px4-firmware/Tools/px4airframes/markdownout.py

163 lines
6.1 KiB
Python

from xml.sax.saxutils import escape
import codecs
import os
import html
class MarkdownTablesOutput():
def __init__(self, groups, board, image_path):
result = """# Airframes Reference
:::note
**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
:::
This page lists all supported airframes and types including the motor assignment and numbering.
The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
**AUX** channels may not be present on some flight controllers.
If present, PWM AUX channels are commonly labelled **AUX OUT**.
<style>
div.frame_common table, div.frame_common table {
display: table;
table-layout: fixed;
margin-bottom: 5px;
}
div.frame_common table {
float: right;
width: 70%;
}
div.frame_common img {
max-height: 180px;
width: 29%;
padding-top: 10px;
}
div.frame_variant table {
width: 100%;
}
div.frame_variant th:nth-child(1) {
width: 30%;
}
div.frame_variant tr > * {
vertical-align : top;
}
div.frame_variant td, div.frame_variant th {
text-align : left;
}
</style>\n\n"""
type_set = set()
if len(image_path) > 0 and image_path[-1] != '/':
image_path = image_path + '/'
for group in groups:
if group.GetClass() not in type_set:
result += '## %s\n\n' % group.GetClass()
type_set.add(group.GetClass())
result += '### %s\n\n' % group.GetType()
# Display an image of the frame
image_name = group.GetImageName()
result += '<div class="frame_common">\n'
image_name = image_path + image_name
result += '<img src="%s.svg"/>\n' % (image_name)
# check if all outputs are equal for the group: if so, show them
# only once
all_outputs = {}
num_configs = len(group.GetAirframes())
for airframe in group.GetAirframes():
if not self.IsExcluded(airframe, board):
for output_name in airframe.GetOutputCodes():
value = airframe.GetOutputValue(output_name)
key_value_pair = (output_name, value)
if key_value_pair not in all_outputs:
all_outputs[key_value_pair] = 0
all_outputs[key_value_pair] += 1
has_common_outputs = any(all_outputs[k] == num_configs for k in all_outputs)
if has_common_outputs:
outputs_common = ''.join(['<li><b>{:}</b>: {:}</li>'.format(k[0], k[1]) \
for k in all_outputs if all_outputs[k] == num_configs])
result += '<table>\n'
result += ' <thead>\n'
result += ' <tr><th>Common Outputs</th></tr>\n'
result += ' </thead>\n'
result += ' <tbody>\n'
result += '<tr>\n <td><ul>%s</ul></td>\n</tr>\n' % (outputs_common)
result += '</tbody></table>\n'
result += '</div>\n\n'
result += '<div class="frame_variant">\n'
result += '<table>\n'
result += ' <thead>\n'
result += ' <tr><th>Name</th><th></th></tr>\n'
result += ' </thead>\n'
result += '<tbody>\n'
for airframe in group.GetAirframes():
if not self.IsExcluded(airframe, board):
name = airframe.GetName()
airframe_id = airframe.GetId()
airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
maintainer = airframe.GetMaintainer()
maintainer_entry = ''
if maintainer != '':
maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
url = airframe.GetFieldValue('url')
name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
name_anchor=name_anchor.replace(' ','_').lower()
name_anchor=name_anchor.replace('"','_').lower()
name_anchor='id="%s"' % name_anchor
name_entry = name
if url != '':
name_entry = '<a href="%s">%s</a>' % (url, name)
outputs = '<ul>'
has_outputs = False
for output_name in airframe.GetOutputCodes():
value = airframe.GetOutputValue(output_name)
valstrs = value.split(";")
key_value_pair = (output_name, value)
if all_outputs[key_value_pair] < num_configs:
outputs += '<li><b>%s</b>: %s</li>' % (output_name, value)
has_outputs = True
for attrib in valstrs[1:]:
attribstrs = attrib.split(":")
# some airframes provide more info, like angle=60, direction=CCW
#print(output_name,value, attribstrs[0].strip(),attribstrs[1].strip())
outputs += '</ul>'
if has_outputs:
outputs_entry = '<p><b>Specific Outputs:</b>' + outputs + '</p>'
else:
outputs_entry = ''
result += ('<tr %s>\n <td>%s</td>\n <td>%s%s%s</td>\n</tr>\n' %
(name_anchor, name_entry, maintainer_entry, airframe_id_entry,
outputs_entry))
#Close the table.
result += '</tbody>\n</table>\n</div>\n\n'
self.output = result
def IsExcluded(self, airframe, board):
for code in airframe.GetArchCodes():
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
return True
return False
def Save(self, filename):
with codecs.open(filename, 'w', 'utf-8') as f:
f.write(self.output)