mirror of https://github.com/ArduPilot/ardupilot
276 lines
9.2 KiB
Python
276 lines
9.2 KiB
Python
#!/usr/bin/env python
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from __future__ import print_function
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import re
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from param import known_param_fields, known_units
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from emit import Emit
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import cgi
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# Emit docs in a RST format
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class RSTEmit(Emit):
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def blurb(self):
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return """This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.
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This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
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"""
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def toolname(self):
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return "Tools/autotest/param_metadata/param_parse.py"
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def __init__(self):
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Emit.__init__(self)
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output_fname = 'Parameters.rst'
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self.f = open(output_fname, mode='w')
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self.spacer = re.compile("^", re.MULTILINE)
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self.rstescape = re.compile("([^a-zA-Z0-9\n ])")
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self.preamble = """.. Dynamically generated list of documented parameters
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.. This page was generated using {toolname}
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.. DO NOT EDIT
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.. _parameters:
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Complete Parameter List
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=======================
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{blurb}
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""".format(blurb=self.escape(self.blurb()),
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toolname=self.escape(self.toolname()))
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self.t = ''
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def escape(self, s):
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ret = re.sub(self.rstescape, "\\\\\g<1>", s)
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return ret
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def close(self):
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self.f.write(self.preamble)
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self.f.write(self.t)
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self.f.close()
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def start_libraries(self):
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pass
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def tablify_row(self, rowheading, row, widths, height):
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ret = ""
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joiner = "|"
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row_lines = [x.split("\n") for x in row]
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for row_line in row_lines:
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row_line.extend([""] * (height - len(row_line)))
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if rowheading is not None:
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rowheading_lines = rowheading.split("\n")
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rowheading_lines.extend([""] * (height - len(rowheading_lines)))
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out_lines = []
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for i in range(0, height):
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out_line = ""
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if rowheading is not None:
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rowheading_line = rowheading_lines[i]
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out_line += joiner + " " + rowheading_line + " " * (widths[0] - len(rowheading_line) - 1)
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joiner = "#"
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j = 0
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for item in row_lines:
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widthnum = j
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if rowheading is not None:
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widthnum += 1
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line = item[i]
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out_line += joiner + " " + line + " " * (widths[widthnum] - len(line) - 1)
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joiner = "|"
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j += 1
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out_line += "|"
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out_lines.append(out_line)
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return "\n".join(out_lines)
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def tablify_longest_row_length(self, rows, rowheadings, headings):
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check_width_rows = rows[:]
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if headings is not None:
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check_width_rows.append(headings)
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longest_row_length = 0
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for row in check_width_rows:
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if len(row) > longest_row_length:
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longest_row_length = len(row)
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if rowheadings is not None:
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longest_row_length += 1
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return longest_row_length
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def longest_line_in_string(self, string):
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longest = 0
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for line in string.split("\n"):
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if len(line) > longest:
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longest = len(line)
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return longest
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def tablify_calc_row_widths_heights(self, rows, rowheadings, headings):
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rows_to_check = []
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if headings is not None:
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rows_to_check.append(headings)
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rows_to_check.extend(rows[:])
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heights = [0] * len(rows_to_check)
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longest_row_length = self.tablify_longest_row_length(rows, rowheadings, headings)
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widths = [0] * longest_row_length
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all_rowheadings = []
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if rowheadings is not None:
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if headings is not None:
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all_rowheadings.append("")
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all_rowheadings.extend(rowheadings)
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for rownum in range(0, len(rows_to_check)):
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row = rows_to_check[rownum]
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values_to_check = []
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if rowheadings is not None:
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values_to_check.append(all_rowheadings[rownum])
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values_to_check.extend(row[:])
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colnum = 0
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for value in values_to_check:
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height = len(value.split("\n"))
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if height > heights[rownum]:
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heights[rownum] = height
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longest_line = self.longest_line_in_string(value)
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width = longest_line + 2 # +2 for leading/trailing ws
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if width > widths[colnum]:
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widths[colnum] = width
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colnum += 1
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return (widths, heights)
