mirror of https://github.com/ArduPilot/ardupilot
687 lines
25 KiB
Python
Executable File
687 lines
25 KiB
Python
Executable File
#!/usr/bin/env python
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'''Generates parameter metadata files suitable for consumption by
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ground control stations and various web services
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AP_FLAKE8_CLEAN
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'''
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from __future__ import print_function
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import copy
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import os
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import re
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import sys
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from argparse import ArgumentParser
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from param import (Library, Parameter, Vehicle, known_group_fields,
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known_param_fields, required_param_fields, required_library_param_fields, known_units)
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from htmlemit import HtmlEmit
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from rstemit import RSTEmit
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from rstlatexpdfemit import RSTLATEXPDFEmit
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from xmlemit import XmlEmit
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from mdemit import MDEmit
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from jsonemit import JSONEmit
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from xmlemit_mp import XmlEmitMP
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parser = ArgumentParser(description="Parse ArduPilot parameters.")
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parser.add_argument("-v", "--verbose", dest='verbose', action='store_true', default=False, help="show debugging output")
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parser.add_argument("--vehicle", required=True, help="Vehicle type to generate for")
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parser.add_argument("--no-emit",
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dest='emit_params',
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action='store_false',
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default=True,
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help="don't emit parameter documention, just validate")
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parser.add_argument("--format",
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dest='output_format',
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action='store',
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default='all',
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choices=['all', 'html', 'rst', 'rstlatexpdf', 'wiki', 'xml', 'json', 'edn', 'md', 'xml_mp'],
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help="what output format to use")
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args = parser.parse_args()
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# Regular expressions for parsing the parameter metadata
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prog_param = re.compile(r"@Param(?:{([^}]+)})?: (\w+).*((?:\n[ \t]*// @(\w+)(?:{([^}]+)})?: ?(.*))+)(?:\n[ \t\r]*\n|\n[ \t]+[A-Z]|\n\-\-\]\])", re.MULTILINE) # noqa
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# match e.g @Value: 0=Unity, 1=Koala, 17=Liability
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prog_param_fields = re.compile(r"[ \t]*// @(\w+): ?([^\r\n]*)")
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# match e.g @Value{Copter}: 0=Volcano, 1=Peppermint
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prog_param_tagged_fields = re.compile(r"[ \t]*// @(\w+){([^}]+)}: ([^\r\n]*)")
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prog_groups = re.compile(r"@Group: *(\w+).*((?:\n[ \t]*// @(Path): (\S+))+)", re.MULTILINE)
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apm_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../')
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def find_vehicle_parameter_filepath(vehicle_name):
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apm_tools_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../Tools/')
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vehicle_name_to_dir_name_map = {
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"Copter": "ArduCopter",
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"Plane": "ArduPlane",
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"Tracker": "AntennaTracker",
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"Sub": "ArduSub",
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}
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# first try ArduCopter/Parameters.cpp
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for top_dir in apm_path, apm_tools_path:
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path = os.path.join(top_dir, vehicle_name, "Parameters.cpp")
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if os.path.exists(path):
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return path
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# then see if we can map e.g. Copter -> ArduCopter
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if vehicle_name in vehicle_name_to_dir_name_map:
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path = os.path.join(top_dir, vehicle_name_to_dir_name_map[vehicle_name], "Parameters.cpp")
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if os.path.exists(path):
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return path
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raise ValueError("Unable to find parameters file for (%s)" % vehicle_name)
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def debug(str_to_print):
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"""Debug output if verbose is set."""
