def param_help_tree(self):
'''return a "help tree", a map between a parameter and its metadata. May return None if help is not available'''
if self.xml_filepath is not None:
print("param: using xml_filepath=%s" % self.xml_filepath)
path = self.xml_filepath
else:
if self.vehicle_name is None:
print("Unknown vehicle type")
return None
path = mp_util.dot_mavproxy("%s.xml" % self.vehicle_name)
if not os.path.exists(path):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return None
if not os.path.exists(path):
print("Param XML (%s) does not exist" % path)
return None
xml = open(path,'rb').read()
from lxml import objectify
objectify.enable_recursive_str()
tree = objectify.fromstring(xml)
htree = {}
for p in tree.vehicles.parameters.param:
n = p.get('name').split(':')[1]
htree[n] = p
for lib in tree.libraries.parameters:
for p in lib.param:
n = p.get('name')
htree[n] = p
return htree
def param_help_download(self):
'''download XML files for parameters'''
files = []
for vehicle in ['Rover', 'ArduCopter', 'ArduPlane', 'ArduSub', 'AntennaTracker']:
url = 'http://autotest.ardupilot.org/Parameters/%s/apm.pdef.xml.gz' % vehicle
path = mp_util.dot_mavproxy("%s.xml" % vehicle)
files.append((url, path))
url = 'http://autotest.ardupilot.org/%s-defaults.parm' % vehicle
if vehicle != 'AntennaTracker':
# defaults not generated for AntennaTracker ATM
path = mp_util.dot_mavproxy("%s-defaults.parm" % vehicle)
files.append((url, path))
try:
child = multiproc.Process(target=mp_util.download_files, args=(files,))
child.start()
except Exception as e:
print(e)
def find_manifests(self):
'''locate manifests and return filepaths thereof'''
manifest_dir = mp_util.dot_mavproxy()
ret = []
for file in os.listdir(manifest_dir):
try:
file.index("manifest")
ret.append(os.path.join(manifest_dir,file))
except ValueError:
pass
return ret
def __init__(self, mpstate):
super(HelpModule, self).__init__(mpstate, "mavhelp", "Help and version information", public = True)
self.enabled = False
self.add_command('mavhelp', self.cmd_help, "help and version information", "<about|site>")
self.have_list = False
#versioning info
#pkg_resources doesn't work in the windows exe build, so read the version file
try:
import pkg_resources
self.version = pkg_resources.Environment()["mavproxy"][0].version
except:
start_script = mp_util.dot_mavproxy("version.txt")
f = open(start_script, 'r')
self.version = f.readline()
self.host = platform.system() + platform.release()
self.pythonversion = str(platform.python_version())
if mp_util.has_wxpython:
self.wxVersion = str(wx.__version__)
else:
self.wxVersion = ''
#check for updates, if able
pypi = xmlrpclib.ServerProxy('https://pypi.python.org/pypi')
available = None
try:
available = pypi.package_releases(')
except socket.gaierror:
pass
if available:
self.newversion = available[0]
else:
self.newversion = 'Error finding update'
#and format the update string
if not isinstance(self.newversion, basestring):
self.newversion = "Error finding update"
elif re.search('[a-zA-Z]', self.newversion):
self.newversion = "Error finding update: " + self.newversion
elif self.newversion.strip() == self.version.strip():
self.newversion = "Running latest version"
else:
self.newversion = "New version " + self.newversion + " available (currently running " + self.version + ")"
if mp_util.has_wxpython:
self.menu_added_console = False
self.menu = MPMenuSubMenu('Help',
items=[MPMenuItem('website', 'website', '', handler=MPMenuOpenWeblink('https://ardupilot.org/mavproxy/index.html')),
MPMenuItem('Check for Updates', 'Check for Updates', '', handler=MPMenuChildMessageDialog(title="Updates", message=self.newversion)),
MPMenuItem('About', 'About', '', handler=MPMenuChildMessageDialog(title="About , message=self.about_string()))])
def manifest_download(self):
'''download manifest files'''
if self.downloaders_lock.acquire(False):
