def reorganize_airframe_xml(airframe_xml):
airframe = ET.fromstring("<!DOCTYPE airframe SYSTEM \"airframe.dtd\"><!-- \n\tAirframe comment \n--> <airframe/>")
child1 = ET.Comment("+-+-+-+-+-+-+- FIRMWARES -+-+-+-+-+-+-+")
airframe.append(child1)
find_and_add(airframe_xml, airframe, "firmware")
airframe.append(ET.Comment("+-+-+-+-+-+-+- MODULES -+-+-+-+-+-+-+"))
find_and_add(airframe_xml, airframe, "modules")
airframe.append(ET.Comment("+-+-+-+-+-+-+- ACTUATORS -+-+-+-+-+-+-+"))
find_and_add(airframe_xml, airframe, "servos")
find_and_add(airframe_xml, airframe, "commands")
find_and_add(airframe_xml, airframe, "rc_commands")
find_and_add_sections_with_name(airframe_xml,airframe,"SERVO_MIXER_GAINS")
find_and_add(airframe_xml, airframe, "command_laws")
find_and_add_sections_with_name(airframe_xml,airframe,"FAILSAFE")
airframe.append(ET.Comment("+-+-+-+-+-+-+- SENSORS -+-+-+-+-+-+-+"))
find_and_add_sections_with_name(airframe_xml,airframe,"ADC")
find_and_add_sections_with_name(airframe_xml,airframe,"INS")
find_and_add_sections_with_name(airframe_xml,airframe,"AHRS")
find_and_add_sections_with_name(airframe_xml,airframe,"XSENS")
airframe.append(ET.Comment("+-+-+-+-+-+-+- GAINS -+-+-+-+-+-+-+"))
find_and_add_sections_with_name(airframe_xml,airframe,"HORIZONTAL CONTROL")
find_and_add_sections_with_name(airframe_xml,airframe,"VERTICAL CONTROL")
find_and_add_sections_with_name(airframe_xml,airframe,"AGGRESSIVE")
airframe.append(ET.Comment("+-+-+-+-+-+-+- MISC -+-+-+-+-+-+-+"))
for block in airframe_xml.getroot():
name = block.get("name")
if name == None:
name = "None"
if (block.tag == "firmware"):
print("firmware",block.tag, name)
elif (block.tag in ["servos", "commands", "rc_commands", "command_laws"]):
print("actuator",block.tag, name)
else:
print("other",block.tag, name)
airframe.append(block)
xml_common.indent(airframe)
#print(etree.tostring(airframe))
ET.ElementTree(airframe).write('test.xml',pretty_print=True)
def reorganize_airframe_xml(airframe_xml):
some_file_like_object = StringIO(u"<airframe/>")
airframe_xml_tree = ET.parse(some_file_like_object)
airframe = airframe_xml_tree.getroot()
if 'name' not in airframe_xml.getroot().attrib:
print("Airframe has no name!")
