forked from Archive/PX4-Autopilot
519 lines
17 KiB
Python
519 lines
17 KiB
Python
import sys
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import re
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import os
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class AirframeGroup(object):
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"""
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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, type, af_class):
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self.type = type
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self.af_class = af_class
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self.airframes = []
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def AddAirframe(self, airframe):
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"""
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Add airframe to the airframe group
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"""
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self.airframes.append(airframe)
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def GetType(self):
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"""
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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.type
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def GetClass(self):
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"""
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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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def GetImageName(self):
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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.type == "Standard Plane"):
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return "Plane"
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elif (self.type == "Flying Wing"):
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return "FlyingWing"
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elif (self.type == "Quadrotor x"):
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return "QuadRotorX"
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elif (self.type == "Quadrotor +"):
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return "QuadRotorPlus"
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elif (self.type == "Hexarotor x"):
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return "HexaRotorX"
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elif (self.type == "Hexarotor +"):
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return "HexaRotorPlus"
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elif (self.type == "Octorotor +"):
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return "OctoRotorPlus"
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elif (self.type == "Octorotor x"):
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return "OctoRotorX"
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elif (self.type == "Octorotor Coaxial"):
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return "OctoRotorXCoaxial"
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elif (self.type == "Octo Coax Wide"):
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return "OctoRotorXCoaxial"
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elif (self.type == "Quadrotor Wide"):
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return "QuadRotorWide"
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elif (self.type == "Quadrotor H"):
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return "QuadRotorH"
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elif (self.type == "Dodecarotor cox"):
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return "DodecaRotorXCoaxial"
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elif (self.type == "Simulation"):
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return "AirframeSimulation"
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elif (self.type == "Plane A-Tail"):
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return "PlaneATail"
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elif (self.type == "Plane V-Tail"):
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return "PlaneVTail"
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elif (self.type == "VTOL Duo Tailsitter"):
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return "VTOLDuoRotorTailSitter"
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elif (self.type == "Standard VTOL"):
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return "VTOLPlane"
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elif (self.type == "VTOL Quad Tailsitter"):
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return "VTOLQuadRotorTailSitter"
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elif (self.type == "VTOL Tiltrotor"):
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return "VTOLTiltRotor"
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elif (self.type == "VTOL Octoplane"):
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return "VTOLPlaneOcto"
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elif (self.type == "Coaxial Helicopter"):
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return "HelicopterCoaxial"
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elif (self.type == "Helicopter"):
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return "Helicopter"
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elif (self.type == "Hexarotor Coaxial"):
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return "Y6B"
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elif (self.type == "Y6A"):
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return "Y6A"
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elif (self.type == "Tricopter Y-"):
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return "YMinus"
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elif (self.type == "Tricopter Y+"):
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return "YPlus"
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elif (self.type == "Autogyro"):
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return "Autogyro"
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elif (self.type == "Airship"):
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return "Airship"
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elif (self.type == "Rover"):
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return "Rover"
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elif (self.type == "Boat"):
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return "Boat"
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elif (self.type == "Balloon"):
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return "Balloon"
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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 GetAirframes(self):
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"""
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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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class Airframe(object):
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"""
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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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priority = {
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"board": 9,
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"short_desc": 8,
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"long_desc": 7,
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"min": 5,
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"max": 4,
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"unit": 3,
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"AUX1": -10,
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"AUX2": -10,
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"AUX3": -10,
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"AUX4": -10,
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"AUX5": -10,
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"AUX6": -10,
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"AUX7": -10,
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"AUX8": -10,
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# all others == 0 (sorted alphabetically)
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}
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def __init__(self, path, post_path, name, airframe_type, airframe_class, airframe_id, maintainer):
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self.fields = {}
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self.outputs = {}
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self.archs = {}
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self.path = path
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self.post_path = post_path
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self.name = name
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self.type = airframe_type
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self.af_class = airframe_class
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self.id = airframe_id
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self.maintainer = maintainer
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def GetPath(self):
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"""
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Get path to airframe startup script
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"""
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return self.path
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def GetPostPath(self):
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"""
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Get path to airframe post startup script
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"""
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return self.post_path
