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93 lines
3.1 KiB
93 lines
3.1 KiB
#!/usr/bin/env python |
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from xml.sax.saxutils import escape, quoteattr |
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from emit import Emit |
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from param import known_param_fields, known_units |
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from lxml import etree |
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# Emit ArduPilot documentation in an machine readable XML format for Mission Planner |
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class XmlEmitMP(Emit): |
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def __init__(self): |
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Emit.__init__(self) |
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self.mp_fname = 'ParameterMetaData.xml' |
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self.f = open(self.mp_fname, mode='w') |
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self.preamble = '''<?xml version="1.0" encoding="utf-8"?>\n''' |
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self.f.write(self.preamble) |
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self.f.write('<Params>\n') |
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self.gname = None |
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self.skip_name = False |
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def close(self): |
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self.f.write(' </%s>\n' % self.gname) |
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self.f.write('''</Params>\n''') |
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self.f.close() |
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# sort and reformat XML |
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parser = etree.XMLParser(remove_blank_text=True) |
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tree = etree.parse(self.mp_fname, parser) |
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root = tree.getroot() |
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vehicle = tree.find(self.gname) |
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sort_xml_node(vehicle) |
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sorted_unicode = etree.tostring(root, pretty_print=True, encoding='unicode') |
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f = open(self.mp_fname, mode='w') |
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f.write(self.preamble) |
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f.write(sorted_unicode) |
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f.close() |
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def emit_comment(self, s): |
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self.f.write("<!-- " + s + " -->") |
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def start_libraries(self): |
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self.skip_name = True |
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def emit(self, g): |
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t = "" |
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if not self.skip_name: |
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self.gname = g.name |
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if self.gname == "ArduCopter": |
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self.gname = "ArduCopter2" |
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if self.gname == "APMrover2" or self.gname == "Rover": |
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self.gname = "ArduRover" |
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t = ' <%s>\n' % self.gname |
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for param in g.params: |
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# Begin our parameter node |
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# Get param name and and remove key |
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name = param.name.split(':')[-1] |
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t += ' <%s>\n' % name |
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if hasattr(param, 'DisplayName'): |
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t += ' <DisplayName>%s</DisplayName>\n' % param.DisplayName |
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if hasattr(param, 'Description'): |
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t += ' <Description>%s</Description>\n' % escape(param.Description) # i.e. parameter docs |
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if hasattr(param, 'User'): |
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t += ' <User>%s</User>\n' % param.User # i.e. Standard or Advanced |
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# not used yet |
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# if hasattr(param, 'Calibration'): |
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# t += ' <Calibration>%s</Calibration\n' % quoteattr(param.Calibration) |
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# Add values as chidren of this node |
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for field in param.__dict__.keys(): |
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if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields: |
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t += ' <%s>%s</%s>\n' % (field, escape(param.__dict__[field]), field) |
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t += ' </%s>\n' % name |
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# print t |
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self.f.write(t) |
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def sort_xml_node(node): |
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if not isinstance(node.tag, str): |
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# not a TAG, it is comment or DATA |
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# no need to sort |
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return |
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# sort child along attr |
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node[:] = sorted(node, key=lambda field: field.tag) |
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# and recurse |
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for child in node: |
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child[:] = sorted(child, key=lambda field: field.tag)
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