CoCalc -- vehicleinfo.py

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GitHub Repository: Ardupilot/ardupilot
Path: blob/master/Tools/autotest/pysim/vehicleinfo.py
Views: ¹⁷⁹⁹
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class VehicleInfo(object):
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    def __init__(self):
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        """
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        waf_target: option passed to waf's --target to create binary
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        default_params_filename: filename of default parameters file.  Taken to be relative to autotest dir.
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        extra_mavlink_cmds: extra parameters that will be passed to mavproxy
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        """
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        self.options = {
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    "ArduCopter": {
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        "default_frame": "quad",
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        "frames": {
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            # COPTER
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            "+": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": "default_params/copter.parm",
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            },
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            "quad": {
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                "model": "+",
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                "waf_target": "bin/arducopter",
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                "default_params_filename": "default_params/copter.parm",
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            },
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            "X": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-X.parm"],
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            },
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            "bfx": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-bfx.parm" ],
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            },
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            "djix": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-djix.parm" ],
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            },
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            "cwx": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-cwx.parm" ],
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            },
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            "hexa": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-hexa.parm" ],
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            },
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            "hexax": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-hexa.parm",
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                                            "default_params/copter-X.parm", ],
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            },
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            "hexa-cwx": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-hexa.parm",
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                    "default_params/copter-hexa-cwx.parm"
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                ],
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            },
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            "hexa-dji": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-hexa.parm",
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                    "default_params/copter-hexa-dji.parm"
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                ],
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            },
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             "octa-cwx": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-octa.parm",
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                    "default_params/copter-octa-cwx.parm"
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                ],
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            },
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            "octa-quad-cwx": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-octaquad.parm",
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                    "default_params/copter-octaquad-cwx.parm"
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                ],
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            },
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            "octa-quad": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-octaquad.parm" ],
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            },
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            "octa": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-octa.parm" ],
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            },
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            "octa-dji": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-octa.parm",
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                    "default_params/copter-octa-dji.parm"
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                ],
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            },
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            "deca": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-deca.parm" ],
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            },
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            "deca-cwx": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-deca.parm",
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                    "default_params/copter-deca-cwx.parm"
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                 ],
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            },
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            "tri": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-tri.parm" ],
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            },
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            "y6": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-y6.parm" ],
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            },
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            "dodeca-hexa": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/copter-dodecahexa.parm" ],
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            },
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            # SIM
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            "IrisRos": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": "default_params/copter.parm",
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                "external": True,
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            },
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            "gazebo-iris": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/gazebo-iris.parm"],
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                "external": True,
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            },
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            "airsim-copter": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm",
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                                            "default_params/airsim-quadX.parm"],
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                "external": True,
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            },
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            # HELICOPTER
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            "heli": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": "default_params/copter-heli.parm",
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            },
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            "heli-gas": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": ["default_params/copter-heli.parm",
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                                            "default_params/copter-heli-gas.parm"],
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            },
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            "heli-dual": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": ["default_params/copter-heli.parm",
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                                            "default_params/copter-heli-dual.parm"],
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            },
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            "heli-blade360": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": ["default_params/copter-heli.parm",
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                ],
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            },
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            "singlecopter": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": "default_params/copter-single.parm",
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            },
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            "coaxcopter": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter-single.parm",
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                                            "default_params/copter-coax.parm"],
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            },
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            "scrimmage-copter" : {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": "default_params/copter.parm",
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                "external": True,
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            },
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            "calibration": {
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                "extra_mavlink_cmds": "module load sitl_calibration;",
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                "external": True,  # lies!  OTOH, hard to take off with this
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            },
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            "Callisto": {
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                "model": "octa-quad:@ROMFS/models/Callisto.json",
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-octaquad.parm",
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                    "models/Callisto.param",
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                ],
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            },
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            "quad-can": {
