compared to the Java ecosystem. In my opinion, the main reason is the lack of free and open source tools that are comparable to the functionality and quality of Java ones.

How we start using AOP in our project

To improve developers' performance and at the same time make code's quality better, we widely use the automatic code generation capabilities, and also created several plugins and analyzers for Visual Studio, that are custom tailored to our projects and tasks.
The next logical step was the idea to adopt aspect-oriented programming approach. We evaluated several tools, but the result was far from our expectations. Too complex for a middle level developer and takes too much time to develop even for a senior one. This coincided in time with the release of Roslyn technology, and at a certain moment we had an idea to combine the capabilities of automatic code generation and Roslyn.
In just a couple of weeks, a prototype of the tool was created and this approach seemed more promising. Fast forward several updates of the tool and we can say that our expectations were met and exceeded. We have developed a library of useful templates and we use this approach in most of our projects.
As you may expect, our tool is still not perfect and have some limitations, so I would like to split the article into two parts, the first one is how I see the implementation of this functionality in the perfect world and the second is how it works right now.
Before we dive deep into the details, I would like to make a disclaimer — all examples in this article have been simplified to a level that allows you to show the idea, without being overloaded with irrelevant details.
Also, as you may notice, English is not my native language, so please forgive me for any mistakes.

How it would be done in the perfect world

After several years of using our tool, I have a vision of how I would like this to work in the perfect world scenario.
In my vision, the language specifications allow the use of source code transformations, and there is support of such capabilities for a compiler and IDE.
The idea was inspired by introduction of the «partial» modifier in the C# language specification. This rather simple concept (the ability to define a class, structure or interface in several files) has significantly improved and simplified the support of tools for automatic source code generation. You can view it as a kind of horizontal splitting of the source code of a class between several files.
For those who are not fluent in the C# language, a small example.
Suppose we have a simple form described in the file Example1.aspx
<%@ Page Language="C#" AutoEventWireup="True" %> // . . .  // . . . 
A developer implements some custom logic (for example, changing the color of the button to red when it is clicked) in the Example1.aspx.cs file
public partial class ExamplePage1 : System.Web.UI.Page, IMyInterface { protected void btnSubmit_Click(Object sender, EventArgs e) { btnSubmit.Color = Color.Red; } } 
The «partial» capabilities allows a tool (for example Visual Studio) to parse the Example1.aspx file and automatically generate the Example1.aspx.designer.cs file.
public partial class ExamplePage1 : System.Web.UI.Page { protected global::System.Web.UI.WebControls.Button btnSubmit; } 
In other words, we have the ability to store a part of the code for the ExamplePage1 class in one file (Example1.aspx.cs) that is updated by a programmer and another part of the class in the Example1.aspx.designer.cs file, that is updated by an automatically generated tool.
In the end, for a compiler, it looks like as one class, combined from two parts
public class ExamplePage1 : System.Web.UI.Page, IMyInterface { protected global::System.Web.UI.WebControls.Button btnSubmit; protected void btnSubmit_Click(Object sender, EventArgs e) { btnSubmit.Color = Color.Red; } } 
As you might notice, in the example with the definition of inheritance of the IMyInterface interface, the final result is a combination of class definitions from different «partial» sections from the different files.
If the language lacks «partial» functionality and the compiler demands storing all the class code in only one file, then we can assume inconvenience and additional hurdles have to overcome for auto-generation of the code.
My idea is to include two additional modifiers in the language specification that will make it easier to embed aspects into the source code.
The first modifier is «original» keyword and we add it to the definition of the class that should be able to be transformed.
The second one is «processed» keyword, and it symbolizes that this is the final class definition that is result of the source code transformation tool and which must be accepted by the compiler to generate the bytecode.
The process sequence is something like this:
  1. An user works with the source code of a class that contains the «original» modifier in the .cs file (for example Example1.cs)
  2. When compiling, the compiler checks the correctness of the source code, and if the class is successfully compiled, it checks for the presence of the «original» modifier
  3. If «original» modifier is present, then the compiler transfer the source code to a transformation process (which is a black box for the compiler)
  4. The transformation process, based on a set of rules, modifies the source code and, upon successful completion of the process, creates .processed.cs file and .processed.cs.map files (.processed.cs.map needed to match the code between the .cs files and the .processed.cs file, to help with debugging and to display differences between the files in IDE)
  5. The compiler reads the code from the .processed.cs file (in our example it is Example1.processed.cs) and compiles it
  6. If the code in the file has been successfully compiled, then it is checked thata. Classes that had the «original» modifier have the «processed» modifierb. The signature of these classes is identical in both the .cs file and the .processed.cs file
  7. If everything is fine, then the byte code produced during compilation of the .processed.cs file is accepted for final byte code generation.
By adding these two modifiers, we were able to introduce support for source code transformation tools at the language level, the same way as «partial» modifier made it possible to simplify support for source code generation.
As I see it, implementation of support of «original»/«processed» feature in the compiler is a week of work for two interns at Microsoft (a joke of course, but only partially). There are no any fundamental difficulties in implementation of the support. From the point of view of the compiler, it is file manipulation and process invocation.
In .NET 5, a new feature was announced — source code generators, which allows you to generate new source code files during compilation process and this is a movement in the right direction. Unfortunately, it only allows you to generate new source code, but not modify the existing one. So Some work still needs to be done.
Here is an example of such process, as I envision it. An user creates file Example2.cs
public original class ExamplePage2 : System.Web.UI.Page, IMyInterface { protected global::System.Web.UI.WebControls.Button btnSubmit; protected void btnSubmit_Click(Object sender, EventArgs e) { btnSubmit.Color = Color.Red; } } 
Starts the compilation process, if it completes successfully and the compiler finds the «original» modifier, then it gives the source code to the transformation process, which generates the Example2.processed.cs file (in the simplest case, it can be just an exact copy of Example2.cs with «original» replaced by «processed»).
In our case, lets assume that the transformation process has added an advice for a logging aspect and the result looks like this:
public processed class ExamplePage2 : System.Web.UI.Page, IMyInterface { protected global::System.Web.UI.WebControls.Button btnSubmit; protected void btnSubmit_Click(Object sender, EventArgs e) { try { btnSubmit.Color = Color.Red; } catch(Exception ex) { ErrorLog(ex); throw; } SuccessLog(); } private static processed ErrorLog(Exception ex) { // some error logic here } private static processed SuccessLog([System.Runtime.CompilerServices.CallerMemberName] string memberName = "") { // some success logic here } } 
The next step would be to verify the signatures of the «original» vs «processed» classes. The _majority_ of signatures are identical and it satisfies the condition that the definitions in «original» and «processed» versions must be exactly the same.
In this finaly «processed» code, I included an example of one more proposal, this is the «processed» modifier for methods, properties and fields.
For methods, properties, and fields the «processed» modifier identifies them as available only to classes with the «processed» modifier and which are ignored when comparing signatures. This is done for the convenience of aspect logic developers and allows them to move the common logic into separate methods so as not to create unnecessary code redundancy.
The compiler verifies this code and if everything is ok, then takes created bytecode to continue the build process.
It is clear that in this example there is some simplification and in reality the logic may be more complicated (for example, when we include both «original» and «partial» modifires into the same class).

