forked from Archive/PX4-Autopilot
Rename param and paramgroups to airframe and airframegroups
The srcparser.py is specific to each use case (e.g. Airframes, Parameters, px4events, etc as in Tool/* folders). Therefore it is confusing to have the px_process_airframes.py script handle concept of airframes under the generic name 'params'. This improves readability and sets the baseground for implementing more specific vehicle type supports, as mentioned in https://github.com/PX4/PX4-user_guide/pull/1858#discussion_r876554728
This commit is contained in:
Junwoo Hwang
Beat Küng
parent
ee11b57e75
commit
855eb42c59
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@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
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result += '## %s\n\n' % group.GetClass()
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type_set.add(group.GetClass())
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result += '### %s\n\n' % group.GetName()
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result += '### %s\n\n' % group.GetType()
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# Display an image of the frame
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image_name = group.GetImageName()
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@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
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# check if all outputs are equal for the group: if so, show them
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# only once
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all_outputs = {}
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num_configs = len(group.GetParams())
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for param in group.GetParams():
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if not self.IsExcluded(param, board):
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for output_name in param.GetOutputCodes():
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value = param.GetOutputValue(output_name)
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num_configs = len(group.GetAirframes())
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for airframe in group.GetAirframes():
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if not self.IsExcluded(airframe, board):
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for output_name in airframe.GetOutputCodes():
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value = airframe.GetOutputValue(output_name)
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key_value_pair = (output_name, value)
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if key_value_pair not in all_outputs:
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all_outputs[key_value_pair] = 0
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@ -104,18 +104,17 @@ div.frame_variant td, div.frame_variant th {
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result += ' </thead>\n'
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result += '<tbody>\n'
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for param in group.GetParams():
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if not self.IsExcluded(param, board):
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#print("generating: {0} {1}".format(param.GetName(), excluded))
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name = param.GetName()
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airframe_id = param.GetId()
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for airframe in group.GetAirframes():
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if not self.IsExcluded(airframe, board):
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name = airframe.GetName()
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airframe_id = airframe.GetId()
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airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
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maintainer = param.GetMaintainer()
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maintainer = airframe.GetMaintainer()
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maintainer_entry = ''
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if maintainer != '':
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maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
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url = param.GetFieldValue('url')
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name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
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url = airframe.GetFieldValue('url')
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name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
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name_anchor=name_anchor.replace(' ','_').lower()
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name_anchor=name_anchor.replace('"','_').lower()
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name_anchor='id="%s"' % name_anchor
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@ -124,8 +123,8 @@ div.frame_variant td, div.frame_variant th {
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name_entry = '<a href="%s">%s</a>' % (url, name)
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outputs = '<ul>'
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has_outputs = False
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for output_name in param.GetOutputCodes():
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value = param.GetOutputValue(output_name)
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for output_name in airframe.GetOutputCodes():
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value = airframe.GetOutputValue(output_name)
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valstrs = value.split(";")
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key_value_pair = (output_name, value)
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if all_outputs[key_value_pair] < num_configs:
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@ -152,9 +151,9 @@ div.frame_variant td, div.frame_variant th {
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self.output = result
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def IsExcluded(self, param, board):
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for code in param.GetArchCodes():
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if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
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def IsExcluded(self, airframe, board):
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for code in airframe.GetArchCodes():
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if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
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return True
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return False
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@ -3,6 +3,9 @@ import codecs
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import os
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class RCOutput():
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"""
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Generates RC scripts for the airframes
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"""
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def __init__(self, groups, board, post_start=False):
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result = ( "#\n"
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@ -34,33 +37,33 @@ class RCOutput():
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result += "set AIRFRAME none\n"
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result += "\n"
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for group in groups:
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result += "# GROUP: %s\n\n" % group.GetName()
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for param in group.GetParams():
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result += "# GROUP: %s\n\n" % group.GetType()
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for airframe in group.GetAirframes():
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excluded = False
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for code in param.GetArchCodes():
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if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
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for code in airframe.GetArchCodes():
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if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
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excluded = True
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if excluded:
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continue
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if post_start:
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# Path to post-start sript
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path = param.GetPostPath()
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path = airframe.GetPostPath()
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else:
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# Path to start script
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path = param.GetPath()
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path = airframe.GetPath()
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if not path:
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continue
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path = os.path.split(path)[1]
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id_val = param.GetId()
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name = param.GetFieldValue("short_desc")
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long_desc = param.GetFieldValue("long_desc")
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id_val = airframe.GetId()
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name = airframe.GetFieldValue("short_desc")
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long_desc = airframe.GetFieldValue("long_desc")
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result += "#\n"
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result += "# %s\n" % param.GetName()
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result += "# %s\n" % airframe.GetName()
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result += "if param compare SYS_AUTOSTART %s\n" % id_val
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result += "then\n"
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result += "\tset AIRFRAME %s\n" % path
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@ -2,31 +2,38 @@ import sys
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import re
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import os
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class ParameterGroup(object):
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class AirframeGroup(object):
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"""
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Single parameter group
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Airframe group
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type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
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class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
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"""
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def __init__(self, name, af_class):
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self.name = name
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def __init__(self, type, af_class):
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self.type = type
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self.af_class = af_class
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self.params = []
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self.airframes = []
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def AddParameter(self, param):
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def AddAirframe(self, airframe):
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"""
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Add parameter to the group
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Add airframe to the airframe group
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"""
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self.params.append(param)
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self.airframes.append(airframe)
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def GetName(self):
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def GetType(self):
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"""
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Get parameter group name
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Get airframe group's vehicle type
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e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
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"""
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return self.name
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return self.type
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def GetClass(self):
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"""
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Get parameter group vehicle type.
