ardupilot/Tools/autotest/param_metadata/xmlemit.py

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from lxml import etree
from emit import Emit
from param import known_param_fields, known_units
# Emit ArduPilot documentation in an machine readable XML format
class XmlEmit(Emit):
def __init__(self, *args, **kwargs):
Emit.__init__(self, *args, **kwargs)
self.wiki_fname = 'apm.pdef.xml'
self.f = open(self.wiki_fname, mode='w')
self.preamble = '''<?xml version="1.0" encoding="utf-8"?>
<!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->
'''
self.f.write(self.preamble)
self.paramfile = etree.Element('paramfile')
self.vehicles = etree.SubElement(self.paramfile, 'vehicles')
self.libraries = etree.SubElement(self.paramfile, 'libraries')
self.current_element = self.vehicles
def close(self):
# etree.indent(self.paramfile) # not available on thor, Ubuntu 16.04
pretty_xml = etree.tostring(self.paramfile, pretty_print=True, encoding='unicode')
self.f.write(pretty_xml)
self.f.close()
def emit_comment(self, s):
self.f.write("<!-- " + s + " -->")
def start_libraries(self):
self.current_element = self.libraries
def emit(self, g):
xml_parameters = etree.SubElement(self.current_element, 'parameters', name=g.reference) # i.e. ArduPlane
for param in g.params:
# Begin our parameter node
if hasattr(param, 'DisplayName'):
xml_param = etree.SubElement(xml_parameters, 'param', humanName=param.DisplayName, name=param.name) # i.e. ArduPlane (ArduPlane:FOOPARM)
else:
xml_param = etree.SubElement(xml_parameters, 'param', name=param.name)
if hasattr(param, 'Description'):
xml_param.set('documentation', param.Description) # i.e. parameter docs
if hasattr(param, 'User'):
xml_param.set('user', param.User) # i.e. Standard or Advanced
if hasattr(param, 'Calibration'):
xml_param.set('calibration', param.Calibration)
# Add values as chidren of this node
for field in param.__dict__.keys():
if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields:
if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
xml_values = etree.SubElement(xml_param, 'values')
values = (param.__dict__[field]).split(',')
for value in values:
v = value.split(':')
if len(v) != 2:
raise ValueError("Bad value (%s)" % v)
# i.e. numeric value, string label
xml_value = etree.SubElement(xml_values, 'value', code=v[0])
xml_value.text = v[1]
elif field == 'Units':
abreviated_units = param.__dict__[field]
if abreviated_units != '':
units = known_units[abreviated_units] # use the known_units dictionary to convert the abreviated unit into a full textual one
xml_field1 = etree.SubElement(xml_param, 'field', name=field) # i.e. A/s
xml_field1.text = abreviated_units
xml_field2 = etree.SubElement(xml_param, 'field', name='UnitText') # i.e. ampere per second
xml_field2.text = units
else:
xml_field = etree.SubElement(xml_param, 'field', name=field)
xml_field.text = param.__dict__[field]
if xml_param.text is None and not len(xml_param):
xml_param.text = '\n' # add </param> on next line in case of empty element.