mirror of https://github.com/ArduPilot/ardupilot
Tools: sim_vehicle.py: print possible frame types in help message
This commit is contained in:
Peter Barker
parent
dd9de7dfb5
commit
fec23f6abe
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@ -19,6 +19,7 @@ import signal
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import subprocess
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import sys
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import tempfile
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import textwrap
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import time
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import shlex
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@ -37,8 +38,56 @@ class CompatError(Exception):
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class CompatOptionParser(optparse.OptionParser):
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"""An option parser which emulates the behaviour of the old sim_vehicle.sh; if passed -C, the first argument not understood starts a list of arguments that are passed straight to mavproxy"""
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class CustomFormatter(optparse.IndentedHelpFormatter):
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def __init__(self, *args, **kwargs):
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optparse.IndentedHelpFormatter.__init__(self,*args, **kwargs)
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# taken and modified from from optparse.py's format_option
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def format_option_preserve_nl(self, option):
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# The help for each option consists of two parts:
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# * the opt strings and metavars
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# eg. ("-x", or "-fFILENAME, --file=FILENAME")
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# * the user-supplied help string
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# eg. ("turn on expert mode", "read data from FILENAME")
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#
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# If possible, we write both of these on the same line:
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# -x turn on expert mode
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#
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# But if the opt string list is too long, we put the help
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# string on a second line, indented to the same column it would
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# start in if it fit on the first line.
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# -fFILENAME, --file=FILENAME
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# read data from FILENAME
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result = []
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opts = self.option_strings[option]
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opt_width = self.help_position - self.current_indent - 2
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if len(opts) > opt_width:
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opts = "%*s%s\n" % (self.current_indent, "", opts)
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indent_first = self.help_position
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else: # start help on same line as opts
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opts = "%*s%-*s " % (self.current_indent, "", opt_width, opts)
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indent_first = 0
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result.append(opts)
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if option.help:
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help_text = self.expand_default(option)
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tw = textwrap.TextWrapper(replace_whitespace=False, initial_indent="", subsequent_indent=" ", width=self.help_width)
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for line in help_text.split("\n"):
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help_lines = tw.wrap(line)
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for line in help_lines:
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result.extend(["%*s%s\n" % (self.help_position, "", line)])
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elif opts[-1] != "\n":
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result.append("\n")
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return "".join(result)
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def format_option(self, option):
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if str(option).find('frame') != -1:
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return self.format_option_preserve_nl(option)
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return optparse.IndentedHelpFormatter.format_option(self, option)
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def __init__(self, *args, **kwargs):
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optparse.OptionParser.__init__(self, *args, **kwargs)
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formatter = CompatOptionParser.CustomFormatter()
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optparse.OptionParser.__init__(self, *args, formatter=formatter, **kwargs)
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def error(self, error):
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"""Override default error handler called by optparse.OptionParser.parse_args when a parse error occurs; raise a detailed exception which can be caught"""
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@ -158,11 +207,13 @@ def kill_tasks():
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'runsim.py',
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'AntennaTracker.elf',
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}
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for frame in _options_for_frame.keys():
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if "waf_target" not in _options_for_frame[frame]:
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continue
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exe_name = os.path.basename(_options_for_frame[frame]["waf_target"])
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victim_names.add(exe_name)
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for vehicle in _options:
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for frame in _options[vehicle]["frames"]:
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frame_info = _options[vehicle]["frames"][frame]
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if "waf_target" not in frame_info:
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continue
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exe_name = os.path.basename(frame_info["waf_target"])
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victim_names.add(exe_name)
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if under_cygwin():
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return kill_tasks_cygwin(victim_names)
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@ -229,154 +280,173 @@ make_target: option passed to make to create binaries. Usually sitl, and "-debu
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default_params_filename: filename of default parameters file. Taken to be relative to autotest dir.
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extra_mavlink_cmds: extra parameters that will be passed to mavproxy
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"""
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_options_for_frame = {
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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# COPTER
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"+": {
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"waf_target": "bin/arducopter",
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_options = {
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"ArduCopter": {
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"frames": {
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# COPTER
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"+": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"quad": {
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"model": "+",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"X": {
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"waf_target": "bin/arducopter",
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# this param set FRAME doesn't actually work because mavproxy
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# won't set a parameter unless it knows of it, and the param fetch happens asynchronously
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"default_params_filename": "default_params/copter.parm",
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"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
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},
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"hexa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"octa-quad": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"octa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"tri": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-tri.parm",
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},
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"y6": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-y6.parm",
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},
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"firefly": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/firefly.parm",
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},
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# SIM
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"IrisRos": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"gazebo-iris": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/gazebo-iris.parm",
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},
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# HELICOPTER
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"heli": {
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"make_target": "sitl-heli",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli.parm",
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},
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"heli-dual": {
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"make_target": "sitl-heli-dual",
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"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
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},
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"heli-compound": {
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"make_target": "sitl-heli-compound",
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"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
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},
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"singlecopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-single.parm",
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},
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"coaxcopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-coax.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"quad": {
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"model": "+",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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"ArduPlane": {
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"frames": {
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# PLANE
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"quadplane-tilttri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttri.parm",
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},
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"quadplane-tri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tri.parm",
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},
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"quadplane-cl84" : {
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"make_target" : "sitl",
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"waf_target" : "bin/arduplane",
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"default_params_filename": "default_params/quadplane-cl84.parm",
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},
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"quadplane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane.parm",
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},
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"plane-elevon": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-elevons.parm",
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},
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"plane-vtail": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-vtail.parm",