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                "waf_target": "bin/arducopter",
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                "default_params_filename": ["default_params/copter.parm", "default_params/quad-can.parm"],
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                "periph_params_filename": ["default_params/periph.parm", "default_params/quad-periph.parm"],
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            },
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            "freestyle": {
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                "model": "X:@ROMFS/models/freestyle.json",
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                "waf_target": "bin/arducopter",
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                "default_params_filename": [
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                    "default_params/copter.parm",
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                    "default_params/copter-X.parm",
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                    "models/freestyle.param",
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                ],
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            },
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        },
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    },
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    "Helicopter": {
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        "default_frame": "heli",
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        "frames": {
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            "heli": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": "default_params/copter-heli.parm",
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            },
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            "heli-gas": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": ["default_params/copter-heli.parm",
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                                            "default_params/copter-heli-gas.parm"],
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            },
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            "heli-dual": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": ["default_params/copter-heli.parm",
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                                            "default_params/copter-heli-dual.parm"],
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            },
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            # "heli-compound": {
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            #     "waf_target": "bin/arducopter-heli",
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            #     "default_params_filename": ["default_params/copter-heli.parm",
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            #                                 "default_params/copter-heli-compound.parm"],
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            # },
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            "heli-blade360": {
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                "waf_target": "bin/arducopter-heli",
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                "default_params_filename": ["default_params/copter-heli.parm",
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                ],
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            },
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        },
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    },
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    "Blimp": {
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        "default_frame": "Blimp",
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        "frames": {
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            "Blimp": {
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                "waf_target": "bin/blimp",
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                "default_params_filename": "default_params/blimp.parm",
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            },
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        },
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    },
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    "ArduPlane": {
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        "default_frame": "plane",
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        "frames": {
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            # PLANE
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            "quadplane-tilttri": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm",
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                                            "default_params/quadplane-tilttri.parm"],
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            },
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            "quadplane-tilttrivec": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm",
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                                            "default_params/quadplane-tilttrivec.parm"],
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            },
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            "quadplane-tilthvec": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/quadplane-tilthvec.parm"],
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            },
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            "quadplane-tri": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm",
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                                            "default_params/quadplane-tri.parm"],
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            },
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            "quadplane-cl84" : {
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                "waf_target" : "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm",
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                                            "default_params/quadplane-cl84.parm"],
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            },
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            "quadplane": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "default_params/quadplane.parm",
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            },
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            "quadplane-ice": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm", "default_params/plane-ice.parm", "default_params/quadplane-ice.parm"],
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            },
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            "quadplane-can": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm", "default_params/quadplane-can.parm"],
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                "periph_params_filename": ["default_params/periph.parm", "default_params/quadplane-periph.parm"],
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            },
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            "quadplane-tilt": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm",
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                                            "default_params/quadplane-tilt.parm"],
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            },
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            "firefly": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm",
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                                            "default_params/firefly.parm"]
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            },
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            "plane-elevon": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-elevons.parm"],
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            },
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            "plane-vtail": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-vtail.parm"],
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            },
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            "plane-tailsitter": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "default_params/plane-tailsitter.parm",
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            },
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            "plane-jet": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-jet.parm"],
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            },
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            "plane-ice": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-ice.parm"],
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            },
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            "plane-3d": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": [], # defaults are loaded in SIM_Plane.cpp
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            },
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            "glider": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "default_params/glider.parm",
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            },
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            "quadplane-copter_tailsitter": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["default_params/quadplane.parm","default_params/quadplane-copter_tailsitter.parm"],
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            },
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            "plane": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "models/plane.parm",
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            },
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            "plane-dspoilers": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-dspoilers.parm"]
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            },
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            "plane-redundant": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-redundant.parm"]
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            },
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            "plane-soaring": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": ["models/plane.parm", "default_params/plane-soaring.parm"]
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            },
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            "gazebo-zephyr": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "default_params/gazebo-zephyr.parm",
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                "external": True,
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            },
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            "last_letter": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "models/plane.parm",