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def GetName(self):
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"""
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Get airframe name
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"""
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return self.name
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def GetType(self):
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"""
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Get airframe type
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"""
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return self.type
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def GetClass(self):
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"""
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Get airframe class
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"""
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return self.af_class
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def GetId(self):
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"""
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Get airframe id
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"""
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return self.id
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def GetMaintainer(self):
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"""
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Get airframe maintainer
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"""
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return self.maintainer
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def SetField(self, code, value):
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"""
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Set named field value
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"""
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self.fields[code] = value
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def SetOutput(self, code, value):
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"""
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Set named output value
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"""
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self.outputs[code] = value
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def SetArch(self, code, value):
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"""
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Set named arch value
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"""
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self.archs[code] = value
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def GetFieldCodes(self):
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"""
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Return list of existing field codes in convenient order
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"""
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keys = self.fields.keys()
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keys = sorted(keys)
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keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
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return keys
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def GetFieldValue(self, code):
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"""
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Return value of the given field code or None if not found.
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"""
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fv = self.fields.get(code)
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if not fv:
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# required because python 3 sorted does not accept None
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return ""
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return self.fields.get(code)
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def GetOutputCodes(self):
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"""
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Return list of existing output codes in convenient order
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"""
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keys = self.outputs.keys()
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keys = sorted(keys)
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keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
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return keys
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def GetOutputValue(self, code):
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"""
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Return value of the given output code or None if not found.
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"""
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fv = self.outputs.get(code)
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if not fv:
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# required because python 3 sorted does not accept None
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return ""
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return self.outputs.get(code)
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def GetArchCodes(self):
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"""
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Return list of existing arch codes in convenient order
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"""
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keys = self.archs.keys()
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keys = sorted(keys)
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keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
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return keys
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def GetArchValue(self, code):
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"""
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Return value of the given arch code or None if not found.
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"""
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fv = self.archs.get(code)
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if not fv:
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# required because python 3 sorted does not accept None
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return ""
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return self.archs.get(code)
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class SourceParser(object):
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"""
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Parses provided data and stores all found parameters internally.
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"""
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re_split_lines = re.compile(r'[\r\n]+')
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re_comment_start = re.compile(r'^\#\s')
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re_comment_content = re.compile(r'^\#\s*(.*)')
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re_comment_tag = re.compile(r'@([a-zA-Z][a-zA-Z0-9_]*)\s*(.*)')
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re_comment_end = re.compile(r'(.*?)\s*\#\n/')
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re_cut_type_specifier = re.compile(r'[a-z]+$')
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re_is_a_number = re.compile(r'^-?[0-9\.]')
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re_remove_dots = re.compile(r'\.+$')
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re_remove_carriage_return = re.compile('\n+')
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valid_tags = set(["url", "maintainer", "output", "arch", "name", "type", "desc"])
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# Order of parameter groups
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priority = {
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# All other groups = 0 (sort alphabetically)
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"Miscellaneous": -10
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}
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def __init__(self):
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self.airframe_groups = {}
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def GetSupportedExtensions(self):
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"""
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Returns list of supported file extensions that can be parsed by this
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parser. The parser uses any extension.
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"""
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return ["", ".hil"]
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def Parse(self, path, contents):
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"""
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Incrementally parse program contents and append all found airframes
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to the list.
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"""
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airframe_id = None
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airframe_id = os.path.split(path)[1].split('_',1)[0]
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# Skip if not numeric
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if (not self.IsNumber(airframe_id)):
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return True
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# This code is essentially a comment-parsing grammar. "state"
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# represents parser state. It contains human-readable state
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# names.
