fix_vehicle_templates.py

   1 #!/usr/bin/python
   2
   3  ###############################################################################
   4  #
   5  # The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  # Script to update vehicle templates files to match current UAVO structure
   7  # and data.
   8  #
   9  ###############################################################################
  10
  11 import json
  12 import re
  13 import collections
  14 import fnmatch
  15 import os
  16
  17 class DecimalEncoder(json.JSONEncoder):
  18     def default(self, obj):
  19         if isinstance(obj, Decimal):
  20             return float(obj)
  21         return json.JSONEncoder.default(self, obj)
  22
  23 json.encoder.FLOAT_REPR = lambda o: format(o, '.17g')
  24
  25 files = []
  26 for root, dirnames, filenames in os.walk('ground/gcs/src/share/vehicletemplates/'):
  27   for filename in fnmatch.filter(filenames, '*.optmpl'):
  28     files.append(os.path.join(root, filename))
  29
  30 for f in files:
  31     data = json.load(open(f, 'r'), object_pairs_hook=collections.OrderedDict)
  32
  33     for item in data['objects']:
  34         fieldsToRemove = []
  35         for i in item['fields']:
  36             name = i['name']
  37             values = i['values']
  38             if re.compile('ThrustPIDScaleCurve').match(name):
  39                 i['type'] = "int8"
  40                 for j in values:
  41                     j['value'] = int(j['value'] * 100)
  42             elif re.compile('AcroInsanityFactor').match(name):
  43                 i['type'] = "int8"
  44                 value = 0
  45                 for j in values:
  46                     value = int(j['value'] * 100)
  47                 values.pop()
  48                 values.append({'name': 'roll', 'value': value})
  49                 values.append({'name': 'pitch', 'value': value})
  50                 values.append({'name': 'yaw', 'value': value})
  51             elif re.compile('FeedForward').match(name):
  52                 fieldsToRemove.append(i)
  53             elif re.compile('MaxAccel').match(name):
  54                 fieldsToRemove.append(i)
  55             elif re.compile('AccelTime').match(name):
  56                 fieldsToRemove.append(i)
  57             elif re.compile('DecelTime').match(name):
  58                 fieldsToRemove.append(i)
  59         for field in fieldsToRemove:
  60             item['fields'].remove(field)
  61     with open(f, 'w') as outfile:
  62         json.dump(data, outfile, indent=4, separators=(',', ': '), cls=DecimalEncoder)