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APM Planner - code only 

add yaw to config screen.
intergrate adams changes
this will force an update, but not the main exe
This commit is contained in:
Michael Oborne 2012-04-26 08:01:08 +08:00
parent 054aacbdf3
commit c6d91a5b25
11 changed files with 428 additions and 78 deletions
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66
Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml
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@ -101,6 +101,70 @@ Too high = slow wobbles
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Yaw Angular Rate Control:</SUBHEAD>
<DESC>How much throttle is applied to rotate the copter at the desired speed.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>RATE_YAW_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>RATE_YAW_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>RATE_YAW_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>RATE_YAW_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Yaw Stabilize Control:</SUBHEAD>
<DESC>
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>STB_YAW_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>10</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>STB_YAW_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>STB_YAW_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
</Item>
<!-- Loiter -->
<Item>
@ -140,7 +204,7 @@ How much angle is applied to make the copter accelerate to the desired speed.
<PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>0.1</STEP>
<STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Loiter Speed:</SUBHEAD>

1
Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
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@ -226,6 +226,7 @@
<Compile Include="Attributes\DisplayTextAttribute.cs" />
<Compile Include="Attributes\PrivateAttribute.cs" />
<Compile Include="CodeGen.cs" />
<Compile Include="Utilities\CollectionExtensions.cs" />
<Compile Include="Utilities\ParameterMetaDataConstants.cs" />
<Compile Include="Controls\BackstageView\BackstageView.cs">
<SubType>UserControl</SubType>

14
Tools/ArdupilotMegaPlanner/MainV2.cs
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@ -1733,8 +1733,18 @@ namespace ArdupilotMega
static void DoUpdateWorker_DoWork(object sender, Controls.ProgressWorkerEventArgs e)
{
((ProgressReporterDialogue)sender).UpdateProgressAndStatus(-1, "Getting Base URL");
MainV2.updateCheckMain((ProgressReporterDialogue)sender);
// TODO: Is this the right place?
#region Fetch Parameter Meta Data
var progressReporterDialogue = ((ProgressReporterDialogue) sender);
progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Updated Parameters");
ParameterMetaDataParser.GetParameterInformation();
#endregion Fetch Parameter Meta Data
progressReporterDialogue.UpdateProgressAndStatus(-1, "Getting Base URL");
MainV2.updateCheckMain(progressReporterDialogue);
}
private static bool updateCheck(ProgressReporterDialogue frmProgressReporter, string baseurl, string subdir)

BIN
Tools/ArdupilotMegaPlanner/Msi/wix.pdb
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47
Tools/ArdupilotMegaPlanner/Utilities/CollectionExtensions.cs Normal file
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@ -0,0 +1,47 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace ArdupilotMega.Utilities
{
public static class CollectionExtensions
{
/// <summary>
/// Performs the specified <paramref name="action"/> on each element of the <paramref name="enumerable"/>.
///
/// </summary>
/// <param name="enumerable">An enumerable instance.
/// </param><param name="action"/>
public static void ForEach(this IEnumerable enumerable, Action<object> action)
{
foreach (object obj in enumerable)
action(obj);
}
/// <summary>
/// Performs the specified <paramref name="action"/> on each element of the <paramref name="enumerable"/>.
///
/// </summary>
/// <param name="enumerable">An enumerable instance.
/// </param><param name="action"/>
public static void ForEach<T>(this IEnumerable enumerable, Action<T> action)
{
foreach (T obj in enumerable)
action(obj);
}
/// <summary>
/// Performs the specified <paramref name="action"/> on each element of the <paramref name="enumerable"/>.
///
/// </summary>
/// <typeparam name="T">The type contained in the <paramref name="enumerable"/>.
/// </typeparam><param name="enumerable"/><param name="action"/>
public static void ForEach<T>(this IEnumerable<T> enumerable, Action<T> action)
{
foreach (T obj in enumerable)
action(obj);
}
}
}

14
Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataConstants.cs
View File

@ -2,11 +2,23 @@
{
public sealed class ParameterMetaDataConstants
{
public const string Delimeter = "@";
#region Markers
public const string ParamDelimeter = "@";
public const string PathDelimeter = ",";
public const string Param = "Param";
public const string Group = "Group";
public const string Path = "Path";
#endregion
#region Meta Keys
public const string DisplayName = "DisplayName";
public const string Description = "Description";
public const string Units = "Units";
public const string Range = "Range";
#endregion
}
}