else:
airframe.set('name', airframe_xml.getroot().get('name'))
find_and_add(airframe_xml, airframe, "description")
find_or_add_group(airframe_xml, airframe, "FIRMWARE")
find_and_add(airframe_xml, airframe, "firmware")
find_and_add_sections_with_name(airframe_xml, airframe, "AUTOPILOT")
find_or_add_group(airframe_xml, airframe, "MODULES")
find_and_add(airframe_xml, airframe, "modules")
find_or_add_group(airframe_xml, airframe, "ACTUATORS")
find_and_add_sections_with_name(airframe_xml, airframe, "ACTUATORS_MKK")
find_and_add_sections_with_name(airframe_xml, airframe, "ACTUATORS_MKK_V2")
find_and_add(airframe_xml, airframe, "servos")
find_and_add(airframe_xml, airframe, "commands")
find_and_add(airframe_xml, airframe, "ap_only_commands")
find_and_add(airframe_xml, airframe, "rc_commands")
find_and_add_sections_with_name(airframe_xml, airframe, "AUTO1")
find_and_add_sections_with_name(airframe_xml, airframe,
"SERVO_MIXER_GAINS")
find_and_add_sections_with_name(airframe_xml, airframe, "MIXER")
find_and_add_sections_with_name(airframe_xml, airframe, "MIXING")
find_and_add(airframe_xml, airframe, "command_laws")
find_and_add_sections_with_name(airframe_xml, airframe, "TRIM")
find_and_add_sections_with_name(airframe_xml, airframe, "FAILSAFE")
find_or_add_group(airframe_xml, airframe, "SENSORS")
find_and_add_sections_with_name(airframe_xml, airframe, "ADC")
find_and_add_sections_with_name(airframe_xml, airframe, "INFRARED")
find_and_add_sections_with_name(airframe_xml, airframe, "IMU")
find_and_add_sections_with_name(airframe_xml, airframe, "AHRS")
find_and_add_sections_with_name(airframe_xml, airframe, "INS")
find_and_add_sections_with_name(airframe_xml, airframe, "XSENS")
find_or_add_group(airframe_xml, airframe, "GAINS")
# Fixedwing
find_and_add_sections_with_name(airframe_xml, airframe,
"HORIZONTAL CONTROL")
find_and_add_sections_with_name(airframe_xml, airframe, "VERTICAL CONTROL")
find_and_add_sections_with_name(airframe_xml, airframe, "AGGRESSIVE")
# Rotorcraft
find_and_add_sections_with_name(airframe_xml, airframe,
"STABILIZATION_RATE")
find_and_add_sections_with_name(airframe_xml, airframe,
"STABILIZATION_ATTITUDE")
find_and_add_sections_with_name(airframe_xml, airframe, "GUIDANCE_V")
find_and_add_sections_with_name(airframe_xml, airframe, "GUIDANCE_H")
find_or_add_group(airframe_xml, airframe, "MISC")
find_and_add(airframe_xml, airframe, "*")
xml_common.indent(airframe)
temp = airframe.findall("./*")
for t in temp:
t.tail = "\n\n "
#print(etree.tostring(airframe))
#ET.ElementTree(airframe_xml_tree).write('test.xml')
return airframe_xml_tree
def find_and_add_sections_with_name(source, target, find_name):
temp = source.getroot().findall("./*[@name='" + find_name + "']")
for t in temp:
xml_common.indent(t, 1)
target.extend(temp)
def find_and_add(source, target, search):
temp = source.getroot().findall("./" + search)
for t in temp:
xml_common.indent(t, 1)
target.extend(temp)
find_or_add_group(airframe_xml, airframe, "GAINS")
# Fixedwing
find_and_add_sections_with_name(airframe_xml, airframe, "HORIZONTAL CONTROL")
find_and_add_sections_with_name(airframe_xml, airframe, "VERTICAL CONTROL")
find_and_add_sections_with_name(airframe_xml, airframe, "AGGRESSIVE")
# Rotorcraft
find_and_add_sections_with_name(airframe_xml, airframe, "STABILIZATION_RATE")
find_and_add_sections_with_name(airframe_xml, airframe, "STABILIZATION_ATTITUDE")
find_and_add_sections_with_name(airframe_xml, airframe, "GUIDANCE_V")
find_and_add_sections_with_name(airframe_xml, airframe, "GUIDANCE_H")
find_or_add_group(airframe_xml, airframe, "MISC")
find_and_add(airframe_xml, airframe, "*")
xml_common.indent(airframe)
temp = airframe.findall("./*")
for t in temp:
t.tail = "\n\n "
#print(etree.tostring(airframe))
#ET.ElementTree(airframe_xml_tree).write('test.xml')
return airframe_xml_tree
def get_airframe_header(airframe_file):
try:
with open(airframe_file) as inputFileHandle:
fullfile = inputFileHandle.read()
pos = fullfile.find("<airframe")
def reorganize_airframe_xml(airframe_xml):
some_file_like_object = StringIO.StringIO("<airframe/>")
airframe_xml_tree = ET.parse(some_file_like_object)
airframe = airframe_xml_tree.getroot()
if 'name' not in airframe_xml.getroot().attrib:
print("Airframe has no name!")
