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Merge pull request #477 from amlinux/px4params 

Parameters list generator
This commit is contained in:
Lorenz Meier 2013-10-18 07:46:05 -07:00
parent 53c85a24ea 0f67c5cbb0
commit 9b22de147c
8 changed files with 404 additions and 0 deletions
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9
Tools/px4params/README.md Normal file
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h1. PX4 Parameters Processor
It's designed to scan PX4 source codes, find declarations of tunable parameters,
and generate the list in various formats.
Currently supported formats are:
* XML for the parametric UI generator
* Human-readable description in DokuWiki format

27
Tools/px4params/dokuwikiout.py Normal file
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import output
class DokuWikiOutput(output.Output):
def Generate(self, groups):
result = ""
for group in groups:
result += "==== %s ====\n\n" % group.GetName()
for param in group.GetParams():
code = param.GetFieldValue("code")
name = param.GetFieldValue("short_desc")
if code != name:
name = "%s (%s)" % (name, code)
result += "=== %s ===\n\n" % name
long_desc = param.GetFieldValue("long_desc")
if long_desc is not None:
result += "%s\n\n" % long_desc
min_val = param.GetFieldValue("min")
if min_val is not None:
result += "* Minimal value: %s\n" % min_val
max_val = param.GetFieldValue("max")
if max_val is not None:
result += "* Maximal value: %s\n" % max_val
def_val = param.GetFieldValue("default")
if def_val is not None:
result += "* Default value: %s\n" % def_val
result += "\n"
return result

5
Tools/px4params/output.py Normal file
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class Output(object):
def Save(self, groups, fn):
data = self.Generate(groups)
with open(fn, 'w') as f:
f.write(data)

220
Tools/px4params/parser.py Normal file
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import sys
import re
class ParameterGroup(object):
"""
Single parameter group
"""
def __init__(self, name):
self.name = name
self.params = []
def AddParameter(self, param):
"""
Add parameter to the group
"""
self.params.append(param)
def GetName(self):
"""
Get parameter group name
"""
return self.name
def GetParams(self):
"""
Returns the parsed list of parameters. Every parameter is a Parameter
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
return sorted(self.params,
cmp=lambda x, y: cmp(x.GetFieldValue("code"),
y.GetFieldValue("code")))
class Parameter(object):
"""
Single parameter
"""
# Define sorting order of the fields
priority = {
"code": 10,
"type": 9,
"short_desc": 8,
"long_desc": 7,
"default": 6,
"min": 5,
"max": 4,
# all others == 0 (sorted alphabetically)
}
def __init__(self):
self.fields = {}
def SetField(self, code, value):
"""
Set named field value
"""
self.fields[code] = value
def GetFieldCodes(self):
"""
Return list of existing field codes in convenient order
"""
return sorted(self.fields.keys(),
cmp=lambda x, y: cmp(self.priority.get(y, 0),
self.priority.get(x, 0)) or cmp(x, y))
def GetFieldValue(self, code):
"""
Return value of the given field code or None if not found.
"""
return self.fields.get(code)
class Parser(object):
"""
Parses provided data and stores all found parameters internally.
"""
re_split_lines = re.compile(r'[\r\n]+')
re_comment_start = re.compile(r'^\/\*\*')
re_comment_content = re.compile(r'^\*\s*(.*)')
re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
re_comment_end = re.compile(r'(.*?)\s*\*\/')
re_parameter_definition = re.compile(r'PARAM_DEFINE_([A-Z_][A-Z0-9_]*)\s*\(([A-Z_][A-Z0-9_]*)\s*,\s*([^ ,\)]+)\s*\)\s*;')
re_cut_type_specifier = re.compile(r'[a-z]+$')
re_is_a_number = re.compile(r'^-?[0-9\.]')
re_remove_dots = re.compile(r'\.+$')
valid_tags = set(["min", "max", "group"])
# Order of parameter groups
priority = {
# All other groups = 0 (sort alphabetically)
"Miscellaneous": -10
}
def __init__(self):
self.param_groups = {}
def GetSupportedExtensions(self):
"""
Returns list of supported file extensions that can be parsed by this
parser.
"""
return ["cpp", "c"]
def Parse(self, contents):
"""
Incrementally parse program contents and append all found parameters
to the list.
"""
# This code is essentially a comment-parsing grammar. "state"
# represents parser state. It contains human-readable state
# names.
state = None
for line in self.re_split_lines.split(contents):
line = line.strip()
# Ignore empty lines
if line == "":
continue
if self.re_comment_start.match(line):
state = "wait-short"
short_desc = None
long_desc = None
tags = {}
elif state is not None and state != "comment-processed":
m = self.re_comment_end.search(line)
if m:
line = m.group(1)
last_comment_line = True
else:
last_comment_line = False
m = self.re_comment_content.match(line)
if m:
comment_content = m.group(1)
if comment_content == "":
# When short comment ends with empty comment line,
# start waiting for the next part - long comment.
if state == "wait-short-end":
state = "wait-long"
else:
m = self.re_comment_tag.match(comment_content)
if m:
tag, desc = m.group(1, 2)
tags[tag] = desc
current_tag = tag
state = "wait-tag-end"
elif state == "wait-short":
# Store first line of the short description
short_desc = comment_content
state = "wait-short-end"
elif state == "wait-short-end":
# Append comment line to the short description
short_desc += "\n" + comment_content
elif state == "wait-long":
# Store first line of the long description
long_desc = comment_content
state = "wait-long-end"
elif state == "wait-long-end":
# Append comment line to the long description
long_desc += "\n" + comment_content
elif state == "wait-tag-end":
# Append comment line to the tag text
tags[current_tag] += "\n" + comment_content
else:
raise AssertionError(
"Invalid parser state: %s" % state)
elif not last_comment_line:
# Invalid comment line (inside comment, but not starting with
# "*" or "*/". Reset parsed content.
state = None
if last_comment_line:
state = "comment-processed"
else:
# Non-empty line outside the comment
m = self.re_parameter_definition.match(line)
if m:
tp, code, defval = m.group(1, 2, 3)
# Remove trailing type specifier from numbers: 0.1f => 0.1
if self.re_is_a_number.match(defval):
defval = self.re_cut_type_specifier.sub('', defval)
param = Parameter()
param.SetField("code", code)
param.SetField("short_desc", code)
param.SetField("type", tp)
param.SetField("default", defval)
# If comment was found before the parameter declaration,
# inject its data into the newly created parameter.
group = "Miscellaneous"
if state == "comment-processed":
if short_desc is not None:
param.SetField("short_desc",
self.re_remove_dots.sub('', short_desc))
if long_desc is not None:
param.SetField("long_desc", long_desc)
for tag in tags:
if tag == "group":
group = tags[tag]
elif tag not in self.valid_tags:
sys.stderr.write("Skipping invalid"
"documentation tag: '%s'\n" % tag)
else:
param.SetField(tag, tags[tag])
# Store the parameter
if group not in self.param_groups:
self.param_groups[group] = ParameterGroup(group)
self.param_groups[group].AddParameter(param)
# Reset parsed comment.
state = None
def GetParamGroups(self):
"""
Returns the parsed list of parameters. Every parameter is a Parameter
object. Note that returned object is not a copy. Modifications affect
state of the parser.
"""
return sorted(self.param_groups.values(),
cmp=lambda x, y: cmp(self.priority.get(y.GetName(), 0),
self.priority.get(x.GetName(), 0)) or cmp(x.GetName(),
y.GetName()))