The perfect world's IDE functionality to support source code transformations

Main requirement for IDE to support of source code transformations is correct navigation between the «original»/«processed» classes and support of step-by-step debugging.
The second feature of the IDE that I would like to have is to help in reading the code of processed classes. A «processed» class can contain many pieces of code that have been added by several adivces to the same method/property.
Implementation of displaying such code that is similar to the concept of layers in a graphics editor seems to me as the most convenient option to achieve this goal. Our current plugin implements something similar and the response from its users is quite positive.
Another feature that would help introduce AOP into everyday life is the refactoring functionality. An user, selects a part of the code, and could choose «Extract To AOP Template» option and the IDE creates the necessary template files, scaffolds the initial code and after analyzing the project code, suggests candidates for using the template from other classes.
And the icing on the cake would be support in writing aspect templates, for example, interactively applying an advice to a class / method of your choice so that you can evaluate the results of tranfromation on the fly, without an explicit compilation cycle.
I am sure that if the creators of the Resharper plugin applies their magic, the result is guaranteed.

Creating aspect source code in the perfect world

To paraphrase the TRIZ, the ideal creating of source code for the implementation of aspects logic is the absence of creating of additional code that needed only to support the instrumentation processes.
In the perfect world scenario, we would like to write source code for the aspect advices, without the effort of writing helper logic to achieve that goal. And this source code would be an integral part of the project.
The second desire is the ability to have interactive plug & play, i.e. after we have created a template, we would not need to take additional steps in order for it to be used for transformation. There would be no need to recompile the tool or configure post-compilation options for the project.
After a template was created and a developer writes a couple of lines of code, he/she would immediately see the result and if the template contains errors, their detection and debugging of the errors would be integrated into the process of applying the template, and would not be a separate part that requires additional effort from the developer.
Plus, it would be really good that the syntax of the template language would be as close as possible to the syntax of the C # language, ideally just a minor difference, a few keywords and placeholders.

Our implementation

Our current approach is to create two copies of the project. The first one is for the original source code (the one developers work with) and the second one is the transformed version of the source code, which is used for compilation, debugging, testing and execution.
The scenario is something like this
  • The programmer works with the original version of the source code, implements the logic, compiles the project to detect compile-time errors, etc.
  • When he/she is satisfied with the result and ready to start testing, the command line script is launched, which starts the file transformation process and starts the build process (of course, if the transformation is successful).
  • After the build is complete, depending on the type of project, either a browser is launched that opens a test website for a web project, or a desktop program, if it is a WPF project, or autotests, etc.
For debugging, the second copy (transformed one) of the project is opened in an IDE and a developer continues with it.
The process requires a certain discipline, but after some time it has become a habit, and in certain cases this approach has some advantages (for example, a build could be launched and deployed to a remote server, instead of working with a local computer). Plus, our custom plugin for VisualStudio makes the process easier.

IDE

We use a plugin that is custom tailored for our specific needs and processes and support for the transformation of source code is a fairly small part of its capabilities.
For example, the functionality for displaying code in layers (in a style similar to a graphical editor), allows to hide/show comment layers, by method/properties visiblity (for example, so that only public methods are visible), regions. We surround some of the transformed source code by comments in a special format, and they can also be hidden as a separate layer.
Another possibility is to show a diff between the original and the transformed file. The IDE already knows the relative location of the copy of the files in the project, so it can display the differences between the original and transformed files.
Also, the plugin warns when trying to make changes to the transformed copy (so as not to lose them during subsequent re-transformation). We even published the feature as a free and open sourced plugin for VisualSource Code.

Configuration of pointcuts

A separate topic is configuation of pointcuts for transformation rules, i.e. to which classes and methods we will apply the transformation.
For such purposes we use several levels.
The first level is the top-level configuration file. We can set rules depending on the path on the file system, patterns in the name of files, classes or methods and scopes of classes, methods or properties.
The second level is an indication of the application of transformation rules at the level of attributes of classes, methods or fields in source code of original copy.
The third at the level of the code block and the fourth is an explicit indication to include the results of the transformation of the template in a specific place in the source code.

Templates

Historically, for the purposes of automatic generation, we use templates in the T4 format, so it was quite logical to use the same approach as templates for transformation. T4 templates include the ability to execute arbitrary C# code and have minimal overhead.
For those who have never worked with T4, the simplest analogue would be to present the ASPX or Razor formats, which instead of HTML generates source code in C # and is executed not on IIS, but as a separate tool with outputting the result to the console (or to a file).

Talk is cheap. Show me the code.

To understand how this works for us in real life, the simplest way would be to demonstrate the code before and after the transformation and the source code of the templates that is used during the transformation. I'll demonstrate the simplest options, but the potential of this approach is only limited by your imagination.

An example source code
The example source code after transformation is applied

Step-by-step explanation and template code

AutoComment template
// ##aspect=AutoComment 
While processing the source code, if the tool finds a comment in a special format, then it executes the specified template (in this case, it is AutoComment) and insert the transformation result in place of this comment. In this example, it makes sense to automatically insert a special disclaimer that will warn the developer that the code in this file is the result of transformation and it makes no sense to modify this file directly.
AutoComment.t4 template source code
<#@ include file="AopCsharp.ttinclude" #> //------------------------------------------------------------------------------ //  // This code was generated from a template. // // Manual changes to this file may cause unexpected behavior in your application. // Manual changes to this file will be overwritten if the code is regenerated. // // Generated base on file: <#= FileName #> // ##sha256: <#= FileSha256 #> // Created By: <#= User #> // Created Machine: <#= MachineName #> // Created At: <#= Now #> // //  //------------------------------------------------------------------------------ 
The variables FileName, FileSha256, User, MachineName, and Now are exported to the template from the transformation process.
Result of the transformation
//------------------------------------------------------------------------------ //  // This code was generated from a template. // // Manual changes to this file may cause unexpected behavior in your application. // Manual changes to this file will be overwritten if the code is regenerated. // // Generated base on file: ConsoleDemo.cs // ##sha256: PV3lHNDftTzVYnzNCZbKvtHCbscT0uIcHGRNJFx20 // Created By: EuGenie // Created Machine: 192.168.0.1 // Created At: 2017-12-09T14:49:26.7173975-05:00 // //  
The next transformation is define by a class attribute
[AopTemplate("ClassLevelTemplateForMethods", NameFilter="First")] public virtual Person FirstDemo(string firstName, string lastName, int age) { Console.Out.WriteLine("FirstDemo: 1"); return new Person() { FirstName = firstName, LastName = lastName, Age = age, }; } 
This attribute signals that the ClassLevelTemplateForMethods template should be applied to all methods of a class containing the word «First» in the method's name. The NameFilter parameter is a regular expression pattern that is used to determine which methods to include in the transformation.
ClassLevelTemplateForMethods.t4 template source code
<#@ include file="AopCsharp.ttinclude" #> // class level template <#= MethodStart() #><#= MethodBody() #><#= MethodEnd() #> 
Result of the transformation
// class level template public virtual Person FirstDemo(string firstName, string lastName, int age) { Console.Out.WriteLine("FirstDemo: 1"); return new Person() { FirstName = firstName, LastName = lastName, Age = age, }; } 
The next transformations are defined by method attributes to demonstrate abilities of multiple transformations applied to the same method.
[AopTemplate("LogExceptionMethod")] [AopTemplate("StopWatchMethod")] [AopTemplate("MethodFinallyDemo", AdvicePriority = 100)] public Customer[] SecondDemo(Person[] people) { IEnumerable Customers; Console.Out.WriteLine("SecondDemo: 1"); // ... return Customers.ToArray(); } 
LogExceptionMethod.t4 template source code
<#@ include file="AopCsharp.ttinclude" #> <# EnsureUsing("System"); #> <#= MethodStart() #> try { <#= MethodBody() #> } catch(Exception logExpn) { Console.Error.WriteLine($"Exception in <#= MethodName #>\r\n{logExpn.Message}\r\n{logExpn.StackTrace}"); throw; } <#= MethodEnd() #> 
StopWatchMethod.t4 template source code
<#@ include file="AopCsharp.ttinclude" #> <# EnsureUsing("System.Diagnostics"); #> <#= MethodStart() #> var stopwatch = Stopwatch.StartNew(); try { <#= MethodBody() #> } finally { stopwatch.Stop(); Console.Out.WriteLine($"Method <#= MethodName #>: {stopwatch.ElapsedMilliseconds}"); } <#= MethodEnd() #> 
MethodFinallyDemo.t4 template source code
<#@ include file="AopCsharp.ttinclude" #> <#= MethodStart() #> try { <#= MethodBody() #> } finally { // whatever logic you need to include for a method } <#= MethodEnd() #> 
Result of the transformation
public Customer[] SecondDemo(Person[] people) { try { var stopwatch = Stopwatch.StartNew(); try { try { IEnumerable customers; Console.Out.WriteLine("SecondDemo: 1"); // ... return customers.ToArray(); } catch (Exception logExpn) { Console.Error.WriteLine($"Exception in SecondDemo\r\n{logExpn.Message}\r\n{logExpn.StackTrace}"); throw; } } finally { stopwatch.Stop(); Console.Out.WriteLine($"Method SecondDemo: {stopwatch.ElapsedMilliseconds}"); } } finally { // whatever logic you need to include for a method } } 
The next example of the transformation is defined by a block bounded by a using statement
using (new AopTemplate("SecondDemoUsing", extraTag: "test extra")) { customers = people.Select(s => new Customer() { FirstName = s.FirstName, LastName = s.LastName, Age = s.Age, }); foreach (var customer in customers) { Console.Out.WriteLine($"SecondDemo: 2 {customer.FirstName} {customer.LastName}"); } } 
SecondDemoUsing.t4 template source code
<#@ include file="AopCsharp.ttinclude" #> Console.Out.WriteLine("Extra Tag data: <#= ExtraTag #>"); <#= StatementBody() #> 
ExtraTag is a string that is passed as a parameter. This can be useful for templates that can have slightly different behavior depending on the input parameters.
Result of the transformation
{ Console.Out.WriteLine("Extra Tag data: test extra"); customers = people.Select(s => new Customer() { FirstName = s.FirstName, LastName = s.LastName, Age = s.Age, }); foreach (var customer in customers) { Console.Out.WriteLine($"SecondDemo: 2 {customer.FirstName} {customer.LastName}"); } } 
The next transformations are defined by class attributes and will be applied on a class and properties levels.
AopTemplate("NotifyPropertyChangedClass", Action = AopTemplaceAction.Classes)] [AopTemplate("NotifyPropertyChanged", Action = AopTemplaceAction.Properties)] public class Person { public int Id { get; set; } // ... } 
This is a classic example, which along with the logging example is given in most examples of aspect-oriented programming.
NotifyPropertyChangedClass.t4 template source code that will be applied on a class level
<#@ include file="AopCsharp.ttinclude" #> <# // the class already implements INotifyPropertyChanged, nothing to do here if(ImplementsBaseType(ClassNode, "INotifyPropertyChanged", "System.ComponentModel.INotifyPropertyChanged")) return null; var classNode = AddBaseTypes(ClassNode, "System.ComponentModel.INotifyPropertyChanged"); #> <#= ClassStart(classNode) #> public event System.ComponentModel.PropertyChangedEventHandler PropertyChanged; protected void NotifyPropertyChanged([System.Runtime.CompilerServices.CallerMemberName] string propertyName = "") { PropertyChanged?.Invoke(this, new System.ComponentModel.PropertyChangedEventArgs(propertyName)); } <#= ClassBody(classNode) #> <#= ClassEnd(classNode) #> 
NotifyPropertyChanged.t4 template source сode that will be applied on properties level
<#@ include file="AopCsharp.ttinclude" #> <# if(!(PropertyHasEmptyGetBlock() && PropertyHasEmptySetBlock())) return null; string privateUnqiueName = GetUniquePrivatePropertyName(ClassNode, PropertyNode.Identifier.ToString()); #> private <#= PropertyNode.Type.ToFullString() #> <#= privateUnqiueName #><#= PropertyNode.Initializer != null ? " = " + PropertyNode.Initializer.ToFullString() : "" #>; <#= PropertyNode.AttributeLists.ToFullString() + PropertyNode.Modifiers.ToFullString() + PropertyNode.Type.ToFullString() + PropertyNode.Identifier.ToFullString() #> { get { return <#= privateUnqiueName #>; } set { if(<#= privateUnqiueName #> != value) { <#= privateUnqiueName #> = value; NotifyPropertyChanged(); } } } 
Result of the transformation
public class Person : System.ComponentModel.INotifyPropertyChanged { public event System.ComponentModel.PropertyChangedEventHandler PropertyChanged; protected void NotifyPropertyChanged([System.Runtime.CompilerServices.CallerMemberName] string propertyName = "") { PropertyChanged?.Invoke(this, new System.ComponentModel.PropertyChangedEventArgs(propertyName)); } private int _id; public int Id { get { return _id; } set { if (_id != value) { _id = value; NotifyPropertyChanged(); } } } // ... } 
The next transformation for caching property results, it is defined by the attribute
[AopTemplate("CacheProperty", extraTag: "{ \"CacheKey\": \"name_of_cache_key\", \"ExpiresInMinutes\": 10 }")] public string FullName { get { return $"{FirstName} {LastName}"; } } 
CacheProperty.t4 template source code (it is quite long, but most of the code is an example of using JSON from ExtraTag property as a config setting )
Result of the transformation
public string FullName { get { System.Runtime.Caching.ObjectCache cache = System.Runtime.Caching.MemoryCache.Default; string cachedData = cache["name_of_cache_key"] as string; if (cachedData == null) { cachedData = GetPropertyData(); if (cachedData != null) { cache.Set("name_of_cache_key", cachedData, System.DateTimeOffset.Now.AddMinutes(10)); } } return cachedData; string GetPropertyData() { // FullNameComment FullName return $"{FirstName} {LastName}"; } } } 