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Get airframe group's vehicle class
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e.g. Multicopter, Fixed Wing, etc.
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"""
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return self.af_class
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@ -34,86 +41,84 @@ class ParameterGroup(object):
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"""
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Get parameter group image base name (w/o extension)
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"""
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if (self.name == "Standard Plane"):
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if (self.type == "Standard Plane"):
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return "Plane"
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elif (self.name == "Flying Wing"):
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elif (self.type == "Flying Wing"):
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return "FlyingWing"
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elif (self.name == "Quadrotor x"):
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elif (self.type == "Quadrotor x"):
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return "QuadRotorX"
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elif (self.name == "Quadrotor +"):
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elif (self.type == "Quadrotor +"):
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return "QuadRotorPlus"
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elif (self.name == "Hexarotor x"):
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elif (self.type == "Hexarotor x"):
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return "HexaRotorX"
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elif (self.name == "Hexarotor +"):
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elif (self.type == "Hexarotor +"):
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return "HexaRotorPlus"
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elif (self.name == "Octorotor +"):
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elif (self.type == "Octorotor +"):
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return "OctoRotorPlus"
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elif (self.name == "Octorotor x"):
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elif (self.type == "Octorotor x"):
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return "OctoRotorX"
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elif (self.name == "Octorotor Coaxial"):
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elif (self.type == "Octorotor Coaxial"):
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return "OctoRotorXCoaxial"
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elif (self.name == "Octo Coax Wide"):
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elif (self.type == "Octo Coax Wide"):
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return "OctoRotorXCoaxial"
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elif (self.name == "Quadrotor Wide"):
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elif (self.type == "Quadrotor Wide"):
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return "QuadRotorWide"
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elif (self.name == "Quadrotor H"):
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elif (self.type == "Quadrotor H"):
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return "QuadRotorH"
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elif (self.name == "Dodecarotor cox"):
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elif (self.type == "Dodecarotor cox"):
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return "DodecaRotorXCoaxial"
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elif (self.name == "Simulation"):
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elif (self.type == "Simulation"):
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return "AirframeSimulation"
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elif (self.name == "Plane A-Tail"):
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elif (self.type == "Plane A-Tail"):
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return "PlaneATail"
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elif (self.name == "Plane V-Tail"):
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elif (self.type == "Plane V-Tail"):
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return "PlaneVTail"
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elif (self.name == "VTOL Duo Tailsitter"):
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elif (self.type == "VTOL Duo Tailsitter"):
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return "VTOLDuoRotorTailSitter"
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elif (self.name == "Standard VTOL"):
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elif (self.type == "Standard VTOL"):
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return "VTOLPlane"
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elif (self.name == "VTOL Quad Tailsitter"):
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elif (self.type == "VTOL Quad Tailsitter"):
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return "VTOLQuadRotorTailSitter"
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elif (self.name == "VTOL Tiltrotor"):
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elif (self.type == "VTOL Tiltrotor"):
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return "VTOLTiltRotor"
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elif (self.name == "VTOL Octoplane"):
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elif (self.type == "VTOL Octoplane"):
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return "VTOLPlaneOcto"
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elif (self.name == "Coaxial Helicopter"):
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elif (self.type == "Coaxial Helicopter"):
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return "HelicopterCoaxial"
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elif (self.name == "Helicopter"):
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elif (self.type == "Helicopter"):
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return "Helicopter"
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elif (self.name == "Hexarotor Coaxial"):
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elif (self.type == "Hexarotor Coaxial"):
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return "Y6B"
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elif (self.name == "Y6A"):
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elif (self.type == "Y6A"):
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return "Y6A"
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elif (self.name == "Tricopter Y-"):
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elif (self.type == "Tricopter Y-"):
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return "YMinus"
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elif (self.name == "Tricopter Y+"):
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elif (self.type == "Tricopter Y+"):
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return "YPlus"
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elif (self.name == "Autogyro"):
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elif (self.type == "Autogyro"):
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return "Autogyro"
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elif (self.name == "Airship"):
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elif (self.type == "Airship"):
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return "Airship"
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elif (self.name == "Rover"):
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elif (self.type == "Rover"):
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return "Rover"
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elif (self.name == "Boat"):
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elif (self.type == "Boat"):
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return "Boat"
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elif (self.name == "Balloon"):
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elif (self.type == "Balloon"):
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return "Balloon"
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elif (self.name == "Vectored 6 DOF UUV"):
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elif (self.type == "Vectored 6 DOF UUV"):
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return "Vectored6DofUUV"
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return "AirframeUnknown"
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def GetParams(self):
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def GetAirframes(self):
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"""
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Returns the parsed list of parameters. Every parameter is a Parameter
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object. Note that returned object is not a copy. Modifications affect
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state of the parser.
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Returns the parsed list of airframes objects. Note that returned
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object is not a copy. Modifications affect state of the parser.
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"""
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return sorted(self.airframes, key=lambda x: x.GetId())
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return sorted(self.params, key=lambda x: x.GetId())
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class Parameter(object):
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class Airframe(object):
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"""
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Single parameter
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Single Airframe definition
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"""
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# Define sorting order of the fields
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@ -288,7 +293,7 @@ class SourceParser(object):
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}
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def __init__(self):
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self.param_groups = {}
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self.airframe_groups = {}
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def GetSupportedExtensions(self):
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"""
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@ -347,10 +352,10 @@ class SourceParser(object):
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tag, desc = m.group(1, 2)
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if (tag == "output"):
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key, text = desc.split(' ', 1)
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outputs[key] = text;
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outputs[key] = text
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elif (tag == "board"):
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key, text = desc.split(' ', 1)
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archs[key] = text;
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archs[key] = text
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else:
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tags[tag] = desc
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current_tag = tag
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@ -427,7 +432,7 @@ class SourceParser(object):
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post_path = None
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# We already know this is an airframe config, so add it
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param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
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airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
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# Done with file, store
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for tag in tags:
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@ -440,24 +445,24 @@ class SourceParser(object):
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if tag == "name":
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airframe_name = tags[tag]
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else:
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param.SetField(tag, tags[tag])
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airframe.SetField(tag, tags[tag])
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# Store outputs
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for output in outputs:
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param.SetOutput(output, outputs[output])
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airframe.SetOutput(output, outputs[output])
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# Store outputs
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for arch in archs:
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param.SetArch(arch, archs[arch])
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airframe.SetArch(arch, archs[arch])
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# Store the parameter
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# Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
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class_group_identifier=airframe_type + airframe_class
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if class_group_identifier not in self.param_groups:
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#self.param_groups[airframe_type] = ParameterGroup(airframe_type) #HW TEST REMOVE
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self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
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self.param_groups[class_group_identifier].AddParameter(param)
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if class_group_identifier not in self.airframe_groups:
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#self.airframe_groups[airframe_type] = ParameterGroup(airframe_type) #HW TEST REMOVE
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self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
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self.airframe_groups[class_group_identifier].AddAirframe(airframe)
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return True
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@ -473,8 +478,8 @@ class SourceParser(object):
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Validates the airframe meta data.
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"""
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seenParamNames = []
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for group in self.GetParamGroups():
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for param in group.GetParams():
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for group in self.GetAirframeGroups():
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for param in group.GetAirframes():
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name = param.GetName()
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board = param.GetFieldValue("board")
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# Check for duplicates
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@ -487,27 +492,27 @@ class SourceParser(object):
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return True
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def GetParamGroups(self):
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def GetAirframeGroups(self):
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"""
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Returns the parsed list of parameters. Every parameter is a Parameter
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Returns the parsed list of Airframe groups. Every Airframe is an Airframe
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object. Note that returned object is not a copy. Modifications affect
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state of the parser.