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if args.verbose:
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print(str_to_print)
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def lua_applets():
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'''return list of Library objects for lua applets and drivers'''
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lua_lib = Library("", reference="Lua Script", not_rst=True, check_duplicates=True)
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dirs = ["libraries/AP_Scripting/applets", "libraries/AP_Scripting/drivers"]
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paths = []
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for d in dirs:
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for root, dirs, files in os.walk(os.path.join(apm_path, d)):
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for file in files:
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if not file.endswith(".lua"):
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continue
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f = os.path.join(root, file)
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debug("Adding lua path %s" % f)
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# the library is expected to have the path as a relative path from within
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# a vehicle directory
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f = f.replace(apm_path, "../")
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paths.append(f)
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setattr(lua_lib, "Path", ','.join(paths))
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return lua_lib
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libraries = []
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if args.vehicle != "AP_Periph":
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# AP_Vehicle also has parameters rooted at "", but isn't referenced
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# from the vehicle in any way:
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ap_vehicle_lib = Library("", reference="VEHICLE") # the "" is tacked onto the front of param name
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setattr(ap_vehicle_lib, "Path", os.path.join('..', 'libraries', 'AP_Vehicle', 'AP_Vehicle.cpp'))
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libraries.append(ap_vehicle_lib)
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libraries.append(lua_applets())
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error_count = 0
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current_param = None
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current_file = None
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def error(str_to_print):
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"""Show errors."""
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global error_count
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error_count += 1
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if current_file is not None:
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print("Error in %s" % current_file)
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if current_param is not None:
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print("At param %s" % current_param)
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print(str_to_print)
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truename_map = {
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"Rover": "Rover",
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"ArduSub": "Sub",
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"ArduCopter": "Copter",
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"ArduPlane": "Plane",
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"AntennaTracker": "Tracker",
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"AP_Periph": "AP_Periph",
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"Blimp": "Blimp",
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}
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valid_truenames = frozenset(truename_map.values())
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truename = truename_map.get(args.vehicle, args.vehicle)
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documentation_tags_which_are_comma_separated_nv_pairs = frozenset([
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'Values',
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'Bitmask',
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])
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vehicle_path = find_vehicle_parameter_filepath(args.vehicle)
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basename = os.path.basename(os.path.dirname(vehicle_path))
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path = os.path.normpath(os.path.dirname(vehicle_path))
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reference = basename # so links don't break we use ArduCopter
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vehicle = Vehicle(truename, path, reference=reference)
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debug('Found vehicle type %s' % vehicle.name)
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def process_vehicle(vehicle):
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debug("===\n\n\nProcessing %s" % vehicle.name)
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current_file = vehicle.path+'/Parameters.cpp'
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f = open(current_file)
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p_text = f.read()
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f.close()
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group_matches = prog_groups.findall(p_text)
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debug(group_matches)
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for group_match in group_matches:
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lib = Library(group_match[0])
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fields = prog_param_fields.findall(group_match[1])
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for field in fields:
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if field[0] in known_group_fields:
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setattr(lib, field[0], field[1])
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else:
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error("group: unknown parameter metadata field '%s'" % field[0])
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if not any(lib.name == parsed_l.name for parsed_l in libraries):
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libraries.append(lib)
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param_matches = []
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param_matches = prog_param.findall(p_text)
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for param_match in param_matches:
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(only_vehicles, param_name, field_text) = (param_match[0],
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param_match[1],
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param_match[2])
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if len(only_vehicles):
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only_vehicles_list = [x.strip() for x in only_vehicles.split(",")]
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for only_vehicle in only_vehicles_list:
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if only_vehicle not in valid_truenames:
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raise ValueError("Invalid only_vehicle %s" % only_vehicle)
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if vehicle.truename not in only_vehicles_list:
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continue
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p = Parameter(vehicle.reference+":"+param_name, current_file)
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debug(p.name + ' ')
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global current_param
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current_param = p.name
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fields = prog_param_fields.findall(field_text)
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p.__field_text = field_text
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field_list = []
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for field in fields:
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(field_name, field_value) = field
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field_list.append(field[0])
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if field[0] in known_param_fields:
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value = re.sub('@PREFIX@', "", field[1]).rstrip()
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if hasattr(p, field_name):
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if field_name in documentation_tags_which_are_comma_separated_nv_pairs:
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# allow concatenation of (e.g.) bitmask fields
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x = eval("p.%s" % field_name)
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x += ", "
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x += value
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value = x
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else:
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error("%s already has field %s" % (p.name, field_name))
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setattr(p, field[0], value)
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elif field[0] in frozenset(["CopyFieldsFrom", "CopyValuesFrom"]):
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setattr(p, field[0], field[1])
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else:
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error("param: unknown parameter metadata field '%s'" % field[0])
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vehicle.params.append(p)