Non-AOP templates

Although this article focuses on aspect-oriented programming, the source code transformation technique is universal and can be used for tasks that are not directly related to AOP.
For example, it can be used for dependency injection, i.e. we change the resource creation code depending on the build parameters.
The transformation is defined by an attribute
[AopTemplate("DependencyInjection", AdvicePriority = 500, Action = AopTemplateAction.PostProcessingClasses)] public class ConsoleDemo { // ... private static IConfigurationRoot _configuration = inject; private IDataService _service { get; } = inject; // ... public Customer[] SecondDemo(Person[] people) { int configDelayMS = inject; // we are going to inject dependency to local variables string configServerName = inject; } // ... protected static dynamic inject; // ... } 
As you see, in the source code the dynamic variable feature is used, which allows them to be assigned to a property/field/variable of any types. For the sake of clarity, we have introduced some kind of quasi keyword.
DependencyInjection.t4 template source code
In the template code we use the comparison of GetGlobalSetting ("env") == "test" and depending on this condition, either new DataService() or new MockDataService() will be injected.
Result of the transformation
public class ConsoleDemo { // ... private static IConfigurationRoot _configuration = new ConfigurationBuilder() .SetBasePath(System.IO.Path.Combine(AppContext.BaseDirectory)) .AddJsonFile("appsettings.json", optional: true) .Build(); private IDataService _service { get; } = new DataService(); // ... public Customer[] SecondDemo(Person[] people) { int configDelayMS = Int32.Parse(_configuration["delay_ms"]); string configServerName = _configuration["server_name"]; } // ... } 
Also, the tool might be used as a «poor man» static analysis (but it is much, much better to implement analyzers using the native functionality of Roslyn). We analyze the code for our rules and insert #erro#warning directives into the source code when we want to raise an error or warning.
The transformation is defined by
[AopTemplate("StaticAnalyzer", Action = AopTemplateAction.Classes)] public class ConsoleDemo { // .. IEnumerable Customers; // .. Console.Out.WriteLine(i18(String.Format("SecondDemo: {0}", "Step 3"))); // .. } 
StaticAnalyzer.t4 template source code
Result of the transformation
public class ConsoleDemo { // .. #error variable "Customers" doesn't match code standard rules IEnumerable Customers; // .. #warning Please replace String.Format with string interpolation format Console.Out.WriteLine(i18(String.Format("SecondDemo: {0}", "Step 3"))); // .. } 
Another way to use the tool for purposes localizing an application, i.e. find all the strings in the classes and replace them with the use of the appropriate resources.
The transformation is defined by
[AopTemplate("ResourceReplacer", AdvicePriority = 1000, ExtraTag = "ResourceFile=Demo.resx,ResourceClass=Demo", Action = AopTemplateAction.PostProcessingClasses)] public class ConsoleDemo { // .. Console.Out.WriteLine(i18("SecondDemo: i18")); // ... Console.Out.WriteLine(i18($"First Name {customer.FirstName} Last Name {customer.LastName}")); Console.Out.WriteLine("SecondDemo: 2 " + i18("First Name ") + customer.FirstName + i18(" Last Name ") + customer.LastName); // ... Console.Out.WriteLine(i18(String.Format("SecondDemo: {0}", "Step 3"))); // ... protected static string i18(string s) => s; } 
ResourceReplacer.t4 template source code
In the example, we have a resource file Demo.resx, that have created the following lines
 First Name {0} Last Name {1}   First Name   Last Name  
And VisualStudio generated C# class for us from content of Demo.resx
Result of the transformation
public class ConsoleDemo { // .. #error Cannot find resource for a string "SecondDemo: i18", please add it to resources Console.Out.WriteLine(i18("SecondDemo: i18")); // ... Console.Out.WriteLine(String.Format(Demo.First_Last_Names_Formatted, customer.FirstName, customer.LastName)); Console.Out.WriteLine("SecondDemo: 2 " + (Demo.First_Name + " ") + customer.FirstName + (" " + Demo.Last_Name + " ") + customer.LastName); // ... #error Argument for i18 method must be either string literal or interpolated string, but instead got Microsoft.CodeAnalysis.CSharp.Syntax.InvocationExpressionSyntax Console.Out.WriteLine(i18(String.Format("SecondDemo: {0}", "Step 3"))); // ... } 
Please note that the interpolated string was replaced with String.Format and the «First Name {0} Last Name {1}» resource was used. For lines that do not exist in the resource file or do not match our format, an error message is added.

Conclusion

The tool gives you a very powerful and at the same time quite simple way to introduce Aspect-Oriented Programming into your projects.
You can give it a try for a whole project, a folder or even just one file, to evaluate how it goes.
In addition, the transformation tool allows you to work not only with C# files, but also with any file type (of course, with certain limitations). If you have a parser that can build an AST for your language, then you can replace Roslyn with this parser, tweak the implementation of the code handler and it will work. Unfortunately, the number of libraries with functionality close to Roslyn is very limited and their use requires much more effort. In addition to C#, we use transforms for JavaScript and TypeScript projects, but certainly not as comprehensively as for C#. And using T4 which is based on C# and to produce output in a different language is not optimal as well.
Just a reminder, the code of the examples and templates are provided as an illustration of the possibilities of such an approach and in real life, as they say, sky is the limit.
Our original tool is developed for the .Net Framework, but we started work on a simplified open source version named Aspectimum, under the MIT license for .Net Core. At the moment, the result is fully functional and 90% ready, there are need for minor improvements, refactor of the code, the creation of documentation and examples, but without all this, barrier to entry will be quite high and DX might be negative.
The project's repository at github.com
If you have any questions or ideas, please feel free to contact me.
submitted by eugenie32b to csharp

Frsky RXSR bound but no sticks beating dead horse

I got a new Xilo Phreak Bardwell kit. very nice (2nd build but first Remix build in same state). Same old story new RSXR receiver.
upgraded my Taranis QX7 radio opent text, upgraded RSXR to ACCST_2.1.0_Fport_FCC, upgraded radio to ACCST_2.1.0_FCC. upgraded firmware on XILO F4 FC. Bind, wont move sticks in Beta Flight. replaced all wires and re-soldered with only GND 5V and SBUS. same Bind with SBUS blue light, no sticks
Repeated on 2nds set of parts on UMMAGD Remix frame (RSXR on XILO stx again). new firmware on radio wouldnt bind till upgraded firmware on rSXR, upgraded to ACCST_2.1.0 then bind, no sticks.
2 sets of hardware, all new firm ware...help? I am pissed about $$ spent. I understand I could have messed something up but I have tired everything. wrong UART?

dump

# version
# Betaflight / STM32F405 (S405) 4.2.4 Oct 20 2020 / 08:18:45 (fbcaf8c50) MSP API: 1.43
# config: manufacturer_id: GEFP, board_name: XILOF4, version: ebdf5f4b, date: 2020-07-06T07:11:33Z

