ardupilot/Tools/autotest/param_metadata/param_parse.py

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#!/usr/bin/env python
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from __future__ import print_function
import glob
import os
import re
import sys
from argparse import ArgumentParser
from param import (Library, Parameter, Vehicle, known_group_fields,
known_param_fields, required_param_fields, known_units)
from htmlemit import HtmlEmit
from rstemit import RSTEmit
from wikiemit import WikiEmit
from xmlemit import XmlEmit
from mdemit import MDEmit
from jsonemit import JSONEmit
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parser = ArgumentParser(description="Parse ArduPilot parameters.")
parser.add_argument("-v", "--verbose", dest='verbose', action='store_true', default=False, help="show debugging output")
parser.add_argument("--vehicle", required=True, help="Vehicle type to generate for")
parser.add_argument("--no-emit",
dest='emit_params',
action='store_false',
default=True,
help="don't emit parameter documention, just validate")
parser.add_argument("--format",
dest='output_format',
action='store',
default='all',
choices=['all', 'html', 'rst', 'wiki', 'xml', 'json', 'edn', 'md'],
help="what output format to use")
args = parser.parse_args()
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# Regular expressions for parsing the parameter metadata
prog_param = re.compile(r"@Param(?:{([^}]+)})?: (\w+).*((?:\n[ \t]*// @(\w+)(?:{([^}]+)})?: (.*))+)(?:\n[ \t\r]*\n|\n[ \t]+[A-Z])", re.MULTILINE)
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# match e.g @Value: 0=Unity, 1=Koala, 17=Liability
prog_param_fields = re.compile(r"[ \t]*// @(\w+): ([^\r\n]*)")
# match e.g @Value{Copter}: 0=Volcano, 1=Peppermint
prog_param_tagged_fields = re.compile(r"[ \t]*// @(\w+){([^}]+)}: ([^\r\n]*)")
prog_groups = re.compile(r"@Group: *(\w+).*((?:\n[ \t]*// @(Path): (\S+))+)", re.MULTILINE)
apm_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../')
vehicle_paths = glob.glob(apm_path + "%s/Parameters.cpp" % args.vehicle)
extension = 'cpp'
if len(vehicle_paths) == 0:
vehicle_paths = glob.glob(apm_path + "%s/Parameters.pde" % args.vehicle)
extension = 'pde'
vehicle_paths.sort(reverse=True)
vehicles = []
libraries = []
# AP_Vehicle also has parameters rooted at "", but isn't referenced
# from the vehicle in any way:
ap_vehicle_lib = Library("") # the "" is tacked onto the front of param name
setattr(ap_vehicle_lib, "Path", os.path.join('..', 'libraries', 'AP_Vehicle', 'AP_Vehicle.cpp'))
libraries.append(ap_vehicle_lib)
error_count = 0
current_param = None
current_file = None
def debug(str_to_print):
"""Debug output if verbose is set."""
if args.verbose:
print(str_to_print)
def error(str_to_print):
"""Show errors."""
global error_count
error_count += 1
if current_file is not None:
print("Error in %s" % current_file)
if current_param is not None:
print("At param %s" % current_param)
print(str_to_print)
truename_map = {
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"Rover": "Rover",
"ArduSub": "Sub",
"ArduCopter": "Copter",
"ArduPlane": "Plane",
"AntennaTracker": "Tracker",
}
valid_truenames = frozenset(truename_map.values())
for vehicle_path in vehicle_paths:
name = os.path.basename(os.path.dirname(vehicle_path))
path = os.path.normpath(os.path.dirname(vehicle_path))
vehicles.append(Vehicle(name, path, truename_map[name]))
debug('Found vehicle type %s' % name)
if len(vehicles) > 1 or len(vehicles) == 0:
print("Single vehicle only, please")
sys.exit(1)
for vehicle in vehicles:
debug("===\n\n\nProcessing %s" % vehicle.name)
current_file = vehicle.path+'/Parameters.' + extension
f = open(current_file)
p_text = f.read()
f.close()
param_matches = prog_param.findall(p_text)
group_matches = prog_groups.findall(p_text)
debug(group_matches)
for group_match in group_matches:
lib = Library(group_match[0])
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fields = prog_param_fields.findall(group_match[1])
for field in fields:
if field[0] in known_group_fields:
setattr(lib, field[0], field[1])
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else:
error("group: unknown parameter metadata field '%s'" % field[0])
if not any(lib.name == parsed_l.name for parsed_l in libraries):
libraries.append(lib)
for param_match in param_matches:
(only_vehicles, param_name, field_text) = (param_match[0],