239
Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataParser.cs
View File

@ -7,13 +7,15 @@ using System.Net;
using System.Text.RegularExpressions;
using System.Windows.Forms;
using System.Xml;
using ArdupilotMega.Utilities;
using log4net;
namespace ArdupilotMega.Utilities
{
public static class ParameterMetaDataParser
{
private static readonly Regex _paramMetaRegex = new Regex(String.Format("{0}(?<MetaKey>[^:]+):(?<MetaValue>.+)", ParameterMetaDataConstants.Delimeter));
private static readonly Regex _paramMetaRegex = new Regex(String.Format("{0}(?<MetaKey>[^:]+):(?<MetaValue>.+)", ParameterMetaDataConstants.ParamDelimeter));
private static readonly Regex _parentDirectoryRegex = new Regex("(?<ParentDirectory>[../]*)(?<Path>.+)");
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
@ -33,53 +35,18 @@ namespace ArdupilotMega.Utilities
objXmlTextWriter.WriteStartDocument();
foreach (string parameterLocation in parameterLocations)
{
log.Info(parameterLocation);
var request = WebRequest.Create(parameterLocation);
// Plenty of timeout
request.Timeout = 10000;
// Set the Method property of the request to GET.
request.Method = "GET";
// Get the response.
using (var response = request.GetResponse())
{
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
using (var dataStream = response.GetResponseStream())
{
if (dataStream != null)
{
// Open the stream using a StreamReader for easy access.
using (var reader = new StreamReader(dataStream))
{
// Write the start element for this parameter location
objXmlTextWriter.WriteStartElement(parameterLocation);
objXmlTextWriter.WriteStartElement(parameterLocation.ToLower().Contains("arducopter") ? MainV2.Firmwares.ArduCopter2.ToString() : MainV2.Firmwares.ArduPlane.ToString());
// Read and parse the content.
ParseParameterInformation(reader.ReadToEnd(), objXmlTextWriter);
string dataFromAddress = ReadDataFromAddress(parameterLocation);
ParseGroupInformation(dataFromAddress, objXmlTextWriter, parameterLocation);
ParseParameterInformation(dataFromAddress, objXmlTextWriter);
// Write the end element for this parameter location
objXmlTextWriter.WriteEndElement();
// Close the reader
reader.Close();
}
// Close the datastream
dataStream.Close();
}
}
// Close the response
response.Close();
}
}
// Clear the stream
@ -90,6 +57,67 @@ namespace ArdupilotMega.Utilities
}
}
/// <summary>
/// Parses the group parameter information.
/// </summary>
/// <param name="fileContents">The file contents.</param>
/// <param name="objXmlTextWriter">The obj XML text writer.</param>
/// <param name="parameterLocation">The parameter location.</param>
private static void ParseGroupInformation(string fileContents, XmlTextWriter objXmlTextWriter, string parameterLocation)
{
var parsedInformation = ParseKeyValuePairs(fileContents, ParameterMetaDataConstants.Group);
if (parsedInformation != null && parsedInformation.Count > 0)
{
// node is the prefix of the parameter group here
parsedInformation.ForEach(node =>
{
// node.Value is a nested dictionary containing the additional meta data
// In this case we are looking for the @Path key
if (node.Value != null && node.Value.Count > 0)
{
// Find the @Path key
node.Value
.Where(meta => meta.Key == ParameterMetaDataConstants.Path)
// We might have multiple paths to inspect, so break them out by the delimeter
.ForEach(path => path.Value.Split(new []{ ParameterMetaDataConstants.PathDelimeter }, StringSplitOptions.None)
.ForEach(separatedPath =>
{
// Match based on the regex defined at the top of this class
Match pathMatch = _parentDirectoryRegex.Match(separatedPath);
if (pathMatch.Success && pathMatch.Groups["Path"] != null && !String.IsNullOrEmpty(pathMatch.Groups["Path"].Value))
{
if (pathMatch.Groups["ParentDirectory"] != null && !String.IsNullOrEmpty(pathMatch.Groups["ParentDirectory"].Value))
{
// How many directories from the original path do we have to move
int numberOfParentDirectoryMoves = pathMatch.Groups["ParentDirectory"].Value.Split(new string[] { "../" }, StringSplitOptions.None).Count();
// We need to remove the http:// or https:// prefix to build the new URL properly
string httpTest = parameterLocation.Substring(0, 7);
int trimHttpPrefixIdx = httpTest == "http://" ? 7 : 8;
// Get the parts of the original URL
var parameterLocationParts = parameterLocation.Substring(trimHttpPrefixIdx, parameterLocation.Length - trimHttpPrefixIdx).Split(new char[] { '/' });
// Rebuild the new url taking into account the numberOfParentDirectoryMoves
string urlAfterParentDirectory = string.Empty;
for (int i = 0; i < parameterLocationParts.Length && i < parameterLocationParts.Length - numberOfParentDirectoryMoves; i++)
{
urlAfterParentDirectory += parameterLocationParts[i] + "/";
}
// This is the URL of the file we need to parse for comments
string newPath = String.Format("{0}{1}{2}", parameterLocation.Substring(0, trimHttpPrefixIdx), urlAfterParentDirectory, pathMatch.Groups["Path"].Value);
// Parse the param info from the newly constructed URL
ParseParameterInformation(ReadDataFromAddress(newPath), objXmlTextWriter, node.Key);
}
}
}));
}
});
}
}
/// <summary>
