mirror of https://github.com/ArduPilot/ardupilot
Tools: Extracts parameter default values from an ArduPilot .bin file.
Supports Mission Planner, MAVProxy and QGCS file format output Contains unittests with 95% coverage Amilcar do Carmo Lucas, IAV GmbH
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas
Andrew Tridgell
parent
d37d70e787
commit
74640c9e65
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@ -147,6 +147,16 @@ jobs:
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fi
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PATH="/github/home/.local/bin:$PATH"
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Tools/scripts/build_ci.sh
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- name: Unittest extract_param_defaults
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env:
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PYTHONPATH: "${{ github.workspace }}/Tools/scripts:${{ github.workspace }}/modules/mavlink/pymavlink"
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shell: 'script -q -e -c "bash {0}"'
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run: |
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if [[ ${{ matrix.config }} == "unit-tests" ]]; then
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Tools/autotest/unittest/extract_param_defaults_unittest.py
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else
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echo ${{matrix.config}} does not have pymavlink
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fi
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- name: Archive buildlog artifacts
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uses: actions/upload-artifact@v3
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@ -0,0 +1,310 @@
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#!/usr/bin/python3
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'''
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Extracts parameter default values from an ArduPilot .bin log file. Unittests.
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AP_FLAKE8_CLEAN
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Amilcar do Carmo Lucas, IAV GmbH
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'''
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import unittest
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from unittest.mock import patch, MagicMock
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from extract_param_defaults import extract_parameter_default_values, missionplanner_sort, \
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mavproxy_sort, sort_params, output_params, parse_arguments, \
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NO_DEFAULT_VALUES_MESSAGE, MAVLINK_SYSID_MAX, MAVLINK_COMPID_MAX
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class TestArgParseParameters(unittest.TestCase):
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def test_command_line_arguments_combinations(self):
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# Check the 'format' and 'sort' default parameters
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args = parse_arguments(['dummy.bin'])
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self.assertEqual(args.format, 'missionplanner')
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self.assertEqual(args.sort, 'missionplanner')
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# Check the 'format' and 'sort' parameters to see if 'sort' can be explicitly overwritten
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args = parse_arguments(['-s', 'none', 'dummy.bin'])
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self.assertEqual(args.format, 'missionplanner')
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self.assertEqual(args.sort, 'none')
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# Check the 'format' and 'sort' parameters to see if 'sort' can be implicitly overwritten (mavproxy)
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args = parse_arguments(['-f', 'mavproxy', 'dummy.bin'])
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self.assertEqual(args.format, 'mavproxy')
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self.assertEqual(args.sort, 'mavproxy')
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# Check the 'format' and 'sort' parameters to see if 'sort' can be implicitly overwritten (qgcs)
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args = parse_arguments(['-f', 'qgcs', 'dummy.bin'])
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self.assertEqual(args.format, 'qgcs')
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self.assertEqual(args.sort, 'qgcs')
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# Check the 'format' and 'sort' parameters
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args = parse_arguments(['-f', 'mavproxy', '-s', 'none', 'dummy.bin'])
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self.assertEqual(args.format, 'mavproxy')
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self.assertEqual(args.sort, 'none')
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# Assert that a SystemExit is raised when --sysid is used without --format set to qgcs
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with self.assertRaises(SystemExit):
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with patch('builtins.print') as mock_print:
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parse_arguments(['-f', 'mavproxy', '-i', '7', 'dummy.bin'])
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mock_print.assert_called_once_with("--sysid parameter is only relevant if --format is qgcs")
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# Assert that a SystemExit is raised when --compid is used without --format set to qgcs
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with self.assertRaises(SystemExit):
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with patch('builtins.print') as mock_print:
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parse_arguments(['-f', 'missionplanner', '-c', '3', 'dummy.bin'])
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mock_print.assert_called_once_with("--compid parameter is only relevant if --format is qgcs")
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# Assert that a valid sysid and compid are parsed correctly
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args = parse_arguments(['-f', 'qgcs', '-i', '7', '-c', '3', 'dummy.bin'])
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self.assertEqual(args.format, 'qgcs')
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self.assertEqual(args.sort, 'qgcs')
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self.assertEqual(args.sysid, 7)
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self.assertEqual(args.compid, 3)
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class TestExtractParameterDefaultValues(unittest.TestCase):
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@patch('extract_param_defaults.mavutil.mavlink_connection')
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def test_logfile_does_not_exist(self, mock_mavlink_connection):
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# Mock the mavlink connection to raise an exception
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mock_mavlink_connection.side_effect = Exception("Test exception")
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# Call the function with a dummy logfile path
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with self.assertRaises(SystemExit) as cm:
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extract_parameter_default_values('dummy.bin')
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# Check the error message
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self.assertEqual(str(cm.exception), "Error opening the dummy.bin logfile: Test exception")
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@patch('extract_param_defaults.mavutil.mavlink_connection')
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def test_extract_parameter_default_values(self, mock_mavlink_connection):
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# Mock the mavlink connection and the messages it returns