# start the command batch
batch start

board_name XILOF4
manufacturer_id GEFP

# name: Xilo

# resources
resource BEEPER 1 C05
resource MOTOR 1 C08
resource MOTOR 2 B06
resource MOTOR 3 C09
resource MOTOR 4 B07
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource SERVO 1 NONE
resource SERVO 2 NONE
resource SERVO 3 NONE
resource SERVO 4 NONE
resource SERVO 5 NONE
resource SERVO 6 NONE
resource SERVO 7 NONE
resource SERVO 8 NONE
resource PPM 1 NONE
resource PWM 1 NONE
resource PWM 2 NONE
resource PWM 3 NONE
resource PWM 4 NONE
resource PWM 5 NONE
resource PWM 6 NONE
resource PWM 7 NONE
resource PWM 8 NONE
resource SONAR_TRIGGER 1 NONE
resource SONAR_ECHO 1 NONE
resource LED_STRIP 1 A15
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 NONE
resource SERIAL_TX 3 C10
resource SERIAL_TX 4 A00
resource SERIAL_TX 5 C12
resource SERIAL_TX 6 C06
resource SERIAL_TX 7 NONE
resource SERIAL_TX 8 NONE
resource SERIAL_TX 9 NONE
resource SERIAL_TX 10 NONE
resource SERIAL_TX 11 NONE
resource SERIAL_TX 12 NONE
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 C11
resource SERIAL_RX 4 A01
resource SERIAL_RX 5 NONE
resource SERIAL_RX 6 C07
resource SERIAL_RX 7 NONE
resource SERIAL_RX 8 NONE
resource SERIAL_RX 9 NONE
resource SERIAL_RX 10 NONE
resource SERIAL_RX 11 NONE
resource SERIAL_RX 12 NONE
resource INVERTER 1 NONE
resource INVERTER 2 NONE
resource INVERTER 3 NONE
resource INVERTER 4 NONE
resource INVERTER 5 NONE
resource INVERTER 6 NONE
resource INVERTER 7 NONE
resource INVERTER 8 NONE
resource INVERTER 9 NONE
resource INVERTER 10 NONE
resource INVERTER 11 NONE
resource INVERTER 12 NONE
resource I2C_SCL 1 B08
resource I2C_SCL 2 NONE
resource I2C_SCL 3 NONE
resource I2C_SDA 1 B09
resource I2C_SDA 2 NONE
resource I2C_SDA 3 NONE
resource LED 1 C15
resource LED 2 NONE
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource TRANSPONDER 1 NONE
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 B03
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 B04
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 B05
resource ESCSERIAL 1 A03
resource CAMERA_CONTROL 1 A08
resource ADC_BATT 1 C00
resource ADC_RSSI 1 C02
resource ADC_CURR 1 C01
resource ADC_EXT 1 NONE
resource BARO_CS 1 NONE
resource BARO_EOC 1 NONE
resource BARO_XCLR 1 NONE
resource COMPASS_CS 1 NONE
resource COMPASS_EXTI 1 NONE
resource SDCARD_CS 1 NONE
resource SDCARD_DETECT 1 NONE
resource PINIO 1 B01
resource PINIO 2 NONE
resource PINIO 3 NONE
resource PINIO 4 NONE
resource USB_MSC_PIN 1 NONE
resource FLASH_CS 1 B02
resource OSD_CS 1 D02
resource RX_SPI_CS 1 NONE
resource RX_SPI_EXTI 1 NONE
resource RX_SPI_BIND 1 NONE
resource RX_SPI_LED 1 NONE
resource RX_SPI_CC2500_TX_EN 1 NONE
resource RX_SPI_CC2500_LNA_EN 1 NONE
resource RX_SPI_CC2500_ANT_SEL 1 NONE
resource GYRO_EXTI 1 NONE
resource GYRO_EXTI 2 NONE
resource GYRO_CS 1 C04
resource GYRO_CS 2 NONE
resource USB_DETECT 1 NONE
resource VTX_POWER 1 NONE
resource VTX_CS 1 NONE
resource VTX_DATA 1 NONE
resource VTX_CLK 1 NONE
resource PULLUP 1 NONE
resource PULLUP 2 NONE
resource PULLUP 3 NONE
resource PULLUP 4 NONE
resource PULLDOWN 1 NONE
resource PULLDOWN 2 NONE
resource PULLDOWN 3 NONE
resource PULLDOWN 4 NONE

# timer
timer A15 AF1
# pin A15: TIM2 CH1 (AF1)
timer A08 AF1
# pin A08: TIM1 CH1 (AF1)
timer C08 AF3
# pin C08: TIM8 CH3 (AF3)
timer B06 AF2
# pin B06: TIM4 CH1 (AF2)
timer C09 AF3
# pin C09: TIM8 CH4 (AF3)
timer B07 AF2
# pin B07: TIM4 CH2 (AF2)

# dma
dma SPI_TX 1 NONE
dma SPI_TX 2 NONE
dma SPI_TX 3 NONE
dma SPI_RX 1 NONE
dma SPI_RX 2 NONE
dma SPI_RX 3 NONE
dma ADC 1 1
# ADC 1: DMA2 Stream 4 Channel 0
dma ADC 2 NONE
dma ADC 3 0
# ADC 3: DMA2 Stream 0 Channel 2
dma UART_TX 1 NONE
dma UART_TX 2 NONE
dma UART_TX 3 NONE
dma UART_TX 4 NONE
dma UART_TX 5 NONE
dma UART_TX 6 NONE
dma UART_TX 7 NONE
dma UART_TX 8 NONE
dma UART_RX 1 NONE
dma UART_RX 2 NONE
dma UART_RX 3 NONE
dma UART_RX 4 NONE
dma UART_RX 5 NONE
dma UART_RX 6 NONE
dma UART_RX 7 NONE
dma UART_RX 8 NONE
dma pin A15 0
# pin A15: DMA1 Stream 5 Channel 3
dma pin A08 0
# pin A08: DMA2 Stream 6 Channel 0
dma pin C08 0
# pin C08: DMA2 Stream 2 Channel 0
dma pin B06 0
# pin B06: DMA1 Stream 0 Channel 2
dma pin C09 0
# pin C09: DMA2 Stream 7 Channel 7
dma pin B07 0
# pin B07: DMA1 Stream 3 Channel 2

# mixer
mixer QUADX

mmix reset


# servo
servo 0 1000 2000 1500 100 -1
servo 1 1000 2000 1500 100 -1
servo 2 1000 2000 1500 100 -1
servo 3 1000 2000 1500 100 -1
servo 4 1000 2000 1500 100 -1
servo 5 1000 2000 1500 100 -1
servo 6 1000 2000 1500 100 -1
servo 7 1000 2000 1500 100 -1

# servo mixer
smix reset


# feature
feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -RANGEFINDER
feature -TELEMETRY
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -OSD
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -RX_SPI
feature -ESC_SENSOR
feature -ANTI_GRAVITY
feature -DYNAMIC_FILTER
feature RX_SERIAL
feature OSD
feature AIRMODE
feature ESC_SENSOR
feature ANTI_GRAVITY
feature DYNAMIC_FILTER

# beeper
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper ARMING_GPS_NO_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
beeper BLACKBOX_ERASE
beeper CRASH_FLIP
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSE
beeper RC_SMOOTHING_INIT_FAIL

# beacon
beacon RX_LOST
beacon RX_SET

# map
map AETR1234

# serial
serial 20 1 115200 57600 0 115200
serial 0 64 115200 57600 0 115200
serial 1 1024 115200 57600 0 115200
serial 2 0 115200 57600 0 115200
serial 3 0 115200 57600 0 115200
serial 4 0 115200 57600 0 115200
serial 5 0 115200 57600 0 115200

# led
led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0

# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

# mode_color
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 0
mode_color 5 1 0
mode_color 5 2 0
mode_color 5 3 0
mode_color 5 4 0
mode_color 5 5 0
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0
mode_color 7 0 3

# aux
aux 0 0 0 900 900 0 0
aux 1 0 0 900 900 0 0
aux 2 0 0 900 900 0 0
aux 3 0 0 900 900 0 0
aux 4 0 0 900 900 0 0
aux 5 0 0 900 900 0 0
aux 6 0 0 900 900 0 0
aux 7 0 0 900 900 0 0
aux 8 0 0 900 900 0 0
aux 9 0 0 900 900 0 0
aux 10 0 0 900 900 0 0
aux 11 0 0 900 900 0 0
aux 12 0 0 900 900 0 0
aux 13 0 0 900 900 0 0
aux 14 0 0 900 900 0 0
aux 15 0 0 900 900 0 0
aux 16 0 0 900 900 0 0
aux 17 0 0 900 900 0 0
aux 18 0 0 900 900 0 0
aux 19 0 0 900 900 0 0

