Tools: sim_vehicle.py: print possible frame types in help message

Tools/autotest/sim_vehicle.py

@@ -19,6 +19,7 @@ import signal
 import subprocess
 import sys
 import tempfile
+import textwrap
 import time
 import shlex
 
@@ -37,8 +38,56 @@ class CompatError(Exception):
 class CompatOptionParser(optparse.OptionParser):
     """An option parser which emulates the behaviour of the old sim_vehicle.sh; if passed -C, the first argument not understood starts a list of arguments that are passed straight to mavproxy"""
 
+    class CustomFormatter(optparse.IndentedHelpFormatter):
         def __init__(self, *args, **kwargs):
-        optparse.OptionParser.__init__(self, *args, **kwargs)
+            optparse.IndentedHelpFormatter.__init__(self,*args, **kwargs)
+
+        # taken and modified from from optparse.py's format_option
+        def format_option_preserve_nl(self, option):
+            # The help for each option consists of two parts:
+            #   * the opt strings and metavars
+            #     eg. ("-x", or "-fFILENAME, --file=FILENAME")
+            #   * the user-supplied help string
+            #     eg. ("turn on expert mode", "read data from FILENAME")
+            #
+            # If possible, we write both of these on the same line:
+            #   -x      turn on expert mode
+            #
+            # But if the opt string list is too long, we put the help
+            # string on a second line, indented to the same column it would
+            # start in if it fit on the first line.
+            #   -fFILENAME, --file=FILENAME
+            #           read data from FILENAME
+            result = []
+            opts = self.option_strings[option]
+            opt_width = self.help_position - self.current_indent - 2
+            if len(opts) > opt_width:
+                opts = "%*s%s\n" % (self.current_indent, "", opts)
+                indent_first = self.help_position
+            else:                       # start help on same line as opts
+                opts = "%*s%-*s  " % (self.current_indent, "", opt_width, opts)
+                indent_first = 0
+            result.append(opts)
+            if option.help:
+                help_text = self.expand_default(option)
+                tw = textwrap.TextWrapper(replace_whitespace=False, initial_indent="", subsequent_indent="    ", width=self.help_width)
+
+                for line in help_text.split("\n"):
+                    help_lines = tw.wrap(line)
+                    for line in help_lines:
+                        result.extend(["%*s%s\n" % (self.help_position, "", line)])
+            elif opts[-1] != "\n":
+                result.append("\n")
+            return "".join(result)
+
+        def format_option(self, option):
+            if str(option).find('frame') != -1:
+                return self.format_option_preserve_nl(option)
+            return optparse.IndentedHelpFormatter.format_option(self, option)
+
+    def __init__(self, *args, **kwargs):
+        formatter = CompatOptionParser.CustomFormatter()
+        optparse.OptionParser.__init__(self, *args, formatter=formatter, **kwargs)
 
     def error(self, error):
         """Override default error handler called by optparse.OptionParser.parse_args when a parse error occurs; raise a detailed exception which can be caught"""
@@ -158,10 +207,12 @@ def kill_tasks():
             'runsim.py',
             'AntennaTracker.elf',
         }
-        for frame in _options_for_frame.keys():
+        for vehicle in _options:
-            if "waf_target" not in _options_for_frame[frame]:
+            for frame in _options[vehicle]["frames"]:
+                frame_info = _options[vehicle]["frames"][frame]
+                if "waf_target" not in frame_info:
                     continue
-            exe_name = os.path.basename(_options_for_frame[frame]["waf_target"])
+                exe_name = os.path.basename(frame_info["waf_target"])
                 victim_names.add(exe_name)
 