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"""
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groups = self.param_groups.values()
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groups = sorted(groups, key=lambda x: x.GetName())
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groups = self.airframe_groups.values()
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groups = sorted(groups, key=lambda x: x.GetType())
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groups = sorted(groups, key=lambda x: x.GetClass())
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groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
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groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)
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#Rename duplicate groups to include the class (creating unique headings in page TOC)
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duplicate_test=set()
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duplicate_set=set()
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for group in groups:
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if group.GetName() in duplicate_test:
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duplicate_set.add(group.GetName())
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if group.GetType() in duplicate_test:
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duplicate_set.add(group.GetType())
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else:
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duplicate_test.add(group.GetName() )
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duplicate_test.add(group.GetType() )
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for group in groups:
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if group.GetName() in duplicate_set:
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group.name=group.GetName()+' (%s)' % group.GetClass()
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if group.GetType() in duplicate_set:
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group.name=group.GetType()+' (%s)' % group.GetClass()
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return groups
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@ -28,28 +28,28 @@ class XMLOutput():
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xml_version.text = "1"
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for group in groups:
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xml_group = ET.SubElement(xml_parameters, "airframe_group")
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xml_group.attrib["name"] = group.GetName()
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xml_group.attrib["name"] = group.GetType()
|
||||
xml_group.attrib["image"] = group.GetImageName()
|
||||
for param in group.GetParams():
|
||||
for airframe in group.GetAirframes():
|
||||
|
||||
# check if there is an exclude tag for this airframe
|
||||
excluded = False
|
||||
for code in param.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
for code in airframe.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
excluded = True
|
||||
|
||||
if not excluded:
|
||||
#print("generating: {0} {1}".format(param.GetName(), excluded))
|
||||
#print("generating: {0} {1}".format(airframe.GetName(), excluded))
|
||||
xml_param = ET.SubElement(xml_group, "airframe")
|
||||
xml_param.attrib["name"] = param.GetName()
|
||||
xml_param.attrib["id"] = param.GetId()
|
||||
xml_param.attrib["maintainer"] = param.GetMaintainer()
|
||||
for code in param.GetFieldCodes():
|
||||
value = param.GetFieldValue(code)
|
||||
xml_param.attrib["name"] = airframe.GetName()
|
||||
xml_param.attrib["id"] = airframe.GetId()
|
||||
xml_param.attrib["maintainer"] = airframe.GetMaintainer()
|
||||
for code in airframe.GetFieldCodes():
|
||||
value = airframe.GetFieldValue(code)
|
||||
xml_field = ET.SubElement(xml_param, code)
|
||||
xml_field.text = value
|
||||
for code in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(code)
|
||||
for code in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(code)
|
||||
valstrs = value.split(";")
|
||||
xml_field = ET.SubElement(xml_param, "output")
|
||||
xml_field.attrib["name"] = code
|
||||
|
|
|
|||
|
|
@ -35,12 +35,11 @@
|
|||
#
|
||||
# PX4 airframe config processor (main executable file)
|
||||
#
|
||||
# This tool scans the PX4 ROMFS code for declarations of airframes
|
||||
#
|
||||
# Currently supported formats are:
|
||||
# * XML for the parametric UI generator
|
||||
# * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
|
||||
# This tool scans the PX4 ROMFS directory for declarations of airframes
|
||||
#
|
||||
# Currently supported output formats are:
|
||||
# * XML for the parametric UI generator (Used in QGC)
|
||||
# * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
|
|
@ -104,31 +103,31 @@ def main():
|
|||
# We can't validate yet
|
||||
# if not parser.Validate():
|
||||
# sys.exit(1)
|
||||
param_groups = parser.GetParamGroups()
|
||||
airframe_groups = parser.GetAirframeGroups()
|
||||
|
||||
# Output to XML file
|
||||
if args.xml:
|
||||
if args.verbose: print("Creating XML file " + args.xml)
|
||||
out = xmlout.XMLOutput(param_groups, args.board)
|
||||
out = xmlout.XMLOutput(airframe_groups, args.board)
|
||||
out.Save(args.xml)
|
||||
|
||||
# Output to markdown file
|
||||
if args.markdown:
|
||||
if args.verbose: print("Creating markdown file " + args.markdown)
|
||||
out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
|
||||
out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
|
||||
out.Save(args.markdown)
|
||||
|
||||
# Output to start scripts
|
||||
if args.start_script:
|
||||
# Airframe start script
|
||||
if args.verbose: print("Creating start script " + args.start_script)
|
||||
out = rcout.RCOutput(param_groups, args.board)
|
||||
out = rcout.RCOutput(airframe_groups, args.board)
|
||||
out.Save(args.start_script)
|
||||
|
||||
# Airframe post-start script
|
||||
post_start_script = args.start_script + '.post'
|
||||
if args.verbose: print("Creating post-start script " + post_start_script)
|
||||
out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
|
||||
out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
|
||||
out_post.Save(post_start_script)
|
||||
|
||||
if (args.verbose): print("All done!")
|
||||
|
|
|
|||
Loading…
Reference in New Issue