/// Parses the parameter information.
/// </summary>
@ -97,8 +125,50 @@ namespace ArdupilotMega.Utilities
/// <param name="objXmlTextWriter">The obj XML text writer.</param>
private static void ParseParameterInformation(string fileContents, XmlTextWriter objXmlTextWriter)
{
ParseParameterInformation(fileContents, objXmlTextWriter, string.Empty);
}
/// <summary>
/// Parses the parameter information.
/// </summary>
/// <param name="fileContents">The file contents.</param>
/// <param name="objXmlTextWriter">The obj XML text writer.</param>
/// <param name="parameterPrefix">The parameter prefix.</param>
private static void ParseParameterInformation(string fileContents, XmlTextWriter objXmlTextWriter, string parameterPrefix)
{
var parsedInformation = ParseKeyValuePairs(fileContents, ParameterMetaDataConstants.Param);
if(parsedInformation != null && parsedInformation.Count > 0)
{
parsedInformation.ForEach(node =>
{
objXmlTextWriter.WriteStartElement(String.Format("{0}{1}", parameterPrefix, node.Key));
if (node.Value != null && node.Value.Count > 0)
{
node.Value.ForEach(meta =>
{
// Write the key value pair to XML
objXmlTextWriter.WriteStartElement(meta.Key);
objXmlTextWriter.WriteString(meta.Value);
objXmlTextWriter.WriteEndElement();
});
}
objXmlTextWriter.WriteEndElement();
});
}
}
/// <summary>
/// Parses the parameter information.
/// </summary>
/// <param name="fileContents">The file contents.</param>
/// <param name="nodeKey">The node key.</param>
/// <returns></returns>
private static Dictionary<string, Dictionary<string, string>> ParseKeyValuePairs(string fileContents, string nodeKey)
{
var returnDict = new Dictionary<string, Dictionary<string, string>>();
var indicies = new List<int>();
GetIndexOfMarkers(ref indicies, fileContents, ParameterMetaDataConstants.Delimeter + ParameterMetaDataConstants.Param, 0);
GetIndexOfMarkers(ref indicies, fileContents, ParameterMetaDataConstants.ParamDelimeter + nodeKey, 0);
if(indicies.Count > 0)
{
@ -113,7 +183,7 @@ namespace ArdupilotMega.Utilities
if(!String.IsNullOrEmpty(subStringToSearch))
{
var metaIndicies = new List<int>();
GetIndexOfMarkers(ref metaIndicies, subStringToSearch, ParameterMetaDataConstants.Delimeter, 0);
GetIndexOfMarkers(ref metaIndicies, subStringToSearch, ParameterMetaDataConstants.ParamDelimeter, 0);
if(metaIndicies.Count > 0)
{
@ -123,10 +193,12 @@ namespace ArdupilotMega.Utilities
// Match based on the regex defined at the top of this class
Match paramNameKeyMatch = _paramMetaRegex.Match(paramNameKey);
if (paramNameKeyMatch.Success && paramNameKeyMatch.Groups["MetaKey"].Value == ParameterMetaDataConstants.Param)
if (paramNameKeyMatch.Success && paramNameKeyMatch.Groups["MetaKey"].Value == nodeKey)
{
string key = paramNameKeyMatch.Groups["MetaValue"].Value.Trim(new char[] {' '});
var metaDict = new Dictionary<string, string>();
if(!returnDict.ContainsKey(key))
{
objXmlTextWriter.WriteStartElement(paramNameKeyMatch.Groups["MetaValue"].Value.Trim(new char[] { ' ' }));
// Loop through the indicies of the meta data found
for (int x = 1; x < metaIndicies.Count; x++)
{
@ -143,20 +215,21 @@ namespace ArdupilotMega.Utilities
// Test for success
if (metaMatch.Success)
{
// Write the key value pair to XML
objXmlTextWriter.WriteStartElement(metaMatch.Groups["MetaKey"].Value.Trim(new char[] { ' ' }));
objXmlTextWriter.WriteString(metaMatch.Groups["MetaValue"].Value.Trim(new char[] { ' ' }));
objXmlTextWriter.WriteEndElement();
string metaKey = metaMatch.Groups["MetaKey"].Value.Trim(new char[] {' '});
if(!metaDict.ContainsKey(metaKey))
{
metaDict.Add(metaKey, metaMatch.Groups["MetaValue"].Value.Trim(new char[] { ' ' }));
}
}
// End this parameter node
objXmlTextWriter.WriteEndElement();
}
}
returnDict.Add(key, metaDict);
}
}
}
}
}
return returnDict;
}
/// <summary>
@ -188,5 +261,67 @@ namespace ArdupilotMega.Utilities
}
}
}
/// <summary>
/// Reads the data from address.
/// </summary>
/// <param name="address">The address.</param>
/// <returns></returns>
private static string ReadDataFromAddress(string address)
{
string data = string.Empty;
log.Info(address);
// Make sure we don't blow up if the user is not connected or the endpoint is not available
try
{
var request = WebRequest.Create(address);
// Plenty of timeout
request.Timeout = 10000;
// Set the Method property of the request to GET.
request.Method = "GET";
// Get the response.
using (var response = request.GetResponse())
{
// Display the status.
log.Info(((HttpWebResponse)response).StatusDescription);
// Get the stream containing content returned by the server.
using (var dataStream = response.GetResponseStream())
{
if (dataStream != null)
{
// Open the stream using a StreamReader for easy access.
using (var reader = new StreamReader(dataStream))
{
// Store the data to return
data = reader.ReadToEnd();
// Close the reader
reader.Close();
}
// Close the datastream
dataStream.Close();
}
}
// Close the response
response.Close();
}
// Return the data
return data;
}
catch (WebException ex)
{
log.Error(String.Format("The request to {0} failed.", address), ex);
}
return string.Empty;
}
}
}

