px4-firmware/Tools/px4airframes/rcout.py

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from xml.sax.saxutils import escape
import codecs
import os
class RCOutput():
"""
Generates RC scripts for the airframes
"""
def __init__(self, groups, board, post_start=False):
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result = ( "#\n"
"#\n"
"# THIS FILE IS AUTO-GENERATED. DO NOT EDIT!\n"
"#\n"
"#\n"
"# SYS_AUTOSTART = 0 means no autostart (default)\n"
"#\n"
"# AUTOSTART PARTITION:\n"
"# 0 .. 999 Reserved (historical)\n"
"# 1000 .. 1999 Simulation setups\n"
"# 2000 .. 2999 Standard planes\n"
"# 3000 .. 3999 Flying wing\n"
"# 4000 .. 4999 Quadrotor x\n"
"# 5000 .. 5999 Quadrotor +\n"
"# 6000 .. 6999 Hexarotor x\n"
"# 7000 .. 7999 Hexarotor +\n"
"# 8000 .. 8999 Octorotor x\n"
"# 9000 .. 9999 Octorotor +\n"
"# 10000 .. 10999 Quadrotor Wide arm / H frame\n"
"# 11000 .. 11999 Hexa Cox\n"
"# 12000 .. 12999 Octo Cox\n"
"# 13000 .. 13999 VTOL\n"
"# 14000 .. 14999 Tri Y\n"
"# 17000 .. 17999 Autogyro\n"
"\n")
result += "\n"
result += "set AIRFRAME none\n"
result += "\n"
for group in groups:
result += "# GROUP: %s\n\n" % group.GetType()
for airframe in group.GetAirframes():
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excluded = False
for code in airframe.GetArchCodes():
if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
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excluded = True
if excluded:
continue
if post_start:
# Path to post-start sript
path = airframe.GetPostPath()
else:
# Path to start script
path = airframe.GetPath()
if not path:
continue
path = os.path.split(path)[1]
id_val = airframe.GetId()
name = airframe.GetFieldValue("short_desc")
long_desc = airframe.GetFieldValue("long_desc")
result += "#\n"
result += "# %s\n" % airframe.GetName()
result += "if param compare SYS_AUTOSTART %s\n" % id_val
result += "then\n"
result += "\tset AIRFRAME %s\n" % path
result += "fi\n"
#if long_desc is not None:
# result += "# %s\n" % long_desc
result += "\n"
result += "\n"
result += "\n"
result += "if [ ${AIRFRAME} != none ]\n"
result += "then\n"
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result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
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result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
if not post_start:
result += "else\n"
result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
# Reset the configuration
result += "\tparam set SYS_AUTOSTART 0\n"
result += "\ttone_alarm ${TUNE_ERR}\n"
result += "fi\n"
result += "unset AIRFRAME"
self.output = result
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)