param_match[1],
param_match[2])
if len(only_vehicles):
only_vehicles_list = [x.strip() for x in only_vehicles.split(",")]
for only_vehicle in only_vehicles_list:
if only_vehicle not in valid_truenames:
raise ValueError("Invalid only_vehicle %s" % only_vehicle)
if vehicle.truename not in only_vehicles_list:
continue
p = Parameter(vehicle.name+":"+param_name, current_file)
debug(p.name + ' ')
current_param = p.name
fields = prog_param_fields.findall(field_text)
field_list = []
for field in fields:
field_list.append(field[0])
if field[0] in known_param_fields:
value = re.sub('@PREFIX@', "", field[1]).rstrip()
setattr(p, field[0], value)
else:
error("param: unknown parameter metadata field '%s'" % field[0])
for req_field in required_param_fields:
if req_field not in field_list:
error("missing parameter metadata field '%s' in %s" % (req_field, field_text))
vehicle.params.append(p)
current_file = None
debug("Processed %u params" % len(vehicle.params))
debug("Found %u documented libraries" % len(libraries))
alllibs = libraries[:]
vehicle = vehicles[0]
def process_library(vehicle, library, pathprefix=None):
'''process one library'''
paths = library.Path.split(',')
for path in paths:
path = path.strip()
global current_file
current_file = path
debug("\n Processing file '%s'" % path)
if pathprefix is not None:
libraryfname = os.path.join(pathprefix, path)
elif path.find('/') == -1:
if len(vehicles) != 1:
print("Unable to handle multiple vehicles with .pde library")
continue
libraryfname = os.path.join(vehicles[0].path, path)
else:
libraryfname = os.path.normpath(os.path.join(apm_path + '/libraries/' + path))
if path and os.path.exists(libraryfname):
f = open(libraryfname)
p_text = f.read()
f.close()
else:
error("Path %s not found for library %s (fname=%s)" % (path, library.name, libraryfname))
continue
param_matches = prog_param.findall(p_text)
debug("Found %u documented parameters" % len(param_matches))
for param_match in param_matches:
(only_vehicles, param_name, field_text) = (param_match[0],
param_match[1],
param_match[2])
if len(only_vehicles):
only_vehicles_list = [x.strip() for x in only_vehicles.split(",")]
for only_vehicle in only_vehicles_list:
if only_vehicle not in valid_truenames:
raise ValueError("Invalid only_vehicle %s" % only_vehicle)
if vehicle.truename not in only_vehicles_list:
continue
p = Parameter(library.name+param_name, current_file)
debug(p.name + ' ')
global current_param
current_param = p.name
fields = prog_param_fields.findall(field_text)
non_vehicle_specific_values_seen = False
for field in fields:
if field[0] in known_param_fields:
value = re.sub('@PREFIX@', library.name, field[1])
setattr(p, field[0], value)
if field[0] == "Values":
non_vehicle_specific_values_seen = True
else:
error("param: unknown parameter metadata field %s" % field[0])
debug("matching %s" % field_text)
fields = prog_param_tagged_fields.findall(field_text)
this_vehicle_values_seen = False
this_vehicle_value = None
other_vehicle_values_seen = False
for field in fields:
only_for_vehicles = field[1].split(",")
only_for_vehicles = [x.rstrip().lstrip() for x in only_for_vehicles]
delta = set(only_for_vehicles) - set(truename_map.values())
if len(delta):
error("Unknown vehicles (%s)" % delta)
debug("field[0]=%s vehicle=%s truename=%s field[1]=%s only_for_vehicles=%s\n" %
(field[0], vehicle.name, vehicle.truename, field[1], str(only_for_vehicles)))
value = re.sub('@PREFIX@', library.name, field[2])
if field[0] == "Values":
if vehicle.truename in only_for_vehicles:
this_vehicle_values_seen = True
this_vehicle_value = value
if len(only_for_vehicles) > 1:
other_vehicle_values_seen = True
elif len(only_for_vehicles):
other_vehicle_values_seen = True
if field[0] in known_param_fields:
setattr(p, field[0], value)
else:
error("tagged param<: unknown parameter metadata field '%s'" % field[0])
if ((non_vehicle_specific_values_seen or not other_vehicle_values_seen) or this_vehicle_values_seen):
if this_vehicle_values_seen and field[0] == 'Values':
setattr(p, field[0], this_vehicle_value)
# debug("Appending (non_vehicle_specific_values_seen=%u "
# "other_vehicle_values_seen=%u this_vehicle_values_seen=%u)" %
# (non_vehicle_specific_values_seen, other_vehicle_values_seen, this_vehicle_values_seen))
p.path = path # Add path. Later deleted - only used for duplicates
