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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 14:28:54 +08:00
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
@@ -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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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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@@ -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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