15
Tools/ArdupilotMegaPlanner/Utilities/ParameterMetaDataRepository.cs
View File

@ -3,6 +3,7 @@ using System.Configuration;
using System.IO;
using System.Windows.Forms;
using System.Xml.Linq;
using System.Linq;
namespace ArdupilotMega.Utilities
{
@ -32,7 +33,19 @@ namespace ArdupilotMega.Utilities
{
// Use this to find the endpoint node we are looking for
// Either it will be pulled from a file in the ArduPlane hierarchy or the ArduCopter hierarchy
string endpointSearchString = (MainV2.cs.firmware == MainV2.Firmwares.ArduPlane) ? "arduplane" : "arducopter";
var element = _parameterMetaDataXML.Element(MainV2.cs.firmware.ToString());
if(element != null && element.HasElements)
{
var node = element.Element(nodeKey);
if(node != null && node.HasElements)
{
var metaValue = node.Element(metaKey);
if(metaValue != null)
{
return metaValue.Value;
}
}
}
}
return string.Empty;
}

4
Tools/ArdupilotMegaPlanner/app.config
View File

@ -8,6 +8,10 @@
<appSettings>
<add key="UpdateLocation"
value="http://ardupilot-mega.googlecode.com/git/Tools/ArdupilotMegaPlanner/bin/Release/"/>
<add key="ParameterLocations"
value="http://ardupilot-mega.googlecode.com/git/ArduCopter/Parameters.pde"/>
<add key="ParameterMetaDataXMLFileName"
value="ParameterMetaData.xml"/>
</appSettings>
<log4net>
<appender name="Console" type="log4net.Appender.ConsoleAppender">

66
Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml
View File

@ -101,6 +101,70 @@ Too high = slow wobbles
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Yaw Angular Rate Control:</SUBHEAD>
<DESC>How much throttle is applied to rotate the copter at the desired speed.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>RATE_YAW_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>RATE_YAW_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>RATE_YAW_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>RATE_YAW_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Yaw Stabilize Control:</SUBHEAD>
<DESC>
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>STB_YAW_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>10</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>STB_YAW_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>STB_YAW_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
</Item>
<!-- Loiter -->
<Item>
@ -140,7 +204,7 @@ How much angle is applied to make the copter accelerate to the desired speed.
<PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>0.1</STEP>
<STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Loiter Speed:</SUBHEAD>

2
Tools/ArdupilotMegaPlanner/bin/Release/version.txt
View File

@ -1 +1 @@
1.1.4498.32482
1.1.4499.14296