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mock_mlog = MagicMock()
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mock_mavlink_connection.return_value = mock_mlog
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mock_mlog.recv_match.side_effect = [
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MagicMock(Name='PARAM1', Default=1.1),
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MagicMock(Name='PARAM2', Default=2.0),
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None # End of messages
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]
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# Call the function with a dummy logfile path
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defaults = extract_parameter_default_values('dummy.bin')
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# Check if the defaults dictionary contains the correct parameters and values
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self.assertEqual(defaults, {'PARAM1': 1.1, 'PARAM2': 2.0})
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@patch('extract_param_defaults.mavutil.mavlink_connection')
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def test_no_parameters(self, mock_mavlink_connection):
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# Mock the mavlink connection to return no parameter messages
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mock_mlog = MagicMock()
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mock_mavlink_connection.return_value = mock_mlog
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mock_mlog.recv_match.return_value = None # No PARM messages
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# Call the function with a dummy logfile path and assert SystemExit is raised with the correct message
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with self.assertRaises(SystemExit) as cm:
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extract_parameter_default_values('dummy.bin')
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self.assertEqual(str(cm.exception), NO_DEFAULT_VALUES_MESSAGE)
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@patch('extract_param_defaults.mavutil.mavlink_connection')
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def test_no_parameter_defaults(self, mock_mavlink_connection):
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# Mock the mavlink connection to simulate no parameter default values in the .bin file
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mock_mlog = MagicMock()
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mock_mavlink_connection.return_value = mock_mlog
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mock_mlog.recv_match.return_value = None # No PARM messages
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# Call the function with a dummy logfile path and assert SystemExit is raised with the correct message
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with self.assertRaises(SystemExit) as cm:
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extract_parameter_default_values('dummy.bin')
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self.assertEqual(str(cm.exception), NO_DEFAULT_VALUES_MESSAGE)
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@patch('extract_param_defaults.mavutil.mavlink_connection')
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def test_invalid_parameter_name(self, mock_mavlink_connection):
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# Mock the mavlink connection to simulate an invalid parameter name
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mock_mlog = MagicMock()
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mock_mavlink_connection.return_value = mock_mlog
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mock_mlog.recv_match.return_value = MagicMock(Name='INVALID_NAME%', Default=1.0)
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# Call the function with a dummy logfile path
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with self.assertRaises(SystemExit):
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extract_parameter_default_values('dummy.bin')
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@patch('extract_param_defaults.mavutil.mavlink_connection')
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def test_long_parameter_name(self, mock_mavlink_connection):
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# Mock the mavlink connection to simulate a too long parameter name
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mock_mlog = MagicMock()
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mock_mavlink_connection.return_value = mock_mlog
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mock_mlog.recv_match.return_value = MagicMock(Name='TOO_LONG_PARAMETER_NAME', Default=1.0)
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# Call the function with a dummy logfile path
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with self.assertRaises(SystemExit):
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extract_parameter_default_values('dummy.bin')
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class TestSortFunctions(unittest.TestCase):
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def test_missionplanner_sort(self):
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# Define a list of parameter names
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params = ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP2_PARAM2', 'PARAM_GROUP1_PARAM2']
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# Sort the parameters using the missionplanner_sort function
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sorted_params = sorted(params, key=missionplanner_sort)
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# Check if the parameters were sorted correctly
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self.assertEqual(sorted_params, ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP1_PARAM2', 'PARAM_GROUP2_PARAM2'])
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# Test with a parameter name that doesn't contain an underscore
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params = ['PARAM1', 'PARAM3', 'PARAM2']
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sorted_params = sorted(params, key=missionplanner_sort)
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self.assertEqual(sorted_params, ['PARAM1', 'PARAM2', 'PARAM3'])
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def test_mavproxy_sort(self):
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# Define a list of parameter names
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params = ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP2_PARAM2', 'PARAM_GROUP1_PARAM2']
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# Sort the parameters using the mavproxy_sort function
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sorted_params = sorted(params, key=mavproxy_sort)
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# Check if the parameters were sorted correctly
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self.assertEqual(sorted_params, ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP1_PARAM2', 'PARAM_GROUP2_PARAM2'])
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# Test with a parameter name that doesn't contain an underscore
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params = ['PARAM1', 'PARAM3', 'PARAM2']
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sorted_params = sorted(params, key=mavproxy_sort)
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self.assertEqual(sorted_params, ['PARAM1', 'PARAM2', 'PARAM3'])
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class TestOutputParams(unittest.TestCase):
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@patch('extract_param_defaults.print')
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def test_output_params(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 1.0, 'PARAM1': 2.0}
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# Call the function with the dummy dictionary, 'missionplanner' format type