library.params.append(p)
group_matches = prog_groups.findall(p_text)
debug("Found %u groups" % len(group_matches))
debug(group_matches)
done_groups = dict()
for group_match in group_matches:
group = group_match[0]
debug("Group: %s" % group)
do_append = True
if group in done_groups:
# this is to handle cases like the RangeFinder
# parameters, where the wasp stuff gets tack into the
# same RNGFND1_ group
lib = done_groups[group]
do_append = False
else:
lib = Library(group)
done_groups[group] = lib
fields = prog_param_fields.findall(group_match[1])
for field in fields:
if field[0] in known_group_fields:
setattr(lib, field[0], field[1])
else:
error("unknown parameter metadata field '%s'" % field[0])
if not any(lib.name == parsed_l.name for parsed_l in libraries):
if do_append:
lib.name = library.name + lib.name
debug("Group name: %s" % lib.name)
process_library(vehicle, lib, os.path.dirname(libraryfname))
if do_append:
alllibs.append(lib)
current_file = None
for library in libraries:
debug("===\n\n\nProcessing library %s" % library.name)
if hasattr(library, 'Path'):
process_library(vehicle, library)
else:
error("Skipped: no Path found")
debug("Processed %u documented parameters" % len(library.params))
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# sort libraries by name
alllibs = sorted(alllibs, key=lambda x: x.name)
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libraries = alllibs
def is_number(numberString):
try:
float(numberString)
return True
except ValueError:
return False
def validate(param):
"""
Validates the parameter meta data.
"""
global current_file
current_file = param.real_path
global current_param
current_param = param.name
# Validate values
if (hasattr(param, "Range")):
rangeValues = param.__dict__["Range"].split(" ")
if (len(rangeValues) != 2):
error("Invalid Range values for %s (%s)" %
(param.name, param.__dict__["Range"]))
return
min_value = rangeValues[0]
max_value = rangeValues[1]
if not is_number(min_value):
error("Min value not number: %s %s" % (param.name, min_value))
return
if not is_number(max_value):
error("Max value not number: %s %s" % (param.name, max_value))
return
# Check for duplicate in @value field
if (hasattr(param, "Values")):
valueList = param.__dict__["Values"].split(",")
values = []
for i in valueList:
i = i.replace(" ","")
values.append(i.partition(":")[0])
if (len(values) != len(set(values))):
error("Duplicate values found")
# Validate units
if (hasattr(param, "Units")):
if (param.__dict__["Units"] != "") and (param.__dict__["Units"] not in known_units):
error("unknown units field '%s'" % param.__dict__["Units"])
for vehicle in vehicles:
for param in vehicle.params:
validate(param)
# Find duplicate names in library and fix up path
for library in libraries:
param_names_seen = set()
param_names_duplicate = set()
# Find duplicates:
for param in library.params:
if param.name in param_names_seen: # is duplicate
param_names_duplicate.add(param.name)
param_names_seen.add(param.name)
# Fix up path for duplicates
for param in library.params:
if param.name in param_names_duplicate:
param.path = param.path.rsplit('/')[-1].rsplit('.')[0]
else:
# not a duplicate, so delete attribute.
delattr(param, "path")
for library in libraries:
for param in library.params:
validate(param)
def do_emit(emit):
emit.set_annotate_with_vehicle(len(vehicles) > 1)
for vehicle in vehicles:
emit.emit(vehicle)
emit.start_libraries()
for library in libraries:
if library.params:
emit.emit(library)
emit.close()
if args.emit_params:
if args.output_format == 'all' or args.output_format == 'json':
do_emit(JSONEmit())
if args.output_format == 'all' or args.output_format == 'xml':
do_emit(XmlEmit())
if args.output_format == 'all' or args.output_format == 'wiki':
do_emit(WikiEmit())
if args.output_format == 'all' or args.output_format == 'html':
do_emit(HtmlEmit())
if args.output_format == 'all' or args.output_format == 'rst':
do_emit(RSTEmit())
if args.output_format == 'all' or args.output_format == 'md':
do_emit(MDEmit())
if args.output_format == 'all' or args.output_format == 'edn':
try:
from ednemit import EDNEmit
do_emit(EDNEmit())
except ImportError:
# if the user wanted edn only then don't hide any errors
if args.output_format == 'edn':
raise
if args.verbose:
print("Unable to emit EDN, install edn_format and pytz if edn is desired")
sys.exit(error_count)