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                "external": True,
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            },
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            "CRRCSim": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "models/plane.parm",
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                "external": True,
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            },
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            "jsbsim": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "default_params/plane-jsbsim.parm",
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                "external": True,
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            },
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            "scrimmage-plane" : {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "models/plane.parm",
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                "external": True,
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            },
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            "calibration": {
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                "extra_mavlink_cmds": "module load sitl_calibration;",
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                "external": True,  # lies!  OTOH, hard to take off with this
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            },
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            "stratoblimp": {
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                "waf_target": "bin/arduplane",
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                "default_params_filename": "default_params/stratoblimp.parm",
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            },
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        },
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    },
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    "Rover": {
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        "default_frame": "rover",
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        "frames": {
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            # ROVER
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            "rover": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": "default_params/rover.parm",
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            },
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            "rover-skid": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/rover-skid.parm"],
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            },
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            "rover-omni3mecanum": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/rover-omni3mecanum.parm"],
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            },
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            "rover-vectored": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/rover-vectored.parm"],
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            },
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            "balancebot": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/rover-skid.parm",
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                                            "default_params/balancebot.parm"],
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            },
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            "motorboat": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/motorboat.parm"],
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            },
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            "motorboat-skid": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/motorboat.parm",
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                                            "default_params/rover-skid.parm"],
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            },
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            "sailboat": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/sailboat.parm"],
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            },
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            "sailboat-motor": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/sailboat-motor.parm"],
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            },
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            "gazebo-rover": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/rover-skid.parm"],
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            },
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            "airsim-rover": {
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                "waf_target": "bin/ardurover",
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                "default_params_filename": ["default_params/rover.parm",
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                                            "default_params/airsim-rover.parm"],
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            },
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            "calibration": {
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                "extra_mavlink_cmds": "module load sitl_calibration;",
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            },
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        },
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    },
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    "ArduSub": {
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        "default_frame": "vectored",
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        "frames": {
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            "vectored": {
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                "waf_target": "bin/ardusub",
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                "default_params_filename": "default_params/sub.parm",
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            },
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            "vectored_6dof": {
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                "waf_target": "bin/ardusub",
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                "default_params_filename": "default_params/sub-6dof.parm",
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            },
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            "gazebo-bluerov2": {
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                "waf_target": "bin/ardusub",
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                "default_params_filename": "default_params/sub.parm",
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            },
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        },
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    },
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    "AntennaTracker": {
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        "default_frame": "tracker",
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        "frames": {
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            "tracker": {
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                "waf_target": "bin/antennatracker",
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            },
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        },
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    },
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    "sitl_periph_universal": {
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        "frames": {
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            "universal": {
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                "configure_target": "sitl_periph_universal",
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                "waf_target": "bin/AP_Periph",
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                "default_params_filename": "default_params/periph.parm",
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                },
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            }
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    },
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}
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    def default_frame(self, vehicle):
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        return self.options[vehicle]["default_frame"]
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    def default_waf_target(self, vehicle):
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        """Returns a waf target based on vehicle type, which is often determined by which directory the user is in"""
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        default_frame = self.default_frame(vehicle)
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        return self.options[vehicle]["frames"][default_frame]["waf_target"]
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    def options_for_frame(self, frame, vehicle, opts):
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        """Return informatiom about how to sitl for frame e.g. build-type==sitl"""
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        ret = None
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        frames = self.options[vehicle]["frames"]
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        if frame in frames:
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            ret = self.options[vehicle]["frames"][frame]
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        else:
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            for p in ["octa", "tri", "y6", "firefly", "heli", "gazebo", "last_letter", "jsbsim", "quadplane", "plane-elevon", "plane-vtail", "plane", "airsim"]:
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                if frame.startswith(p):
504
                    ret = self.options[vehicle]["frames"][p]
505
                    break
506
        if ret is None:
507
            if frame.endswith("-heli"):
508
                ret = self.options[vehicle]["frames"]["heli"]
509
        if ret is None:
510
            print("WARNING: no config for frame (%s)" % frame)
511
            ret = {}
512

513
        if "model" not in ret:
514
            ret["model"] = frame
515

516
        if "sitl-port" not in ret:
517
            ret["sitl-port"] = True
518

519
        if opts.model is not None:
520
            ret["model"] = opts.model
521

522
        if (ret["model"].find("xplane") != -1 or ret["model"].find("flightaxis") != -1):
523
            ret["sitl-port"] = False
524

525

526
        if "waf_target" not in ret:
527
            ret["waf_target"] = self.default_waf_target(vehicle)
528

529
        if opts.build_target is not None:
530
            ret["waf_target"] = opts.build_target
531

532
        return ret
533

534

535

536

537
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