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output_params(defaults, 'missionplanner')
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call('PARAM2,1'), unittest.mock.call('PARAM1,2')]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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@patch('extract_param_defaults.print')
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def test_output_params_missionplanner_non_numeric(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM1': 'non-numeric'}
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# Call the function with the dummy dictionary, 'missionplanner' format type
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output_params(defaults, 'missionplanner')
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call('PARAM1,non-numeric')]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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@patch('extract_param_defaults.print')
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def test_output_params_mavproxy(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
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# Call the function with the dummy dictionary, 'mavproxy' format type and 'mavproxy' sort type
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defaults = sort_params(defaults, 'mavproxy')
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output_params(defaults, 'mavproxy')
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call("%-15s %.6f" % ('PARAM1', 1.0)),
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unittest.mock.call("%-15s %.6f" % ('PARAM2', 2.0))]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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@patch('extract_param_defaults.print')
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def test_output_params_qgcs(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
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# Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs')
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
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unittest.mock.call("%u %u %-15s %.6f %u" % (1, 1, 'PARAM1', 1.0, 9)),
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unittest.mock.call("%u %u %-15s %.6f %u" % (1, 1, 'PARAM2', 2.0, 9))]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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@patch('extract_param_defaults.print')
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def test_output_params_qgcs_2_4(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
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# Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs', 2, 4)
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
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unittest.mock.call("%u %u %-15s %.6f %u" % (2, 4, 'PARAM1', 1.0, 9)),
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unittest.mock.call("%u %u %-15s %.6f %u" % (2, 4, 'PARAM2', 2.0, 9))]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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@patch('extract_param_defaults.print')
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def test_output_params_qgcs_SYSID_THISMAV(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': 3.0}
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# Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs', -1, 7)
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
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unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM1', 1.0, 9)),
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unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM2', 2.0, 9)),
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unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'SYSID_THISMAV', 3.0, 9))]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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@patch('extract_param_defaults.print')
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def test_output_params_qgcs_SYSID_INVALID(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': -1.0}
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# Assert that a SystemExit is raised with the correct message when an invalid sysid is used
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with self.assertRaises(SystemExit) as cm:
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs', -1, 7)
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self.assertEqual(str(cm.exception), "Invalid system ID parameter -1 must not be negative")
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# Assert that a SystemExit is raised with the correct message when an invalid sysid is used
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with self.assertRaises(SystemExit) as cm:
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs', MAVLINK_SYSID_MAX+2, 7)
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self.assertEqual(str(cm.exception), f"Invalid system ID parameter 16777218 must be smaller than {MAVLINK_SYSID_MAX}")
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@patch('extract_param_defaults.print')
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def test_output_params_qgcs_COMPID_INVALID(self, mock_print):
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# Prepare a dummy defaults dictionary
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defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
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# Assert that a SystemExit is raised with the correct message when an invalid compid is used
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with self.assertRaises(SystemExit) as cm:
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs', -1, -3)
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self.assertEqual(str(cm.exception), "Invalid component ID parameter -3 must not be negative")
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# Assert that a SystemExit is raised with the correct message when an invalid compid is used
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with self.assertRaises(SystemExit) as cm:
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defaults = sort_params(defaults, 'qgcs')
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output_params(defaults, 'qgcs', 1, MAVLINK_COMPID_MAX+3)
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self.assertEqual(str(cm.exception), f"Invalid component ID parameter 259 must be smaller than {MAVLINK_COMPID_MAX}")
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@patch('extract_param_defaults.print')
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def test_output_params_integer(self, mock_print):
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# Prepare a dummy defaults dictionary with an integer value
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defaults = {'PARAM1': 1.01, 'PARAM2': 2.00}
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# Call the function with the dummy dictionary, 'missionplanner' format type and 'missionplanner' sort type
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defaults = sort_params(defaults, 'missionplanner')
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output_params(defaults, 'missionplanner')
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# Check if the print function was called with the correct parameters
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expected_calls = [unittest.mock.call('PARAM1,1.01'), unittest.mock.call('PARAM2,2')]
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mock_print.assert_has_calls(expected_calls, any_order=False)
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if __name__ == '__main__':
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unittest.main()
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@ -0,0 +1 @@
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"""Automation Scripts"""
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@ -0,0 +1,205 @@
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#!/usr/bin/python3
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'''
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Extracts parameter default values from an ArduPilot .bin log file.
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Supports Mission Planner, MAVProxy and QGCS file format output
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Currently has 95% unit test coverage
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|
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AP_FLAKE8_CLEAN
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|
||||
Amilcar do Carmo Lucas, IAV GmbH
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'''
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import argparse
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import re
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from typing import Dict, Tuple
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from pymavlink import mavutil
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NO_DEFAULT_VALUES_MESSAGE = "The .bin file contained no parameter default values. Update to a newer ArduPilot firmware version"
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PARAM_NAME_REGEX = r'^[A-Z][A-Z_0-9]*$'
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PARAM_NAME_MAX_LEN = 16
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MAVLINK_SYSID_MAX = 2**24
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MAVLINK_COMPID_MAX = 2**8
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def parse_arguments(args=None):
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"""
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Parses command line arguments for the script.
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Args:
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args: List of command line arguments. Defaults to None, which means it uses sys.argv.
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Returns:
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Namespace object containing the parsed arguments.
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"""
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parser = argparse.ArgumentParser(description='Extracts parameter default values from an ArduPilot .bin log file.')
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parser.add_argument('-f', '--format',
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choices=['missionplanner', 'mavproxy', 'qgcs'],
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default='missionplanner', help='Output file format. Defaults to %(default)s.',
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)
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parser.add_argument('-s', '--sort',
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choices=['none', 'missionplanner', 'mavproxy', 'qgcs'],
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default='', help='Sort the parameters in the file. Defaults to the same as the format.',
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)
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parser.add_argument('-v', '--version', action='version', version='%(prog)s 1.0',
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help='Display version information and exit.',
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)
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parser.add_argument('-i', '--sysid', type=int, default=-1,
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help='System ID for qgcs output format. Defaults to SYSID_THISMAV if defined else 1.',
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)
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parser.add_argument('-c', '--compid', type=int, default=-1,
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help='Component ID for qgcs output format. Defaults to 1.',
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)
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parser.add_argument('bin_file', help='The ArduPilot .bin log file to read')
|
||||
args, _ = parser.parse_known_args(args)
|
||||
|
||||
if args.sort == '':
|
||||
args.sort = args.format
|
||||
|
||||
if args.format != 'qgcs':
|
||||
if args.sysid != -1:
|
||||
raise SystemExit("--sysid parameter is only relevant if --format is qgcs")
|
||||
if args.compid != -1:
|
||||
raise SystemExit("--compid parameter is only relevant if --format is qgcs")
|
||||
|
||||
return args
|
||||
|
||||
|
||||
def extract_parameter_default_values(logfile: str) -> Dict[str, float]:
|
||||
"""
|
||||
Extracts the parameter default values from an ArduPilot .bin log file.
|
||||
|
||||
Args:
|
||||
logfile: The path to the ArduPilot .bin log file.
|
||||
|
||||
Returns:
|
||||
A dictionary with parameter names as keys and their default values as float.
|
||||
"""
|
||||
try:
|
||||
mlog = mavutil.mavlink_connection(logfile)
|
||||
except Exception as e:
|
||||
raise SystemExit("Error opening the %s logfile: %s" % (logfile, str(e))) from e
|
||||
defaults = {}
|
||||
while True:
|
||||
m = mlog.recv_match(type=['PARM'])
|
||||
if m is None:
|
||||
if not defaults:
|
||||
raise SystemExit(NO_DEFAULT_VALUES_MESSAGE)
|
||||
return defaults
|
||||
pname = m.Name
|
||||
if len(pname) > PARAM_NAME_MAX_LEN:
|
||||
raise SystemExit("Too long parameter name: %s" % pname)
|
||||
if not re.match(PARAM_NAME_REGEX, pname):
|
||||
raise SystemExit("Invalid parameter name %s" % pname)
|
||||
# parameter names are supposed to be unique
|
||||
if pname not in defaults and hasattr(m, 'Default'):
|
||||
defaults[pname] = m.Default # the first time default is declared is enough
|
||||
|
||||
|
||||
def missionplanner_sort(item: str) -> Tuple[str, ...]:
|
||||
"""
|
||||
Sorts a parameter name according to the rules defined in the Mission Planner software.
|
||||
|
||||
Args:
|
||||
item: The parameter name to sort.