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state = None
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tags = {}
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outputs = {}
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archs = {}
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for line in self.re_split_lines.split(contents):
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line = line.strip()
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# Ignore empty lines
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if line == "":
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continue
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if state is None and self.re_comment_start.match(line):
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state = "wait-short"
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short_desc = None
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long_desc = None
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if state is not None and state != "comment-processed":
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m = self.re_comment_end.search(line)
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if m:
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line = m.group(1)
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last_comment_line = True
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else:
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last_comment_line = False
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m = self.re_comment_content.match(line)
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if m:
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comment_content = m.group(1)
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if comment_content == "":
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# When short comment ends with empty comment line,
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# start waiting for the next part - long comment.
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if state == "wait-short-end":
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state = "wait-long"
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else:
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m = self.re_comment_tag.match(comment_content)
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if m:
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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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elif (tag == "board"):
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key, text = desc.split(' ', 1)
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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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state = "wait-tag-end"
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elif state == "wait-short":
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# Store first line of the short description
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short_desc = comment_content
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state = "wait-short-end"
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elif state == "wait-short-end":
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# Append comment line to the short description
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short_desc += "\n" + comment_content
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elif state == "wait-long":
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# Store first line of the long description
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long_desc = comment_content
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state = "wait-long-end"
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elif state == "wait-long-end":
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# Append comment line to the long description
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long_desc += "\n" + comment_content
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elif state == "wait-tag-end":
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# Append comment line to the tag text
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tags[current_tag] += "\n" + comment_content
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else:
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raise AssertionError(
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"Invalid parser state: %s" % state)
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elif not last_comment_line:
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# Invalid comment line (inside comment, but not starting with
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# "*" or "*/". Reset parsed content.
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state = None
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if last_comment_line:
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state = "comment-processed"
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else:
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state = None
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# Process parsed content
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airframe_type = None
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maintainer = "John Doe <john@example.com>"
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airframe_name = None
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airframe_class = None
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# Done with file, store
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for tag in tags:
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if tag == "maintainer":
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maintainer = tags[tag]
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elif tag == "type":
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airframe_type = tags[tag]
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elif tag == "class":
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airframe_class = tags[tag]
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elif tag == "name":
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airframe_name = tags[tag]
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elif tag == "desc":
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# General documentation - not a parameter to be saved.
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pass
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elif tag not in self.valid_tags:
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sys.stderr.write("Aborting due to invalid documentation tag: '%s'\n" % tag)
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return False
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# Sanity check
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if airframe_type == None:
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sys.stderr.write("Aborting due to missing @type tag in file: '%s'\n" % path)
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return False
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if airframe_class == None:
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sys.stderr.write("Aborting due to missing @class tag in file: '%s'\n" % path)
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return False
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if airframe_name == None:
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sys.stderr.write("Aborting due to missing @name tag in file: '%s'\n" % path)
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return False
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# Check if a .post script exists
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if os.path.isfile(path + '.post'):
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post_path = path + '.post'
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else:
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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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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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if tag == "maintainer":
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maintainer = tags[tag]
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if tag == "type":
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airframe_type = tags[tag]
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if tag == "class":
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airframe_class = tags[tag]
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if tag == "name":
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airframe_name = tags[tag]
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else:
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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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airframe.SetOutput(output, outputs[output])
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# Store outputs
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for arch in archs:
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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.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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def IsNumber(self, numberString):
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try:
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float(numberString)
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return True
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except ValueError:
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return False
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def Validate(self):
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"""
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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.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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name_plus_board = name + "+" + board
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for seenParamName in seenParamNames:
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if seenParamName == name_plus_board:
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sys.stderr.write("Duplicate parameter definition: {0}\n".format(name_plus_board))
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return False
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seenParamNames.append(name_plus_board)
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return True
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def GetAirframeGroups(self):
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"""
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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.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.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.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.GetType() )
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for group in groups:
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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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