         if under_cygwin():
@@ -229,10 +280,9 @@ make_target: option passed to make to create binaries.  Usually sitl, and "-debu
 default_params_filename: filename of default parameters file.  Taken to be relative to autotest dir.
 extra_mavlink_cmds: extra parameters that will be passed to mavproxy
 """
-_options_for_frame = {
+_options = {
-    "calibration": {
+    "ArduCopter": {
-        "extra_mavlink_cmds": "module load sitl_calibration;",
+        "frames": {
-    },
             # COPTER
             "+": {
                 "waf_target": "bin/arducopter",
@@ -275,14 +325,18 @@ _options_for_frame = {
                 "waf_target": "bin/arducopter",
                 "default_params_filename": "default_params/copter-y6.parm",
             },
-    # COPTER TYPES
+            "firefly": {
+                "waf_target": "bin/arduplane",
+                "default_params_filename": "default_params/firefly.parm",
+            },
+            # SIM
             "IrisRos": {
                 "waf_target": "bin/arducopter",
                 "default_params_filename": "default_params/copter.parm",
             },
-    "firefly": {
+            "gazebo-iris": {
-        "waf_target": "bin/arduplane",
+                "waf_target": "bin/arducopter",
-        "default_params_filename": "default_params/firefly.parm",
+                "default_params_filename": "default_params/gazebo-iris.parm",
             },
             # HELICOPTER
             "heli": {
@@ -308,6 +362,13 @@ _options_for_frame = {
                 "waf_target": "bin/arducopter",
                 "default_params_filename": "default_params/copter-coax.parm",
             },
+            "calibration": {
+                "extra_mavlink_cmds": "module load sitl_calibration;",
+            },
+        },
+    },
+    "ArduPlane": {
+        "frames": {
             # PLANE
             "quadplane-tilttri": {
                 "make_target": "sitl",
@@ -344,26 +405,6 @@ _options_for_frame = {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/plane.parm",
             },
-    # ROVER
-    "rover": {
-        "waf_target": "bin/ardurover",
-        "default_params_filename": "default_params/rover.parm",
-    },
-    "rover-skid": {
-        "waf_target": "bin/ardurover",
-        "default_params_filename": "default_params/rover-skid.parm",
-    },
-    # SUB
-    "sub": {
-        "model": "vectored",
-        "waf_target": "bin/ardusub",
-        "default_params_filename": "default_params/sub.parm",
-    },
-    # SIM
-    "gazebo-iris": {
-        "waf_target": "bin/arducopter",
-        "default_params_filename": "default_params/gazebo-iris.parm",
-    },
             "gazebo-zephyr": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/gazebo-zephyr.parm",
@@ -378,6 +419,35 @@ _options_for_frame = {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/plane-jsbsim.parm",
             },
+            "calibration": {
+                "extra_mavlink_cmds": "module load sitl_calibration;",
+            },
+        },
+    },
+    "APMrover2": {
+        "frames": {
+            # ROVER
+            "rover": {
+                "waf_target": "bin/ardurover",
+                "default_params_filename": "default_params/rover.parm",
+            },
+            "rover-skid": {
+                "waf_target": "bin/ardurover",
+                "default_params_filename": "default_params/rover-skid.parm",
+            },
+            "calibration": {
+                "extra_mavlink_cmds": "module load sitl_calibration;",
+            },
+        },
+    },
+    "ArduSub": {
+        "frames": {
+            "vectored": {
+                "waf_target": "bin/ardusub",
+                "default_params_filename": "default_params/sub.parm",
+            },
+        },
+    },
 }
 
 _default_waf_target = {
@@ -397,16 +467,17 @@ def default_waf_target(vehicle):
 def options_for_frame(frame, vehicle, opts):
     """Return informatiom about how to sitl for frame e.g. build-type==sitl"""
     ret = None
-    if frame in _options_for_frame:
+    frames = _options[vehicle]["frames"]
-        ret = _options_for_frame[frame]
+    if frame in frames:
+        ret = _options[vehicle]["frames"][frame]
     else:
         for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane"]:
             if frame.startswith(p):
-                ret = _options_for_frame[p]
+                ret = _options[vehicle]["frames"][p]
                 break
     if ret is None:
         if frame.endswith("-heli"):
-            ret = _options_for_frame["heli"]
+            ret = _options[vehicle]["frames"]["heli"]
     if ret is None:
         ret = {}
 
@@ -731,7 +802,14 @@ default_frame_for_vehicle = {
     "ArduSub": "vectored",
     "AntennaTracker": "tracker",
 }
-vehicle_options_string = '|'.join(default_frame_for_vehicle.keys())
+vehicle_options_string = '|'.join(_options.keys())
+
+def generate_frame_help():
+    ret = ""
+    for vehicle in _options:
+        frame_options_string = '|'.join(_options[vehicle]["frames"].keys())
+        ret += "%s: %s\n" % (vehicle, frame_options_string)
+    return ret
 
 # define and run parser
 parser = CompatOptionParser("sim_vehicle.py",
@@ -742,9 +820,9 @@ parser = CompatOptionParser("sim_vehicle.py",
                "simulate ArduPlane")
 
 parser.add_option("-v", "--vehicle", type='choice', default=None, help="vehicle type (%s)" % vehicle_options_string, choices=default_frame_for_vehicle.keys())
-parser.add_option("-f", "--frame", type='string', default=None, help="""set aircraft frame type
+parser.add_option("-f", "--frame", type='string', default=None, help="""set vehicle frame type
-                     for copters can choose +, X, quad or octa
+
-                     for planes can choose elevon or vtail""")
+%s""" % (generate_frame_help()))
 parser.add_option("-C", "--sim_vehicle_sh_compatible", action='store_true', default=False, help="be compatible with the way sim_vehicle.sh works; make this the first option")
 parser.add_option("-H", "--hil", action='store_true', default=False, help="start HIL")