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current_file = None
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debug("Processed %u params" % len(vehicle.params))
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process_vehicle(vehicle)
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debug("Found %u documented libraries" % len(libraries))
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libraries = list(libraries)
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alllibs = libraries[:]
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def process_library(vehicle, library, pathprefix=None):
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'''process one library'''
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paths = library.Path.split(',')
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for path in paths:
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path = path.strip()
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global current_file
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current_file = path
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debug("\n Processing file '%s'" % path)
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if pathprefix is not None:
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libraryfname = os.path.join(pathprefix, path)
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elif path.find('/') == -1:
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libraryfname = os.path.join(vehicle.path, path)
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else:
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libraryfname = os.path.normpath(os.path.join(apm_path + '/libraries/' + path))
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if path and os.path.exists(libraryfname):
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f = open(libraryfname)
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p_text = f.read()
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f.close()
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else:
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error("Path %s not found for library %s (fname=%s)" % (path, library.name, libraryfname))
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continue
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param_matches = prog_param.findall(p_text)
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debug("Found %u documented parameters" % len(param_matches))
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for param_match in param_matches:
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(only_vehicles, param_name, field_text) = (param_match[0],
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param_match[1],
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param_match[2])
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if len(only_vehicles):
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only_vehicles_list = [x.strip() for x in only_vehicles.split(",")]
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for only_vehicle in only_vehicles_list:
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if only_vehicle not in valid_truenames:
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raise ValueError("Invalid only_vehicle %s" % only_vehicle)
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if vehicle.name not in only_vehicles_list:
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continue
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p = Parameter(library.name+param_name, current_file)
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debug(p.name + ' ')
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global current_param
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current_param = p.name
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fields = prog_param_fields.findall(field_text)
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p.__field_text = field_text
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field_list = []
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for field in fields:
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(field_name, field_value) = field
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field_list.append(field[0])
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if field[0] in known_param_fields:
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value = re.sub('@PREFIX@', library.name, field[1])
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if hasattr(p, field_name):
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if field_name in documentation_tags_which_are_comma_separated_nv_pairs:
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# allow concatenation of (e.g.) bitmask fields
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x = eval("p.%s" % field_name)
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x += ", "
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x += value
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value = x
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else:
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error("%s already has field %s" % (p.name, field_name))
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setattr(p, field[0], value)
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elif field[0] in frozenset(["CopyFieldsFrom", "CopyValuesFrom"]):
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setattr(p, field[0], field[1])
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else:
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error("param: unknown parameter metadata field %s" % field[0])
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debug("matching %s" % field_text)
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fields = prog_param_tagged_fields.findall(field_text)
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# a parameter is considered to be vehicle-specific if
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# there does not exist a Values: or Values{VehicleName}
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# for that vehicle but @Values{OtherVehicle} exists.
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seen_values_or_bitmask_for_this_vehicle = False
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seen_values_or_bitmask_for_other_vehicle = False
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for field in fields:
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only_for_vehicles = field[1].split(",")
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only_for_vehicles = [some_vehicle.rstrip().lstrip() for some_vehicle in only_for_vehicles]
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delta = set(only_for_vehicles) - set(truename_map.values())
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if len(delta):
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error("Unknown vehicles (%s)" % delta)
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debug("field[0]=%s vehicle=%s field[1]=%s only_for_vehicles=%s\n" %
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(field[0], vehicle.name, field[1], str(only_for_vehicles)))
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if field[0] not in known_param_fields:
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error("tagged param: unknown parameter metadata field '%s'" % field[0])
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continue
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if vehicle.name not in only_for_vehicles:
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if len(only_for_vehicles) and field[0] in documentation_tags_which_are_comma_separated_nv_pairs:
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seen_values_or_bitmask_for_other_vehicle = True
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continue
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append_value = False
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if field[0] in documentation_tags_which_are_comma_separated_nv_pairs:
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if vehicle.name in only_for_vehicles:
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if seen_values_or_bitmask_for_this_vehicle:
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append_value = hasattr(p, field[0])
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seen_values_or_bitmask_for_this_vehicle = True
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else:
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if seen_values_or_bitmask_for_this_vehicle:
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continue
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append_value = hasattr(p, field[0])
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value = re.sub('@PREFIX@', library.name, field[2])
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if append_value:
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setattr(p, field[0], getattr(p, field[0]) + ',' + value)
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else:
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setattr(p, field[0], value)
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if (getattr(p, 'Values', None) is not None and
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getattr(p, 'Bitmask', None) is not None):
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error("Both @Values and @Bitmask present")
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if (getattr(p, 'Values', None) is None and
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getattr(p, 'Bitmask', None) is None):
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# values and Bitmask available for this vehicle
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if seen_values_or_bitmask_for_other_vehicle:
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# we've (e.g.) seen @Values{Copter} when we're
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# processing for Rover, and haven't seen either
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# @Values: or @Vales{Rover} - so we omit this
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# parameter on the assumption that it is not
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# applicable for this vehicle.
