mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.4 KiB
Python
91 lines
3.4 KiB
Python
#!/usr/bin/env python
|
|
"""
|
|
Emits parameters as an EDN file, does some small remapping of names
|
|
"""
|
|
|
|
from emit import Emit
|
|
import edn_format
|
|
import datetime
|
|
import pytz
|
|
import subprocess
|
|
|
|
|
|
class EDNEmit(Emit):
|
|
def __init__(self):
|
|
self.output = "{:date " + edn_format.dumps(datetime.datetime.now(pytz.utc)) + " "
|
|
git = subprocess.Popen(["git log --pretty=format:'%h' -n 1"], shell=True, stdout=subprocess.PIPE).communicate()[0]
|
|
self.output += ":git-hash \"" + git.decode("ascii") + "\" "
|
|
self.remove_keys = ["real_path"]
|
|
self.explict_remap = [["displayname", "display-name"]]
|
|
self.vehicle_name = None
|
|
|
|
def close(self):
|
|
if self.vehicle_name is not None:
|
|
self.output += ":vehicle \"" + self.vehicle_name + "\" "
|
|
else:
|
|
raise Exception('Vehicle name never found')
|
|
self.output += "}"
|
|
f = open("parameters.edn", mode='w')
|
|
f.write(self.output)
|
|
f.close()
|
|
|
|
def start_libraries(self):
|
|
pass
|
|
|
|
def emit(self, g):
|
|
for param in g.params:
|
|
output_dict = dict()
|
|
# lowercase all keywords
|
|
for key in param.__dict__.keys():
|
|
output_dict[key.lower()] = param.__dict__[key]
|
|
|
|
# strip off any leading sillyness on the param name
|
|
split_name = param.__dict__["name"].split(":")
|
|
if len(split_name) == 2:
|
|
self.vehicle_name = split_name[0]
|
|
name = param.__dict__["name"].split(":")[-1]
|
|
output_dict["name"] = name
|
|
|
|
# remove any keys we don't really care to share
|
|
for key in self.remove_keys:
|
|
output_dict.pop(key, None)
|
|
|
|
# rearrange bitmasks to be a vector with nil's if the bit doesn't have meaning
|
|
if "bitmask" in output_dict:
|
|
highest_set_bit = 0
|
|
bits = []
|
|
for bit in output_dict["bitmask"].split(","):
|
|
bit_parts = bit.split(":")
|
|
bit_number = int(bit_parts[0])
|
|
bit_parts[0] = bit_number
|
|
bits.append(bit_parts)
|
|
if bit_number > highest_set_bit:
|
|
highest_set_bit = bit_number
|
|
output_bits = (highest_set_bit+1)*[None]
|
|
for bit in bits:
|
|
output_bits[bit[0]] = bit[1]
|
|
output_dict["bitmask"] = output_bits
|
|
|
|
# rearrange values into a float indexed map
|
|
if "values" in output_dict:
|
|
values = dict()
|
|
for value in output_dict["values"].split(","):
|
|
index, description = value.split(":")
|
|
values[float(index)] = description
|
|
output_dict["values"] = values
|
|
|
|
# remap range to be a map of floats
|
|
if "range" in output_dict:
|
|
low, high = output_dict["range"].split()
|
|
output_dict["range"] = {"low": float(low), "high": float(high)}
|
|
|
|
# remap the string to a float
|
|
if "increment" in output_dict:
|
|
output_dict["increment"] = float(output_dict["increment"])
|
|
|
|
# do any name changing desired
|
|
for remap in self.explict_remap:
|
|
output_dict[remap[1]] = output_dict.pop(remap[0])
|
|
|
|
self.output += "\"" + name + "\" " + edn_format.dumps(output_dict, keyword_keys=True)
|