# adjrange
adjrange 0 0 0 900 900 0 0 0 0
adjrange 1 0 0 900 900 0 0 0 0
adjrange 2 0 0 900 900 0 0 0 0
adjrange 3 0 0 900 900 0 0 0 0
adjrange 4 0 0 900 900 0 0 0 0
adjrange 5 0 0 900 900 0 0 0 0
adjrange 6 0 0 900 900 0 0 0 0
adjrange 7 0 0 900 900 0 0 0 0
adjrange 8 0 0 900 900 0 0 0 0
adjrange 9 0 0 900 900 0 0 0 0
adjrange 10 0 0 900 900 0 0 0 0
adjrange 11 0 0 900 900 0 0 0 0
adjrange 12 0 0 900 900 0 0 0 0
adjrange 13 0 0 900 900 0 0 0 0
adjrange 14 0 0 900 900 0 0 0 0
adjrange 15 0 0 900 900 0 0 0 0
adjrange 16 0 0 900 900 0 0 0 0
adjrange 17 0 0 900 900 0 0 0 0
adjrange 18 0 0 900 900 0 0 0 0
adjrange 19 0 0 900 900 0 0 0 0
adjrange 20 0 0 900 900 0 0 0 0
adjrange 21 0 0 900 900 0 0 0 0
adjrange 22 0 0 900 900 0 0 0 0
adjrange 23 0 0 900 900 0 0 0 0
adjrange 24 0 0 900 900 0 0 0 0
adjrange 25 0 0 900 900 0 0 0 0
adjrange 26 0 0 900 900 0 0 0 0
adjrange 27 0 0 900 900 0 0 0 0
adjrange 28 0 0 900 900 0 0 0 0
adjrange 29 0 0 900 900 0 0 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# vtxtable
vtxtable bands 0
vtxtable channels 0
vtxtable powerlevels 0
vtxtable powervalues
vtxtable powerlabels

# vtx
vtx 0 0 0 0 0 900 900
vtx 1 0 0 0 0 900 900
vtx 2 0 0 0 0 900 900
vtx 3 0 0 0 0 900 900
vtx 4 0 0 0 0 900 900
vtx 5 0 0 0 0 900 900
vtx 6 0 0 0 0 900 900
vtx 7 0 0 0 0 900 900
vtx 8 0 0 0 0 900 900
vtx 9 0 0 0 0 900 900

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# master
set gyro_hardware_lpf = NORMAL
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 200
set gyro_lowpass2_type = PT1
set gyro_lowpass2_hz = 250
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
set gyro_calib_duration = 125
set gyro_calib_noise_limit = 48
set gyro_offset_yaw = 0
set gyro_overflow_detect = ALL
set yaw_spin_recovery = AUTO
set yaw_spin_threshold = 1950
set gyro_to_use = FIRST
set dyn_notch_width_percent = 8
set dyn_notch_q = 120
set dyn_notch_min_hz = 150
set dyn_notch_max_hz = 600
set dyn_lpf_gyro_min_hz = 200
set dyn_lpf_gyro_max_hz = 500
set gyro_filter_debug_axis = ROLL
set acc_hardware = AUTO
set acc_lpf_hz = 10
set acc_trim_pitch = 0
set acc_trim_roll = 0
set acc_calibration = -140,14,-297,1
set align_mag = DEFAULT
set mag_align_roll = 0
set mag_align_pitch = 0
set mag_align_yaw = 0
set mag_bustype = SPI
set mag_i2c_device = 0
set mag_i2c_address = 0
set mag_spi_device = 0
set mag_hardware = AUTO
set mag_declination = 0
set mag_calibration = 0,0,0
set baro_bustype = SPI
set baro_spi_device = 0
set baro_i2c_device = 0
set baro_i2c_address = 0
set baro_hardware = AUTO
set baro_tab_size = 21
set baro_noise_lpf = 600
set baro_cf_vel = 985
set mid_rc = 1500
set min_check = 1050
set max_check = 1900
set rssi_channel = 5
set rssi_src_frame_errors = OFF
set rssi_scale = 100
set rssi_offset = 0
set rssi_invert = OFF
set rssi_src_frame_lpf_period = 30
set rc_interp = AUTO
set rc_interp_ch = RPYT
set rc_interp_int = 19
set rc_smoothing_type = FILTER
set rc_smoothing_input_hz = 0
set rc_smoothing_derivative_hz = 0
set rc_smoothing_debug_axis = ROLL
set rc_smoothing_input_type = BIQUAD
set rc_smoothing_derivative_type = AUTO
set rc_smoothing_auto_smoothness = 10
set fpv_mix_degrees = 0
set max_aux_channels = 14
set serialrx_provider = SBUS
set serialrx_inverted = OFF
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set srxl2_unit_id = 1
set srxl2_baud_fast = ON
set sbus_baud_fast = OFF
set crsf_use_rx_snr = OFF
set airmode_start_throttle_percent = 25
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set rx_spi_protocol = V202_250K
set rx_spi_bus = 0
set rx_spi_led_inversion = OFF
set adc_device = 1
set adc_vrefint_calibration = 0
set adc_tempsensor_calibration30 = 0
set adc_tempsensor_calibration110 = 0
set input_filtering_mode = OFF
set blackbox_p_ratio = 32
set blackbox_device = SPIFLASH
set blackbox_record_acc = ON
set blackbox_mode = NORMAL
set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 550
set dshot_burst = ON
set dshot_bidir = OFF
set dshot_bitbang = AUTO
set dshot_bitbang_timer = AUTO
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT300
set motor_pwm_rate = 480
set motor_pwm_inversion = OFF
set motor_poles = 14
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 4
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_switch_mode = STAGE1
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set failsafe_recovery_delay = 20
set failsafe_stick_threshold = 30
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gimbal_mode = NORMAL
set bat_capacity = 0
set vbat_max_cell_voltage = 430
set vbat_full_cell_voltage = 410
set vbat_min_cell_voltage = 330
set vbat_warning_cell_voltage = 350
set vbat_hysteresis = 1
set current_meter = ADC
set battery_meter = ADC
set vbat_detect_cell_voltage = 300
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set force_battery_cell_count = 0
set vbat_display_lpf_period = 30
set vbat_sag_lpf_period = 2
set ibat_lpf_period = 10
set vbat_duration_for_warning = 0
set vbat_duration_for_critical = 0
set vbat_scale = 110
set vbat_divider = 10
set vbat_multiplier = 1
set ibata_scale = 118
set ibata_offset = 0
set ibatv_scale = 0
set ibatv_offset = 0
set beeper_inversion = ON
set beeper_od = OFF
set beeper_frequency = 0
set beeper_dshot_beacon_tone = 1
set yaw_motors_reversed = OFF
set crashflip_motor_percent = 0
set crashflip_expo = 35
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set 3d_limit_low = 1000
set 3d_limit_high = 2000
set 3d_switched_mode = OFF
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lowpass_hz = 0
set tri_unarmed_servo = ON
set channel_forwarding_start = 4
set reboot_character = 82
set serial_update_rate_hz = 100
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 180
set auto_disarm_delay = 5
set gyro_cal_on_first_arm = OFF
set gps_provider = NMEA
set gps_sbas_mode = NONE
set gps_sbas_integrity = OFF
set gps_auto_config = ON
set gps_auto_baud = OFF
set gps_ublox_use_galileo = OFF
set gps_ublox_mode = AIRBORNE
set gps_set_home_point_once = OFF
set gps_use_3d_speed = OFF
set gps_rescue_angle = 32
set gps_rescue_initial_alt = 50
set gps_rescue_descent_dist = 200
set gps_rescue_landing_alt = 5
set gps_rescue_landing_dist = 10
set gps_rescue_ground_speed = 2000
set gps_rescue_throttle_p = 150
set gps_rescue_throttle_i = 20
set gps_rescue_throttle_d = 50
set gps_rescue_velocity_p = 80
set gps_rescue_velocity_i = 20
set gps_rescue_velocity_d = 15
set gps_rescue_yaw_p = 40
set gps_rescue_throttle_min = 1100
set gps_rescue_throttle_max = 1600
set gps_rescue_ascend_rate = 500
set gps_rescue_descend_rate = 150
set gps_rescue_throttle_hover = 1280
set gps_rescue_sanity_checks = RESCUE_SANITY_ON
set gps_rescue_min_sats = 8
set gps_rescue_min_dth = 100
set gps_rescue_allow_arming_without_fix = OFF
set gps_rescue_alt_mode = MAX_ALT
set gps_rescue_use_mag = ON
set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 2
set runaway_takeoff_prevention = ON
set runaway_takeoff_deactivate_delay = 500
set runaway_takeoff_deactivate_throttle_percent = 20
set thrust_linear = 0
set transient_throttle_limit = 0
set tlm_inverted = OFF
set tlm_halfduplex = ON
set frsky_default_lat = 0
set frsky_default_long = 0
set frsky_gps_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_int = 5
set pid_in_tlm = OFF
set report_cell_voltage = OFF
set ibus_sensor = 1,2,3,0,0,0,0,0,0,0,0,0,0,0,0
set mavlink_mah_as_heading_divisor = 0
set telemetry_disabled_voltage = OFF
set telemetry_disabled_current = OFF
set telemetry_disabled_fuel = OFF
set telemetry_disabled_mode = OFF
set telemetry_disabled_acc_x = OFF
set telemetry_disabled_acc_y = OFF
set telemetry_disabled_acc_z = OFF
set telemetry_disabled_pitch = OFF
set telemetry_disabled_roll = OFF
set telemetry_disabled_heading = OFF
set telemetry_disabled_altitude = OFF
set telemetry_disabled_vario = OFF
set telemetry_disabled_lat_long = OFF
set telemetry_disabled_ground_speed = OFF
set telemetry_disabled_distance = OFF
set telemetry_disabled_esc_current = ON
set telemetry_disabled_esc_voltage = ON
set telemetry_disabled_esc_rpm = ON
set telemetry_disabled_esc_temperature = ON
set telemetry_disabled_temperature = OFF
set ledstrip_visual_beeper = OFF
set ledstrip_visual_beeper_color = WHITE
set ledstrip_grb_rgb = GRB
set ledstrip_profile = STATUS
set ledstrip_race_color = ORANGE
set ledstrip_beacon_color = WHITE
set ledstrip_beacon_period_ms = 500
set ledstrip_beacon_percent = 50
set ledstrip_beacon_armed_only = OFF
set sdcard_detect_inverted = OFF
set sdcard_mode = OFF
set sdcard_dma = OFF
set sdcard_spi_bus = 0
set sdio_clk_bypass = OFF
set sdio_use_cache = OFF
set sdio_use_4bit_width = OFF
set osd_units = METRIC
set osd_warn_arming_disable = ON
set osd_warn_batt_not_full = ON
set osd_warn_batt_warning = ON
set osd_warn_batt_critical = ON
set osd_warn_visual_beeper = ON
set osd_warn_crash_flip = ON
set osd_warn_esc_fail = ON
set osd_warn_core_temp = ON
set osd_warn_rc_smoothing = ON
set osd_warn_fail_safe = ON
set osd_warn_launch_control = ON
set osd_warn_no_gps_rescue = ON
set osd_warn_gps_rescue_disabled = ON
set osd_warn_rssi = OFF
set osd_warn_link_quality = OFF
set osd_warn_over_cap = OFF
set osd_rssi_alarm = 20
set osd_link_quality_alarm = 80
set osd_rssi_dbm_alarm = -60
set osd_cap_alarm = 2200
set osd_alt_alarm = 100
set osd_distance_alarm = 0
set osd_esc_temp_alarm = -128
set osd_esc_rpm_alarm = -1
set osd_esc_current_alarm = -1
set osd_core_temp_alarm = 70
set osd_ah_max_pit = 20
set osd_ah_max_rol = 40
set osd_ah_invert = OFF
set osd_logo_on_arming = OFF
set osd_logo_on_arming_duration = 5
set osd_tim1 = 2560
set osd_tim2 = 2561
set osd_vbat_pos = 234
set osd_rssi_pos = 234
set osd_link_quality_pos = 234
set osd_rssi_dbm_pos = 234
set osd_tim_1_pos = 234
set osd_tim_2_pos = 234
set osd_remaining_time_estimate_pos = 234
set osd_flymode_pos = 234
set osd_anti_gravity_pos = 234
set osd_g_force_pos = 234
set osd_throttle_pos = 234
set osd_vtx_channel_pos = 234
set osd_crosshairs_pos = 205
set osd_ah_sbar_pos = 206
set osd_ah_pos = 78
set osd_current_pos = 234
set osd_mah_drawn_pos = 234
set osd_motor_diag_pos = 234
set osd_craft_name_pos = 234
set osd_display_name_pos = 234
set osd_gps_speed_pos = 234
set osd_gps_lon_pos = 234
set osd_gps_lat_pos = 234
set osd_gps_sats_pos = 234
set osd_home_dir_pos = 234
set osd_home_dist_pos = 234
set osd_flight_dist_pos = 234
set osd_compass_bar_pos = 234
set osd_altitude_pos = 234
set osd_pid_roll_pos = 234
set osd_pid_pitch_pos = 234
set osd_pid_yaw_pos = 234
set osd_debug_pos = 234
set osd_power_pos = 234
set osd_pidrate_profile_pos = 234
set osd_warnings_pos = 14706
set osd_avg_cell_voltage_pos = 234
set osd_pit_ang_pos = 234
set osd_rol_ang_pos = 234
set osd_battery_usage_pos = 234
set osd_disarmed_pos = 234
set osd_nheading_pos = 234
set osd_nvario_pos = 234
set osd_esc_tmp_pos = 234
set osd_esc_rpm_pos = 234
set osd_esc_rpm_freq_pos = 234
set osd_rtc_date_time_pos = 234
set osd_adjustment_range_pos = 234
set osd_flip_arrow_pos = 234
set osd_core_temp_pos = 234
set osd_log_status_pos = 234
set osd_stick_overlay_left_pos = 234
set osd_stick_overlay_right_pos = 234
set osd_stick_overlay_radio_mode = 2
set osd_rate_profile_name_pos = 234
set osd_pid_profile_name_pos = 234
set osd_profile_name_pos = 234
set osd_rcchannels_pos = 234
set osd_camera_frame_pos = 35
set osd_efficiency_pos = 234
set osd_stat_rtc_date_time = OFF
set osd_stat_tim_1 = OFF
set osd_stat_tim_2 = ON
set osd_stat_max_spd = ON
set osd_stat_max_dist = OFF
set osd_stat_min_batt = ON
set osd_stat_endbatt = OFF
set osd_stat_battery = OFF
set osd_stat_min_rssi = ON
set osd_stat_max_curr = ON
set osd_stat_used_mah = ON
set osd_stat_max_alt = OFF
set osd_stat_bbox = ON
set osd_stat_bb_no = ON
set osd_stat_max_g_force = OFF
set osd_stat_max_esc_temp = OFF
set osd_stat_max_esc_rpm = OFF
set osd_stat_min_link_quality = OFF
set osd_stat_flight_dist = OFF
set osd_stat_max_fft = OFF
set osd_stat_total_flights = OFF
set osd_stat_total_time = OFF
set osd_stat_total_dist = OFF
set osd_stat_min_rssi_dbm = OFF
set osd_profile = 1
set osd_profile_1_name = -
set osd_profile_2_name = -
set osd_profile_3_name = -
set osd_gps_sats_show_hdop = OFF
set osd_displayport_device = AUTO
set osd_rcchannels = -1,-1,-1,-1
set osd_camera_frame_width = 24
set osd_camera_frame_height = 11
set system_hse_mhz = 8
set task_statistics = ON
set debug_mode = NONE
set rate_6pos_switch = OFF
set cpu_overclock = OFF
set pwr_on_arm_grace = 5
set scheduler_optimize_rate = AUTO
set enable_stick_arming = OFF
set vtx_band = 0
set vtx_channel = 0
set vtx_power = 0
set vtx_low_power_disarm = OFF
set vtx_freq = 0
set vtx_pit_mode_freq = 0
set vtx_halfduplex = ON
set vtx_spi_bus = 0
set vcd_video_system = AUTO
set vcd_h_offset = 0
set vcd_v_offset = 0
set max7456_clock = DEFAULT
set max7456_spi_bus = 3
set max7456_preinit_opu = OFF
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
set displayport_msp_serial = 0
set displayport_msp_attrs = 0,0,0,0
set displayport_msp_use_device_blink = OFF
set displayport_max7456_col_adjust = 0
set displayport_max7456_row_adjust = 0
set displayport_max7456_inv = OFF
set displayport_max7456_blk = 0
set displayport_max7456_wht = 2
set esc_sensor_halfduplex = OFF
set esc_sensor_current_offset = 0
set frsky_spi_autobind = OFF
set frsky_spi_tx_id = 0,0
set frsky_spi_offset = 0
set frsky_spi_bind_hop_data = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
set frsky_x_rx_num = 0
set frsky_spi_a1_source = VBAT
set cc2500_spi_chip_detect = ON
set led_inversion = 0
set dashboard_i2c_bus = 0
set dashboard_i2c_addr = 60
set camera_control_mode = HARDWARE_PWM
set camera_control_ref_voltage = 330
set camera_control_key_delay = 180
set camera_control_internal_resistance = 470
set camera_control_button_resistance = 450,270,150,68,0
set camera_control_inverted = OFF
set rangefinder_hardware = NONE
set pinio_config = 129,1,1,1
set pinio_box = 40,255,255,255
set usb_hid_cdc = OFF
set usb_msc_pin_pullup = ON
set flash_spi_bus = 2
set rcdevice_init_dev_attempts = 6
set rcdevice_init_dev_attempt_interval = 1000
set rcdevice_protocol_version = 0
set rcdevice_feature = 0
set gyro_1_bustype = SPI
set gyro_1_spibus = 1
set gyro_1_i2cBus = 0
set gyro_1_i2c_address = 0
set gyro_1_sensor_align = CW180
set gyro_1_align_roll = 0
set gyro_1_align_pitch = 0
set gyro_1_align_yaw = 1800
set gyro_2_bustype = SPI
set gyro_2_spibus = 0
set gyro_2_i2cBus = 0
set gyro_2_i2c_address = 0
set gyro_2_sensor_align = CW0
set gyro_2_align_roll = 0
set gyro_2_align_pitch = 0
set gyro_2_align_yaw = 0
set i2c1_pullup = OFF
set i2c1_overclock = ON
set i2c2_pullup = OFF
set i2c2_overclock = ON
set i2c3_pullup = OFF
set i2c3_overclock = ON
set mco2_on_pc9 = OFF
set timezone_offset_minutes = 0
set gyro_rpm_notch_harmonics = 3
set gyro_rpm_notch_q = 500
set gyro_rpm_notch_min = 100
set dterm_rpm_notch_harmonics = 0
set dterm_rpm_notch_q = 500
set dterm_rpm_notch_min = 100
set rpm_notch_lpf = 150
set flysky_spi_tx_id = 0
set flysky_spi_rf_channels = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
set stats = OFF
set stats_total_flights = 0
set stats_total_time_s = 0
set stats_total_dist_m = 0
set name = Xilo
set display_name = -
set position_alt_source = DEFAULT
set box_user_1_name = -
set box_user_2_name = -
set box_user_3_name = -
set box_user_4_name = -

profile 0

# profile 0
set profile_name = -
set dyn_lpf_dterm_min_hz = 70
set dyn_lpf_dterm_max_hz = 170
set dyn_lpf_dterm_curve_expo = 5
set dterm_lowpass_type = PT1
set dterm_lowpass_hz = 150
set dterm_lowpass2_type = PT1
set dterm_lowpass2_hz = 150
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set vbat_pid_gain = OFF
set vbat_sag_compensation = 0
set pid_at_min_throttle = ON
set anti_gravity_mode = SMOOTH
set anti_gravity_threshold = 250
set anti_gravity_gain = 3500
set feedforward_transition = 0
set acc_limit_yaw = 0
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 15
set iterm_windup = 100
set iterm_limit = 400
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass_hz = 0
set throttle_boost = 5
set throttle_boost_cutoff = 15
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_debug_axis = ROLL
set acro_trainer_gain = 75
set p_pitch = 46
set i_pitch = 90
set d_pitch = 38
set f_pitch = 95
set p_roll = 42
set i_roll = 85
set d_roll = 35
set f_roll = 90
set p_yaw = 45
set i_yaw = 90
set d_yaw = 0
set f_yaw = 90
set angle_level_strength = 50
set horizon_level_strength = 50
set horizon_transition = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set abs_control_gain = 0
set abs_control_limit = 90
set abs_control_error_limit = 20
set abs_control_cutoff = 11
set use_integrated_yaw = OFF
set integrated_yaw_relax = 200
set d_min_roll = 23
set d_min_pitch = 25
set d_min_yaw = 0
set d_min_boost_gain = 37
set d_min_advance = 20
set motor_output_limit = 100
set auto_profile_cell_count = 0
set launch_control_mode = NORMAL
set launch_trigger_allow_reset = ON
set launch_trigger_throttle_percent = 20
set launch_angle_limit = 0
set launch_control_gain = 40
set ff_interpolate_sp = AVERAGED_2
set ff_spike_limit = 60
set ff_max_rate_limit = 100
set ff_smooth_factor = 37
set ff_boost = 15
set idle_min_rpm = 0
set idle_adjustment_speed = 50
set idle_p = 50
set idle_pid_limit = 200
set idle_max_increase = 150
set level_race_mode = OFF

rateprofile 0

# rateprofile 0
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = BETAFLIGHT
set roll_rc_rate = 100
set pitch_rc_rate = 100
set yaw_rc_rate = 100
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998

# end the command batch
batch end

#
submitted by FailPV13 to fpv

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