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continue
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if getattr(p, 'Vector3Parameter', None) is not None:
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params_to_add = []
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for axis in 'X', 'Y', 'Z':
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new_p = copy.copy(p)
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new_p.change_name(p.name + "_" + axis)
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for a in ["Description"]:
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if hasattr(new_p, a):
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current = getattr(new_p, a)
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setattr(new_p, a, current + " (%s-axis)" % axis)
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params_to_add.append(new_p)
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else:
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params_to_add = [p]
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for p in params_to_add:
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p.path = path # Add path. Later deleted - only used for duplicates
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if library.check_duplicates and library.has_param(p.name):
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error("Duplicate parameter %s in %s" % (p.name, library.name))
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continue
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library.params.append(p)
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group_matches = prog_groups.findall(p_text)
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debug("Found %u groups" % len(group_matches))
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debug(group_matches)
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done_groups = dict()
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for group_match in group_matches:
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group = group_match[0]
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debug("Group: %s" % group)
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do_append = True
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if group in done_groups:
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# this is to handle cases like the RangeFinder
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# parameters, where the wasp stuff gets tack into the
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# same RNGFND1_ group
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lib = done_groups[group]
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do_append = False
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else:
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lib = Library(group)
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done_groups[group] = lib
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fields = prog_param_fields.findall(group_match[1])
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for field in fields:
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if field[0] in known_group_fields:
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setattr(lib, field[0], field[1])
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elif field[0] in ["CopyFieldsFrom", "CopyValuesFrom"]:
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setattr(p, field[0], field[1])
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else:
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error("unknown parameter metadata field '%s'" % field[0])
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if not any(lib.name == parsed_l.name for parsed_l in libraries):
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if do_append:
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lib.set_name(library.name + lib.name)
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debug("Group name: %s" % lib.name)
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process_library(vehicle, lib, os.path.dirname(libraryfname))
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if do_append:
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alllibs.append(lib)
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current_file = None
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for library in libraries:
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debug("===\n\n\nProcessing library %s" % library.name)
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if hasattr(library, 'Path'):
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process_library(vehicle, library)
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else:
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error("Skipped: no Path found")
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debug("Processed %u documented parameters" % len(library.params))
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# sort libraries by name
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alllibs = sorted(alllibs, key=lambda x: x.name)
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libraries = alllibs
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def is_number(numberString):
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try:
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float(numberString)
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return True
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except ValueError:
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return False
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def clean_param(param):
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if (hasattr(param, "Values")):
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valueList = param.Values.split(",")
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new_valueList = []
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for i in valueList:
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(start, sep, end) = i.partition(":")
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if sep != ":":
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raise ValueError("Expected a colon seperator in (%s)" % (i,))
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if len(end) == 0:
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raise ValueError("Expected a colon-separated string, got (%s)" % i)
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end = end.strip()
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start = start.strip()
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new_valueList.append(":".join([start, end]))
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param.Values = ",".join(new_valueList)
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if hasattr(param, "Vector3Parameter"):
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delattr(param, "Vector3Parameter")
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def do_copy_values(vehicle_params, libraries, param):
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if not hasattr(param, "CopyValuesFrom"):
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return
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# so go and find the values...