|
||||
|
||||
Returns:
|
||||
A tuple representing the sorted parameter name.
|
||||
"""
|
||||
parts = item.split("_") # Split the parameter name by underscore
|
||||
# Compare the parts separately
|
||||
return tuple(parts)
|
||||
|
||||
|
||||
def mavproxy_sort(item: str) -> str:
|
||||
"""
|
||||
Sorts a parameter name according to the rules defined in the MAVProxy software.
|
||||
|
||||
Args:
|
||||
item: The parameter name to sort.
|
||||
|
||||
Returns:
|
||||
The sorted parameter name.
|
||||
"""
|
||||
return item
|
||||
|
||||
|
||||
def sort_params(defaults: Dict[str, float], sort_type: str = 'none') -> Dict[str, float]:
|
||||
"""
|
||||
Sorts parameter names according to sort_type
|
||||
|
||||
Args:
|
||||
defaults: A dictionary with parameter names as keys and their default values as float.
|
||||
sort_type: The type of sorting to apply. Can be 'none', 'missionplanner', 'mavproxy' or 'qgcs'.
|
||||
|
||||
Returns:
|
||||
A dictionary with parameter names as keys and their default values as float.
|
||||
"""
|
||||
if sort_type == "missionplanner":
|
||||
defaults = dict(sorted(defaults.items(), key=lambda x: missionplanner_sort(x[0])))
|
||||
elif sort_type == "mavproxy":
|
||||
defaults = dict(sorted(defaults.items(), key=lambda x: mavproxy_sort(x[0])))
|
||||
elif sort_type == "qgcs":
|
||||
defaults = {k: defaults[k] for k in sorted(defaults)}
|
||||
return defaults
|
||||
|
||||
|
||||
def output_params(defaults: Dict[str, float], format_type: str = 'missionplanner',
|
||||
sysid: int = -1, compid: int = -1) -> None:
|
||||
"""
|
||||
Outputs parameters names and their default values to the console
|
||||
|
||||
Args:
|
||||
defaults: A dictionary with parameter names as keys and their default values as float.
|
||||
format_type: The output file format. Can be 'missionplanner', 'mavproxy' or 'qgcs'.
|
||||
|
||||
Returns:
|
||||
None
|
||||
"""
|
||||
if format_type == "qgcs":
|
||||
if sysid == -1:
|
||||
if 'SYSID_THISMAV' in defaults:
|
||||
sysid = defaults['SYSID_THISMAV']
|
||||
else:
|
||||
sysid = 1 # if unspecified, default to 1
|
||||
if compid == -1:
|
||||
compid = 1 # if unspecified, default to 1
|
||||
if sysid < 0:
|
||||
raise SystemExit("Invalid system ID parameter %i must not be negative" % sysid)
|
||||
if sysid > MAVLINK_SYSID_MAX-1:
|
||||
raise SystemExit("Invalid system ID parameter %i must be smaller than %i" % (sysid, MAVLINK_SYSID_MAX))
|
||||
if compid < 0:
|
||||
raise SystemExit("Invalid component ID parameter %i must not be negative" % compid)
|
||||
if compid > MAVLINK_COMPID_MAX-1:
|
||||
raise SystemExit("Invalid component ID parameter %i must be smaller than %i" % (compid, MAVLINK_COMPID_MAX))
|
||||
# see https://dev.qgroundcontrol.com/master/en/file_formats/parameters.html
|
||||
print("""
|
||||
# # Vehicle-Id Component-Id Name Value Type
|
||||
""")
|
||||
|
||||
for param_name, default_value in defaults.items():
|
||||
if format_type == "missionplanner":
|
||||
try:
|
||||
default_value = format(default_value, '.6f').rstrip('0').rstrip('.')
|
||||
except ValueError:
|
||||
pass # preserve non-floating point strings, if present
|
||||
print(f"{param_name},{default_value}")
|
||||
elif format_type == "mavproxy":
|
||||
print("%-15s %.6f" % (param_name, default_value))
|
||||
elif format_type == "qgcs":
|
||||
MAV_PARAM_TYPE_REAL32 = 9
|
||||
print("%u %u %-15s %.6f %u" %
|
||||
(sysid, compid, param_name, default_value, MAV_PARAM_TYPE_REAL32))
|
||||
|
||||
|
||||
def main():
|
||||
args = parse_arguments()
|
||||
parameter_default_values = extract_parameter_default_values(args.bin_file)
|
||||
parameter_default_values = sort_params(parameter_default_values, args.sort)
|
||||
output_params(parameter_default_values, args.format, args.sysid, args.compid)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Loading…
Reference in New Issue