if len(self.downloaders):
# there already exist downloader threads
self.downloaders_lock.release()
return
for url in ['https://firmware.ardupilot.org/manifest.json']:
filename = self.make_safe_filename_from_url(url)
path = mp_util.dot_mavproxy("manifest-%s" % filename)
self.downloaders[url] = threading.Thread(target=self.download_url, args=(url, path))
self.downloaders[url].start()
self.downloaders_lock.release()
else:
print("fw: Failed to acquire download lock")
def handle_command(self, master, mpstate, args):
'''handle parameter commands'''
param_wildcard = "*"
usage="Usage: param <fetch|ftp|save|set|show|load|preload|forceload|diff|download|check|help>"
if len(args) < 1:
print(usage)
return
if args[0] == "fetch":
if len(args) == 1:
self.fetch_all(master)
if self.ftp_started:
print("Requested parameter list (ftp)")
else:
print("Requested parameter list")
else:
found = False
pname = args[1].upper()
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, pname):
master.param_fetch_one(p)
if p not in self.fetch_one:
self.fetch_one[p] = 0
self.fetch_one[p] += 1
found = True
print("Requested parameter %s" % p)
if not found and args[1].find('*') == -1:
master.param_fetch_one(pname)
if pname not in self.fetch_one:
self.fetch_one[pname] = 0
self.fetch_one[pname] += 1
print("Requested parameter %s" % pname)
elif args[0] == "ftp":
self.ftp_start()
elif args[0] == "save":
if len(args) < 2:
print("usage: param save <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.save(args[1].strip('"'), param_wildcard, verbose=True)
elif args[0] == "diff":
wildcard = '*'
if len(args) < 2 or args[1].find('*') != -1:
if self.vehicle_name is None:
print("Unknown vehicle type")
return
filename = mp_util.dot_mavproxy("%s-defaults.parm" % self.vehicle_name)
if not os.path.exists(filename):
print("Please run 'param download' first (vehicle_name=%s)" % self.vehicle_name)
return
if len(args) >= 2:
wildcard = args[1]
else:
filename = args[1]
if len(args) == 3:
wildcard = args[2]
print("%-16.16s %12.12s %12.12s" % ('Parameter', 'Defaults', 'Current'))
self.mav_param.diff(filename, wildcard=wildcard)
elif args[0] == "set":
if len(args) < 2:
print("Usage: param set PARMNAME VALUE")
return
if len(args) == 2:
self.mav_param.show(args[1])
return
param = args[1]
value = args[2]
if value.startswith('0x'):
value = int(value, base=16)
if not param.upper() in self.mav_param:
print("Unable to find parameter '%s'" % param)
return
uname = param.upper()
ptype = None
if uname in self.param_types:
ptype = self.param_types[uname]
self.mav_param.mavset(master, uname, value, retries=3, parm_type=ptype)
if (param.upper() == "WP_LOITER_RAD" or param.upper() == "LAND_BREAK_PATH"):
#need to redraw rally points
mpstate.module('rally').set_last_change(time.time())
#need to redraw loiter points
mpstate.module('wp').wploader.last_change = time.time()
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1].strip('"'), param_wildcard, master)
elif args[0] == "preload":
if len(args) < 2:
print("Usage: param preload <filename>")
return
self.mav_param.load(args[1].strip('"'))
elif args[0] == "forceload":
if len(args) < 2:
print("Usage: param forceload <filename> [wildcard]")
return
if len(args) > 2:
param_wildcard = args[2]
else:
param_wildcard = "*"
self.mav_param.load(args[1].strip('"'), param_wildcard, master, check=False)
elif args[0] == "download":
self.param_help_download()
elif args[0] == "apropos":
self.param_apropos(args[1:])
elif args[0] == "check":
self.param_check(args[1:])
elif args[0] == "help":
self.param_help(args[1:])
elif args[0] == "set_xml_filepath":
self.param_set_xml_filepath(args[1:])
elif args[0] == "show":
if len(args) > 1:
pattern = args[1]
else:
pattern = "*"
self.mav_param.show(pattern)
elif args[0] == "status":
print("Have %u/%u params" % (len(self.mav_param_set), self.mav_param_count))
else:
print(usage)