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wanted_name = param.CopyValuesFrom
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if hasattr(param, 'Vector3Parameter'):
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suffix = param.name[-2:]
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wanted_name += suffix
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del param.CopyValuesFrom
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for x in vehicle_params:
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name = x.name
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(v, name) = name.split(":")
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if name != wanted_name:
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continue
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param.Values = x.Values
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return
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|
for lib in libraries:
|
|
for x in lib.params:
|
|
if x.name != wanted_name:
|
|
continue
|
|
param.Values = x.Values
|
|
return
|
|
|
|
error("Did not find value to copy (%s wants %s)" %
|
|
(param.name, wanted_name))
|
|
|
|
|
|
def do_copy_fields(vehicle_params, libraries, param):
|
|
do_copy_values(vehicle_params, libraries, param)
|
|
|
|
if not hasattr(param, 'CopyFieldsFrom'):
|
|
return
|
|
|
|
# so go and find the values...
|
|
wanted_name = param.CopyFieldsFrom
|
|
del param.CopyFieldsFrom
|
|
|
|
if hasattr(param, 'Vector3Parameter'):
|
|
suffix = param.name[-2:]
|
|
wanted_name += suffix
|
|
|
|
for x in vehicle_params:
|
|
name = x.name
|
|
(v, name) = name.split(":")
|
|
if name != wanted_name:
|
|
continue
|
|
for field in dir(x):
|
|
if hasattr(param, field):
|
|
# override
|
|
continue
|
|
if field.startswith("__") or field in frozenset(["name", "real_path"]):
|
|
# internal methods like __ne__
|
|
continue
|
|
setattr(param, field, getattr(x, field))
|
|
return
|
|
|
|
for lib in libraries:
|
|
for x in lib.params:
|
|
if x.name != wanted_name:
|
|
continue
|
|
for field in dir(x):
|
|
if hasattr(param, field):
|
|
# override
|
|
continue
|
|
if field.startswith("__") or field in frozenset(["name", "real_path"]):
|
|
# internal methods like __ne__
|
|
continue
|
|
setattr(param, field, getattr(x, field))
|
|
return
|
|
|
|
error("Did not find value to copy (%s wants %s)" %
|
|
(param.name, wanted_name))
|
|
|
|
|
|
def validate(param, is_library=False):
|
|
"""
|
|
Validates the parameter meta data.
|
|
"""
|
|
global current_file
|
|
current_file = param.real_path
|
|
global current_param
|
|
current_param = param.name
|
|
# Validate values
|
|
if (hasattr(param, "Range")):
|
|
rangeValues = param.__dict__["Range"].split(" ")
|
|
if (len(rangeValues) != 2):
|
|
error("Invalid Range values for %s (%s)" %
|
|
(param.name, param.__dict__["Range"]))
|
|
return
|
|
min_value = rangeValues[0]
|
|
max_value = rangeValues[1]
|
|
if not is_number(min_value):
|
|
error("Min value not number: %s %s" % (param.name, min_value))
|
|
return
|
|
if not is_number(max_value):
|
|
error("Max value not number: %s %s" % (param.name, max_value))
|
|
return
|
|
# Check for duplicate in @value field
|
|
if (hasattr(param, "Values")):
|
|
valueList = param.__dict__["Values"].split(",")
|
|
values = []
|
|
for i in valueList:
|
|
i = i.replace(" ", "")
|
|
values.append(i.partition(":")[0])
|
|
if (len(values) != len(set(values))):
|
|
error("Duplicate values found" + str({x for x in values if values.count(x) > 1}))
|
|
# Validate units
|
|
if (hasattr(param, "Units")):
|
|
if (param.__dict__["Units"] != "") and (param.__dict__["Units"] not in known_units):