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},
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"plane-tailsitter": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-tailsitter.parm",
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},
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"plane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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},
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"gazebo-zephyr": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/gazebo-zephyr.parm",
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},
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"last_letter": {
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"waf_target": "bin/arduplane",
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},
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"CRRCSim": {
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"waf_target": "bin/arduplane",
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},
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"jsbsim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-jsbsim.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"X": {
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"waf_target": "bin/arducopter",
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# this param set FRAME doesn't actually work because mavproxy
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# won't set a parameter unless it knows of it, and the param fetch happens asynchronously
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"default_params_filename": "default_params/copter.parm",
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"extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
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"APMrover2": {
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"frames": {
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# ROVER
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"rover": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover.parm",
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},
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"rover-skid": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover-skid.parm",
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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},
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},
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},
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"hexa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"octa-quad": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"octa": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"tri": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-tri.parm",
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},
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"y6": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-y6.parm",
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},
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# COPTER TYPES
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"IrisRos": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter.parm",
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},
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"firefly": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/firefly.parm",
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},
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# HELICOPTER
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"heli": {
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"make_target": "sitl-heli",
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"waf_target": "bin/arducopter-heli",
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"default_params_filename": "default_params/copter-heli.parm",
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},
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"heli-dual": {
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"make_target": "sitl-heli-dual",
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"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
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},
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"heli-compound": {
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"make_target": "sitl-heli-compound",
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"waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
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},
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"singlecopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-single.parm",
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},
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"coaxcopter": {
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"make_target": "sitl",
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/copter-coax.parm",
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},
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# PLANE
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"quadplane-tilttri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tilttri.parm",
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},
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"quadplane-tri": {
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"make_target": "sitl",
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane-tri.parm",
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},
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"quadplane-cl84" : {
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"make_target" : "sitl",
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"waf_target" : "bin/arduplane",
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"default_params_filename": "default_params/quadplane-cl84.parm",
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},
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"quadplane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/quadplane.parm",
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},
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"plane-elevon": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-elevons.parm",
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},
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"plane-vtail": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-vtail.parm",
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},
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"plane-tailsitter": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-tailsitter.parm",
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},
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"plane": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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},
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# ROVER
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"rover": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover.parm",
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},
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"rover-skid": {
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"waf_target": "bin/ardurover",
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"default_params_filename": "default_params/rover-skid.parm",
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},
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# SUB
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"sub": {
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"model": "vectored",
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"waf_target": "bin/ardusub",
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"default_params_filename": "default_params/sub.parm",
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},
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# SIM
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"gazebo-iris": {
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"waf_target": "bin/arducopter",
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"default_params_filename": "default_params/gazebo-iris.parm",
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},
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"gazebo-zephyr": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/gazebo-zephyr.parm",
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},
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"last_letter": {
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"waf_target": "bin/arduplane",
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},
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"CRRCSim": {
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"waf_target": "bin/arduplane",
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},
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"jsbsim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-jsbsim.parm",
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"ArduSub": {
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"frames": {
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"vectored": {
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"waf_target": "bin/ardusub",
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"default_params_filename": "default_params/sub.parm",
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},
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},
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},
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}
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@ -397,16 +467,17 @@ def default_waf_target(vehicle):
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def options_for_frame(frame, vehicle, opts):
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"""Return informatiom about how to sitl for frame e.g. build-type==sitl"""
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ret = None
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if frame in _options_for_frame:
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ret = _options_for_frame[frame]
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frames = _options[vehicle]["frames"]
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if frame in frames:
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ret = _options[vehicle]["frames"][frame]
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else:
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for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane"]:
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if frame.startswith(p):
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ret = _options_for_frame[p]
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ret = _options[vehicle]["frames"][p]
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break
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if ret is None:
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if frame.endswith("-heli"):
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ret = _options_for_frame["heli"]
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ret = _options[vehicle]["frames"]["heli"]
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if ret is None:
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ret = {}
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@ -731,7 +802,14 @@ default_frame_for_vehicle = {
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"ArduSub": "vectored",
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"AntennaTracker": "tracker",
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}
|
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vehicle_options_string = '|'.join(default_frame_for_vehicle.keys())
|
||||
vehicle_options_string = '|'.join(_options.keys())
|
||||
|
||||
def generate_frame_help():
|
||||
ret = ""
|
||||
for vehicle in _options:
|
||||
frame_options_string = '|'.join(_options[vehicle]["frames"].keys())
|
||||
ret += "%s: %s\n" % (vehicle, frame_options_string)
|
||||
return ret
|
||||
|
||||
# define and run parser
|
||||
parser = CompatOptionParser("sim_vehicle.py",
|
||||
|
|
@ -742,9 +820,9 @@ parser = CompatOptionParser("sim_vehicle.py",
|
|||
"simulate ArduPlane")
|
||||
|
||||
parser.add_option("-v", "--vehicle", type='choice', default=None, help="vehicle type (%s)" % vehicle_options_string, choices=default_frame_for_vehicle.keys())
|
||||
parser.add_option("-f", "--frame", type='string', default=None, help="""set aircraft frame type
|
||||
for copters can choose +, X, quad or octa
|
||||
for planes can choose elevon or vtail""")
|
||||
parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
|
||||
|
||||
%s""" % (generate_frame_help()))
|
||||
parser.add_option("-C", "--sim_vehicle_sh_compatible", action='store_true', default=False, help="be compatible with the way sim_vehicle.sh works; make this the first option")
|
||||
parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL")
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue