mirror of https://github.com/ArduPilot/ardupilot
361 lines
13 KiB
Python
Executable File
361 lines
13 KiB
Python
Executable File
#!/usr/bin/env python
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from __future__ import print_function
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import glob
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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, known_units)
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from htmlemit import HtmlEmit
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from rstemit import RSTEmit
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from wikiemit import WikiEmit
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from xmlemit import XmlEmit
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from mdemit import MDEmit
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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', 'wiki', 'xml', 'edn', 'md'],
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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\n|\n[ \t]+[A-Z])", re.MULTILINE)
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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+): (.*)")
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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+){([^}]+)}: (.*)")
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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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vehicle_paths = glob.glob(apm_path + "%s/Parameters.cpp" % args.vehicle)
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extension = 'cpp'
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if len(vehicle_paths) == 0:
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vehicle_paths = glob.glob(apm_path + "%s/Parameters.pde" % args.vehicle)
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extension = 'pde'
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vehicle_paths.sort(reverse=True)
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vehicles = []
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libraries = []
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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 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 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("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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"APMrover2": "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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}
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for vehicle_path in vehicle_paths:
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name = 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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vehicles.append(Vehicle(name, path, truename_map[name]))
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debug('Found vehicle type %s' % name)
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if len(vehicles) > 1 or len(vehicles) == 0:
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print("Single vehicle only, please")
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sys.exit(1)
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for vehicle in vehicles:
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debug("===\n\n\nProcessing %s" % vehicle.name)
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current_file = vehicle.path+'/Parameters.' + extension
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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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param_matches = prog_param.findall(p_text)
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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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for param_match in param_matches:
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p = Parameter(vehicle.name+":"+param_match[0], current_file)
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debug(p.name + ' ')
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current_param = p.name
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field_text = param_match[1]
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fields = prog_param_fields.findall(field_text)
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field_list = []
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for field in fields:
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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])
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setattr(p, field[0], value)
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else:
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error("param: unknown parameter metadata field '%s'" % field[0])
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for req_field in required_param_fields:
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if req_field not in field_list:
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error("missing parameter metadata field '%s' in %s" % (req_field, field_text))
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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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debug("Found %u documented libraries" % len(libraries))
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alllibs = libraries[:]
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vehicle = vehicles[0]
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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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if len(vehicles) != 1:
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print("Unable to handle multiple vehicles with .pde library")
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continue
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libraryfname = os.path.join(vehicles[0].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" % (path, library.name))
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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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p = Parameter(library.name+param_match[0], 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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field_text = param_match[1]
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fields = prog_param_fields.findall(field_text)
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non_vehicle_specific_values_seen = False
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for field in fields:
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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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setattr(p, field[0], value)
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if field[0] == "Values":
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non_vehicle_specific_values_seen = True
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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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this_vehicle_values_seen = False
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this_vehicle_value = None
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other_vehicle_values_seen = 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 = [x.rstrip().lstrip() for x 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 truename=%s field[1]=%s only_for_vehicles=%s\n" %
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(field[0], vehicle.name, vehicle.truename, field[1], str(only_for_vehicles)))
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value = re.sub('@PREFIX@', library.name, field[2])
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if field[0] == "Values":
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if vehicle.truename in only_for_vehicles:
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this_vehicle_values_seen = True
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this_vehicle_value = value
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if len(only_for_vehicles) > 1:
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other_vehicle_values_seen = True
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elif len(only_for_vehicles):
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other_vehicle_values_seen = True
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if field[0] in known_param_fields:
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setattr(p, field[0], value)
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else:
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error("tagged param<: unknown parameter metadata field '%s'" % field[0])
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if ((non_vehicle_specific_values_seen or not other_vehicle_values_seen) or this_vehicle_values_seen):
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if this_vehicle_values_seen and field[0] == 'Values':
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setattr(p, field[0], this_vehicle_value)
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# debug("Appending (non_vehicle_specific_values_seen=%u "
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# "other_vehicle_values_seen=%u this_vehicle_values_seen=%u)" %
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# (non_vehicle_specific_values_seen, other_vehicle_values_seen, this_vehicle_values_seen))
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p.path = path # Add path. Later deleted - only used for duplicates
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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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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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lib = Library(group)
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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("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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lib.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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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 validate(param):
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"""
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Validates the parameter meta data.
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"""
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global current_file
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current_file = param.real_path
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global current_param
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current_param = param.name
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# Validate values
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if (hasattr(param, "Range")):
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rangeValues = param.__dict__["Range"].split(" ")
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if (len(rangeValues) != 2):
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error("Invalid Range values for %s" % (param.name))
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return
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min_value = rangeValues[0]
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max_value = rangeValues[1]
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if not is_number(min_value):
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error("Min value not number: %s %s" % (param.name, min_value))
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return
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if not is_number(max_value):
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error("Max value not number: %s %s" % (param.name, max_value))
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return
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# Validate units
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if (hasattr(param, "Units")):
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if (param.__dict__["Units"] != "") and (param.__dict__["Units"] not in known_units):
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error("unknown units field '%s'" % param.__dict__["Units"])
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for vehicle in vehicles:
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for param in vehicle.params:
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validate(param)
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# Find duplicate names in library and fix up path
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for library in libraries:
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param_names_seen = set()
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param_names_duplicate = set()
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# Find duplicates:
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for param in library.params:
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if param.name in param_names_seen: # is duplicate
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param_names_duplicate.add(param.name)
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param_names_seen.add(param.name)
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# Fix up path for duplicates
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for param in library.params:
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if param.name in param_names_duplicate:
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param.path = param.path.rsplit('/')[-1].rsplit('.')[0]
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else:
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# not a duplicate, so delete attribute.
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delattr(param, "path")
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for library in libraries:
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for param in library.params:
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validate(param)
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def do_emit(emit):
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emit.set_annotate_with_vehicle(len(vehicles) > 1)
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for vehicle in vehicles:
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emit.emit(vehicle)
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emit.start_libraries()
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for library in libraries:
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if library.params:
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emit.emit(library)
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emit.close()
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if args.emit_params:
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if args.output_format == 'all' or args.output_format == 'xml':
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do_emit(XmlEmit())
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if args.output_format == 'all' or args.output_format == 'wiki':
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do_emit(WikiEmit())
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if args.output_format == 'all' or args.output_format == 'html':
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do_emit(HtmlEmit())
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if args.output_format == 'all' or args.output_format == 'rst':
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do_emit(RSTEmit())
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if args.output_format == 'all' or args.output_format == 'md':
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do_emit(MDEmit())
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if args.output_format == 'all' or args.output_format == 'edn':
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try:
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from ednemit import EDNEmit
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do_emit(EDNEmit())
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except ImportError:
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# if the user wanted edn only then don't hide any errors
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if args.output_format == 'edn':
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raise
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if args.verbose:
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print("Unable to emit EDN, install edn_format and pytz if edn is desired")
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sys.exit(error_count)
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