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def tablify(self, rows, headings=None, rowheadings=None):
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(widths, heights) = self.tablify_calc_row_widths_heights(rows, rowheadings, headings)
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# create dividing lines
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bar = ""
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heading_bar = ""
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for width in widths:
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bar += "+"
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heading_bar += "+"
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bar += "-" * width
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heading_bar += "=" * width
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bar += "+"
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heading_bar += "+"
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# create table
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ret = bar + "\n"
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if headings is not None:
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rowheading = None
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if rowheadings is not None:
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rowheading = ""
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ret += self.tablify_row(rowheading, headings, widths, heights[0]) + "\n"
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ret += heading_bar + "\n"
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for i in range(0, len(rows)):
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rowheading = None
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height = i
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if rowheadings is not None:
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rowheading = rowheadings[i]
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if headings is not None:
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height += 1
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ret += self.tablify_row(rowheading, rows[i], widths, heights[height]) + "\n"
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ret += bar + "\n"
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return ret
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def render_prog_values_field(self, render_info, param, field):
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values = (param.__dict__[field]).split(',')
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rows = []
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for value in values:
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v = [x.strip() for x in value.split(':')]
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rows.append(v)
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return self.tablify(rows, headings=render_info["headings"])
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def emit(self, g, f):
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tag = '%s Parameters' % self.escape(g.name)
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reference = "parameters_" + g.name
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field_table_info = {
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"Values": {
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"headings": ['Value', 'Meaning'],
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},
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"Bitmask": {
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"headings": ['Bit', 'Meaning'],
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},
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}
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ret = """
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.. _{reference}:
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{tag}
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{underline}
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""".format(tag=tag, underline="-" * len(tag),
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reference=reference)
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for param in g.params:
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if not hasattr(param, 'DisplayName') or not hasattr(param, 'Description'):
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continue
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d = param.__dict__
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if self.annotate_with_vehicle:
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name = param.name
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else:
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name = param.name.split(':')[-1]
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tag = '%s: %s' % (self.escape(name), self.escape(param.DisplayName),)
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tag = tag.strip()
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reference = param.name
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# remove e.g. "ArduPlane:" from start of parameter name:
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if self.annotate_with_vehicle:
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reference = g.name + "_" + reference.split(":")[-1]
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else:
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reference = reference.split(":")[-1]
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ret += """
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.. _{reference}:
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{tag}
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{tag_underline}
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""".format(tag=tag, tag_underline='~' * len(tag), reference=reference)
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if d.get('User', None) == 'Advanced':
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ret += '\n| *Note: This parameter is for advanced users*'
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ret += "\n\n%s\n" % self.escape(param.Description)
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headings = []
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row = []
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for field in param.__dict__.keys():
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if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields:
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headings.append(field)
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if field in field_table_info and Emit.prog_values_field.match(param.__dict__[field]):
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row.append(self.render_prog_values_field(field_table_info[field], param, field))
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elif field == "Range":
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(param_min, param_max) = (param.__dict__[field]).split(' ')
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row.append("%s - %s" % (param_min, param_max,))
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elif field == 'Units':
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abreviated_units = param.__dict__[field]
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if abreviated_units != '':
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units = known_units[abreviated_units] # use the known_units dictionary to convert the abreviated unit into a full textual one
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row.append(cgi.escape(units))
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else:
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row.append(cgi.escape(param.__dict__[field]))
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if len(row):
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ret += "\n\n" + self.tablify([row], headings=headings) + "\n\n"
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self.t += ret + "\n"
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def table_test():
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e = RSTEmit()
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print("Test 1")
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print(e.tablify([["A", "B"], ["C", "D"]]))
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print("Test 2")
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print(e.tablify([["A", "B"], ["CD\nE", "FG"]]))
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print("Test 3")
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print(e.tablify([["A", "B"], ["CD\nEF", "GH"]], rowheadings=["r1", "row2"]))
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print("Test 4")
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print(e.tablify([["A", "B"], ["CD\nEF", "GH"]], headings=["c1", "col2"]))
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print("Test 5")
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print(e.tablify([["A", "B"], ["CD\nEF", "GH"]], headings=["c1", "col2"], rowheadings=["r1", "row2"]))
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if __name__ == '__main__':
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table_test()
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