mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 16:38:30 -04:00
122 lines
4.4 KiB
Python
122 lines
4.4 KiB
Python
#!/usr/bin/env python
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"""
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Emit parameter documentation in markdown format
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"""
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from param import known_param_fields
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from emit import Emit
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import time
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import re
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import os
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# ArduSub documentation uses the page title as the top level heading.
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# OFFSET drops headings one level when compiling for those docs.
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OFFSET = '#' if os.getenv('BRDOC') else ''
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# Parameter groups disabled at compile time (Vehicle-specific)
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sub_blacklist = ['RCMAP_', 'TERRAIN_']
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# Parameter groups with redundant information (ie RCn_, SERVOn_)
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# We can keep the documentation concise by only documenting these once
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nparams = ['RCn_', 'SERVOn_', 'SRn_', 'BTNn_', 'INS_TCALn_', 'BATTn_', 'BAROn_GND_', 'BAROn_WCF_', 'CAN_Dn_', 'CAN_Dn_KDE_', 'CAN_Dn_PC_', 'CAN_Dn_UC_','CAN_Dn_TST_', 'CAN_Pn_', 'RNGFNDn_']
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class MDEmit(Emit):
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def __init__(self, *args, **kwargs):
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Emit.__init__(self, *args, **kwargs)
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fname = 'Parameters.md'
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self.nparams = []
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self.f = open(fname, mode='w')
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self.blacklist = None
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# Flag to generate navigation header for BlueRobotics' ArduSub docs
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if os.getenv('BRDOC') is not None:
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now = time.strftime('%Y-%m-%dT%H:%M:%S%z')
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now = now[:-2] + ':' + now[-2:]
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self.header = """+++
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title = "Parameters"
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description = "Firmware parameter details."
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date = %s
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template = "docs/page.html"
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sort_by = "weight"
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weight = 10
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draft = false
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[extra]
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toc = true
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top = false""" % now
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self.preamble = """\nThis is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. Some parameters may only be available for developers, and are enabled at compile-time."""
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self.t = ''
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def close(self):
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# Write navigation header for BlueRobotics' ArduSub docs
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if os.getenv('BRDOC') is not None:
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self.f.write(self.header)
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self.f.write('\n+++\n')
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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 emit(self, g):
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nparam = False # Flag indicating this is a parameter group with redundant information (ie RCn_, SERVOn_)
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if g.reference == 'ArduSub':
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self.blacklist = sub_blacklist
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if self.blacklist is not None and g.reference in self.blacklist:
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return
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pname = g.reference
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# Check to see this is a parameter group with redundant information
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rename = re.sub('\d+', 'n', g.reference)
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if rename in nparams:
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if rename in self.nparams:
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return
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else:
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self.nparams.append(rename)
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pname = rename
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nparam = True
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# Markdown!
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tag = '%s Parameters' % pname
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tag = tag.replace('_', '')
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link = tag.replace(' ', '-')
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t = '\n\n%s# %s' % (OFFSET, tag)
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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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name = param.name.split(':')[-1]
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if nparam:
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name = re.sub('\d+', 'n', name, 1)
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tag = '%s: %s' % (name, param.DisplayName)
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t += '\n\n%s## %s' % (OFFSET, tag)
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if os.getenv('DIFF'):
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continue
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if d.get('User', None) == 'Advanced':
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t += '\n\n*Note: This parameter is for advanced users*'
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t += "\n\n%s" % param.Description
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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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if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
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values = (param.__dict__[field]).split(',')
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t += "\n\n|Value|Meaning|"
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t += "\n|:---:|:---:|"
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for value in values:
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v = value.split(':')
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if len(v) != 2:
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raise ValueError("Bad value (%s)" % v)
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t += "\n|%s|%s|" % (v[0], v[1])
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else:
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t += "\n\n- %s: %s" % (field, param.__dict__[field])
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self.t += t
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