else:
airframe.set('name', airframe_xml.getroot().get('name'))
find_or_add_group(airframe_xml, airframe, "FIRMWARE")
find_and_add(airframe_xml, airframe, "firmware")
find_and_add_sections_with_name(airframe_xml, airframe, "AUTOPILOT")
find_or_add_group(airframe_xml, airframe, "MODULES")
find_and_add(airframe_xml, airframe, "modules")
find_or_add_group(airframe_xml, airframe, "ACTUATORS")
find_and_add_sections_with_name(airframe_xml, airframe, "ACTUATORS_MKK")
find_and_add_sections_with_name(airframe_xml, airframe, "ACTUATORS_MKK_V2")
find_and_add(airframe_xml, airframe, "servos")
find_and_add(airframe_xml, airframe, "commands")
find_and_add(airframe_xml, airframe, "ap_only_commands")
find_and_add(airframe_xml, airframe, "rc_commands")
find_and_add_sections_with_name(airframe_xml, airframe, "AUTO1")
find_and_add_sections_with_name(airframe_xml, airframe, "SERVO_MIXER_GAINS")
find_and_add_sections_with_name(airframe_xml, airframe, "MIXER")
find_and_add_sections_with_name(airframe_xml, airframe, "MIXING")
find_and_add(airframe_xml, airframe, "command_laws")
find_and_add_sections_with_name(airframe_xml, airframe, "TRIM")
find_and_add_sections_with_name(airframe_xml, airframe, "FAILSAFE")
find_or_add_group(airframe_xml, airframe, "SENSORS")
find_and_add_sections_with_name(airframe_xml, airframe, "ADC")
find_and_add_sections_with_name(airframe_xml, airframe, "INFRARED")
find_and_add_sections_with_name(airframe_xml, airframe, "IMU")
find_and_add_sections_with_name(airframe_xml, airframe, "AHRS")
find_and_add_sections_with_name(airframe_xml, airframe, "INS")
find_and_add_sections_with_name(airframe_xml, airframe, "XSENS")
find_or_add_group(airframe_xml, airframe, "GAINS")
# Fixedwing
find_and_add_sections_with_name(airframe_xml, airframe, "HORIZONTAL CONTROL")
find_and_add_sections_with_name(airframe_xml, airframe, "VERTICAL CONTROL")
find_and_add_sections_with_name(airframe_xml, airframe, "AGGRESSIVE")
# Rotorcraft
find_and_add_sections_with_name(airframe_xml, airframe, "STABILIZATION_RATE")
find_and_add_sections_with_name(airframe_xml, airframe, "STABILIZATION_ATTITUDE")
find_and_add_sections_with_name(airframe_xml, airframe, "GUIDANCE_V")
find_and_add_sections_with_name(airframe_xml, airframe, "GUIDANCE_H")
find_or_add_group(airframe_xml, airframe, "MISC")
find_and_add(airframe_xml, airframe, "*")
xml_common.indent(airframe)
temp = airframe.findall("./*")
for t in temp:
t.tail = "\n\n "
#print(etree.tostring(airframe))
#ET.ElementTree(airframe_xml_tree).write('test.xml')
return airframe_xml_tree
def find_and_add_sections_with_name(source, target, find_name):
temp = source.getroot().findall("./*[@name='" + find_name + "']")
for t in temp:
xml_common.indent(t, 1)
target.extend(temp)
def find_and_add(source, target, search):
temp = source.getroot().findall("./" + search)
for t in temp:
xml_common.indent(t, 1)
target.extend(temp)