61
Tools/px4params/px_process_params.py Executable file
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#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# PX4 paramers processor (main executable file)
#
# It scans src/ subdirectory of the project, collects all parameters
# definitions, and outputs list of parameters in XML and DokuWiki formats.
#
import scanner
import parser
import xmlout
import dokuwikiout
# Initialize parser
prs = parser.Parser()
# Scan directories, and parse the files
sc = scanner.Scanner()
sc.ScanDir("../../src", prs)
output = prs.GetParamGroups()
# Output into XML
out = xmlout.XMLOutput()
out.Save(output, "parameters.xml")
# Output into DokuWiki
out = dokuwikiout.DokuWikiOutput()
out.Save(output, "parameters.wiki")

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Tools/px4params/scanner.py Normal file
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import os
import re
class Scanner(object):
"""
Traverses directory tree, reads all source files, and passes their contents
to the Parser.
"""
re_file_extension = re.compile(r'\.([^\.]+)$')
def ScanDir(self, srcdir, parser):
"""
Scans provided path and passes all found contents to the parser using
parser.Parse method.
"""
extensions = set(parser.GetSupportedExtensions())
for dirname, dirnames, filenames in os.walk(srcdir):
for filename in filenames:
m = self.re_file_extension.search(filename)
if m:
ext = m.group(1)
if ext in extensions:
path = os.path.join(dirname, filename)
self.ScanFile(path, parser)
def ScanFile(self, path, parser):
"""
Scans provided file and passes its contents to the parser using
parser.Parse method.
"""
with open(path, 'r') as f:
contents = f.read()
parser.Parse(contents)

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Tools/px4params/xmlout.py Normal file
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import output
from xml.dom.minidom import getDOMImplementation
class XMLOutput(output.Output):
def Generate(self, groups):
impl = getDOMImplementation()
xml_document = impl.createDocument(None, "parameters", None)
xml_parameters = xml_document.documentElement
for group in groups:
xml_group = xml_document.createElement("group")
xml_group.setAttribute("name", group.GetName())
xml_parameters.appendChild(xml_group)
for param in group.GetParams():
xml_param = xml_document.createElement("parameter")
xml_group.appendChild(xml_param)
for code in param.GetFieldCodes():
value = param.GetFieldValue(code)
xml_field = xml_document.createElement(code)
xml_param.appendChild(xml_field)
xml_value = xml_document.createTextNode(value)
xml_field.appendChild(xml_value)
return xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8")

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src/modules/sensors/sensor_params.c
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#include <systemlib/param/param.h> #include <systemlib/param/param.h>
/**
* Gyro X offset FIXME
*
* This is an X-axis offset for the gyro.
* Adjust it according to the calibration data.
*
* @min -10.0
* @max 10.0
* @group Gyro Config
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
/**
* Gyro Y offset FIXME with dot.
*
* @min -10.0
* @max 10.0
* @group Gyro Config
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
/**
* Gyro Z offset FIXME
*
* @min -5.0
* @max 5.0
* @group Gyro Config
*/
PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);