Tools: param_metadata: remove use of dirname when creating Vehicle

So a Vehicle object takes a truename - i.e. Copter, not ArduCopter, but
can also take a "reference", which is used for e.g. constructing RST
tags.

Tools/autotest/param_metadata/htmlemit.py

@@ -51,7 +51,7 @@ DO NOT EDIT
         pass
 
     def emit(self, g):
-        tag = '%s Parameters' % g.name
+        tag = '%s Parameters' % g.reference
         t = '\n\n<h1>%s</h1>\n' % tag
 
         for param in g.params:

Tools/autotest/param_metadata/jsonemit.py

@@ -33,10 +33,7 @@ class JSONEmit(Emit):
         # Copy content to avoid any modification
         g = copy.deepcopy(g)
 
-        # Get vehicle name
-        if 'truename' in g.__dict__:
-            self.name = g.__dict__['truename']
-            self.content[self.name] = {}
+        self.content[self.name] = {}
 
         # Check all params available
         for param in g.params:

Tools/autotest/param_metadata/mdemit.py

@@ -48,16 +48,16 @@ class MDEmit(Emit):
     def emit(self, g):
         nparam = False # Flag indicating this is a parameter group with redundant information (ie RCn_, SERVOn_)
         
-        if g.name == 'ArduSub':
+        if g.reference == 'ArduSub':
             self.blacklist = sub_blacklist
         
-        if self.blacklist is not None and g.name in self.blacklist:
+        if self.blacklist is not None and g.reference in self.blacklist:
             return
         
-        pname = g.name
+        pname = g.reference
         
         # Check to see this is a parameter group with redundant information
-        rename = re.sub('\d+', 'n', g.name)
+        rename = re.sub('\d+', 'n', g.reference)
         if rename in nparams:
             if rename in self.nparams:
                 return

Tools/autotest/param_metadata/param.py

@@ -6,19 +6,24 @@ class Parameter(object):
 
 
 class Vehicle(object):
-    def __init__(self, name, path, truename=None):
-        if truename is not None:
-            self.truename = truename
+    def __init__(self, name, path, reference=None):
         self.name = name
         self.path = path
+        self.reference = reference
+        if reference is None:
+            self.reference = self.truename
         self.params = []
 
 
 class Library(object):
     def __init__(self, name):
-        self.name = name
+        self.set_name(name)
         self.params = []
 
+    def set_name(self, name):
+        self.name = name
+        self.reference = name
+
 known_param_fields = [
              'Description',
              'DisplayName',

Tools/autotest/param_metadata/param_parse.py

@@ -123,12 +123,14 @@ truename_map = {
     "AP_Periph": "AP_Periph",
 }
 valid_truenames = frozenset(truename_map.values())
+truename = truename_map.get(args.vehicle, args.vehicle)
 
 vehicle_path = find_vehicle_parameter_filepath(args.vehicle)
 
-name = os.path.basename(os.path.dirname(vehicle_path))
+basename = os.path.basename(os.path.dirname(vehicle_path))
 path = os.path.normpath(os.path.dirname(vehicle_path))
-vehicle = Vehicle(name, path, truename_map[name])
+reference = basename  # so links don't break we use ArduCopter
+vehicle = Vehicle(truename, path, reference=reference)
 debug('Found vehicle type %s' % vehicle.name)
 
 
@@ -168,7 +170,7 @@ def process_vehicle(vehicle):
                     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)
+        p = Parameter(vehicle.reference+":"+param_name, current_file)
         debug(p.name + ' ')
         global current_param
         current_param = p.name
@@ -237,7 +239,7 @@ def process_library(vehicle, library, pathprefix=None):
                 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:
+                if vehicle.name not in only_vehicles_list:
                     continue
             p = Parameter(library.name+param_name, current_file)
             debug(p.name + ' ')
@@ -264,11 +266,11 @@ def process_library(vehicle, library, pathprefix=None):
                 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)))
+                debug("field[0]=%s vehicle=%s field[1]=%s only_for_vehicles=%s\n" %
+                      (field[0], vehicle.name, field[1], str(only_for_vehicles)))
                 value = re.sub('@PREFIX@', library.name, field[2])
                 if field[0] in ['Values', 'Bitmask']:
-                    if vehicle.truename in only_for_vehicles:
+                    if vehicle.name in only_for_vehicles:
                         this_vehicle_values_seen = True
                         this_vehicle_value = value
                         if len(only_for_vehicles) > 1:
@@ -314,7 +316,7 @@ def process_library(vehicle, library, pathprefix=None):
                     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
+                    lib.set_name(library.name + lib.name)
                 debug("Group name: %s" % lib.name)
                 process_library(vehicle, lib, os.path.dirname(libraryfname))
                 if do_append:

Tools/autotest/param_metadata/rstemit.py

@@ -190,8 +190,8 @@ This list is automatically generated from the latest ardupilot source code, and
         return self.tablify(rows, headings=render_info["headings"])
 
     def emit(self, g):
-        tag = '%s Parameters' % self.escape(g.name)
-        reference = "parameters_" + g.name
+        tag = '%s Parameters' % self.escape(g.reference)
+        reference = "parameters_" + g.reference
 
         field_table_info = {
             "Values": {

Tools/autotest/param_metadata/xmlemit.py

@@ -33,7 +33,7 @@ class XmlEmit(Emit):
         self.current_element = self.libraries
 
     def emit(self, g):
-        xml_parameters = etree.SubElement(self.current_element, 'parameters', name=g.name)  # i.e. ArduPlane
+        xml_parameters = etree.SubElement(self.current_element, 'parameters', name=g.reference)  # i.e. ArduPlane
 
         for param in g.params:
             # Begin our parameter node

Tools/autotest/param_metadata/xmlemit_mp.py

@@ -43,7 +43,7 @@ class XmlEmitMP(Emit):
     def emit(self, g):
         t = ""
         if not self.skip_name:
-            self.gname = g.name
+            self.gname = g.reference
             if self.gname == "ArduCopter":
                 self.gname = "ArduCopter2"
             if self.gname == "APMrover2" or self.gname == "Rover":