|
|
error("unknown units field '%s'" % param.__dict__["Units"])
|
|
# Validate User
|
|
if (hasattr(param, "User")):
|
|
if param.User.strip() not in ["Standard", "Advanced"]:
|
|
error("unknown user (%s)" % param.User.strip())
|
|
|
|
if (hasattr(param, "Description")):
|
|
if not param.Description or not param.Description.strip():
|
|
error("Empty Description (%s)" % param)
|
|
|
|
required_fields = required_param_fields
|
|
if is_library:
|
|
required_fields = required_library_param_fields
|
|
for req_field in required_fields:
|
|
if not getattr(param, req_field, False):
|
|
error("missing parameter metadata field '%s' in %s" % (req_field, param.__field_text))
|
|
|
|
|
|
# handle CopyFieldsFrom and CopyValuesFrom:
|
|
for param in vehicle.params:
|
|
do_copy_fields(vehicle.params, libraries, param)
|
|
for library in libraries:
|
|
for param in library.params:
|
|
do_copy_fields(vehicle.params, libraries, param)
|
|
|
|
for param in vehicle.params:
|
|
clean_param(param)
|
|
|
|
for param in vehicle.params:
|
|
validate(param)
|
|
|
|
# Find duplicate names in library and fix up path
|
|
for library in libraries:
|
|
param_names_seen = set()
|
|
param_names_duplicate = set()
|
|
# Find duplicates:
|
|
for param in library.params:
|
|
if param.name in param_names_seen: # is duplicate
|
|
param_names_duplicate.add(param.name)
|
|
param_names_seen.add(param.name)
|
|
# Fix up path for duplicates
|
|
for param in library.params:
|
|
if param.name in param_names_duplicate:
|
|
param.path = param.path.rsplit('/')[-1].rsplit('.')[0]
|
|
else:
|
|
# not a duplicate, so delete attribute.
|
|
delattr(param, "path")
|
|
|
|
for library in libraries:
|
|
for param in library.params:
|
|
clean_param(param)
|
|
|
|
for library in libraries:
|
|
for param in library.params:
|
|
validate(param, is_library=True)
|
|
|
|
if not args.emit_params:
|
|
sys.exit(error_count)
|
|
|
|
all_emitters = {
|
|
'json': JSONEmit,
|
|
'xml': XmlEmit,
|
|
'html': HtmlEmit,
|
|
'rst': RSTEmit,
|
|
'rstlatexpdf': RSTLATEXPDFEmit,
|
|
'md': MDEmit,
|
|
'xml_mp': XmlEmitMP,
|
|
}
|
|
|
|
try:
|
|
from ednemit import EDNEmit
|
|
all_emitters['edn'] = EDNEmit
|
|
except ImportError:
|
|
# if the user wanted edn only then don't hide any errors
|
|
if args.output_format == 'edn':
|
|
raise
|
|
|
|
if args.verbose:
|
|
print("Unable to emit EDN, install edn_format and pytz if edn is desired")
|
|
|
|
# filter to just the ones we want to emit:
|
|
emitters_to_use = []
|
|
for emitter_name in all_emitters.keys():
|
|
if args.output_format == 'all' or args.output_format == emitter_name:
|
|
emitters_to_use.append(emitter_name)
|
|
|
|
# actually invoke each emitter:
|
|
for emitter_name in emitters_to_use:
|
|
emit = all_emitters[emitter_name]()
|
|
|
|
emit.emit(vehicle)
|
|
|
|
emit.start_libraries()
|
|
|
|
# create a single parameter list for all SIM_ parameters (for rst to use)
|
|
sim_params = []
|
|
for library in libraries:
|
|
if library.name.startswith("SIM_"):
|
|
sim_params.extend(library.params)
|
|
sim_params = sorted(sim_params, key=lambda x : x.name)
|
|
|
|
for library in libraries:
|
|
if library.params:
|
|
# we sort the parameters in the SITL library to avoid
|
|
# rename, and on the assumption that an asciibetical sort
|
|
# gives a good layout:
|
|
if emitter_name == 'rst':
|
|
if library.not_rst:
|
|
continue
|
|
if library.name == 'SIM_':
|
|
library = copy.deepcopy(library)
|
|
library.params = sim_params
|
|
elif library.name.startswith('SIM_'):
|
|
continue
|
|
emit.emit(library)
|
|
|
|
emit.close()
|
|
|
|
sys.exit(error_count)
|