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Add some functionalities in FlightPlan parser

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Louis Dugrain
2005-08-28 13:14:37 +00:00
parent 0956121370
commit bdf3ed2111
1 changed files with 93 additions and 53 deletions
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sw/lib/perl/Paparazzi/Flightplan.pm
+93 -53
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@@ -38,15 +38,20 @@ sub populate {
my ($self, $args) = @_; my ($self, $args) = @_;
$self->SUPER::populate($args); $self->SUPER::populate($args);
$self->configspec( $self->configspec(
-url => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef], -url => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
-nav_utm_east0 => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.], -nav_utm_east0 => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-nav_utm_north0 => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.], -nav_utm_north0 => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-max_dist_from_home => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.], -max_dist_from_home => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-rc_control => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, {}], -rc_control => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, {}],
-waypoints => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, {}], -waypoints => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, {}],
-nb_waypoints => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.], -nb_waypoints => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-mission => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, {}], -mission => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, {}],
-compiled_xml => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, ""], -compiled_xml => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, ""],
-qfu => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-security_height => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-alt => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
-name => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, ""],
-ground_alt => [S_NOINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, 0.],
); );
} }
@@ -54,6 +59,7 @@ sub populate {
# nav_utm_east0 # nav_utm_east0
# nav_utm_north0 # nav_utm_north0
# max_dist_from_home # max_dist_from_home
# rc_control
# waypoints # waypoints
# |-- name # |-- name
# |-- x # |-- x
@@ -64,19 +70,28 @@ sub populate {
# |-- number # |-- number
# nb_waypoints # nb_waypoints
# mission # mission
# |-- nb_block
# |-- block_ID # |-- block_ID
# |-- stage # |-- stage
# |-- stage_ID # |-- stage_ID
# |-- text # |-- text
# |-- nb_exceptions # |-- type
# |-- exception # |-- [attributes]
# |-- n° # |-- nb_exceptions
# |-- cond # |-- exception
# |-- deroute # |-- n°
# |-- text # |-- cond
# |-- description # |-- deroute
# |-- is_deroute # |-- text
# |-- [deroute_block] # |-- description
# |-- is_deroute
# |-- [deroute_block]
# compiled_xml
# qfu
# security_height
# alt
# ground_alt
# name
sub completeinit { sub completeinit {
@@ -119,11 +134,11 @@ sub parse_flight_plan {
sub configure_spec { sub configure_spec {
my ($self) = @_; my ($self) = @_;
$self->configure( -nav_utm_east0 => $self->{nav_utm_east0}, $self->configure( -nav_utm_east0 => $self->{nav_utm_east0},
-nav_utm_north0 => $self->{nav_utm_north0}, -nav_utm_north0 => $self->{nav_utm_north0},
-max_dist_from_home => $self->{max_dist_from_home}, -max_dist_from_home => $self->{max_dist_from_home},
-waypoints => $self->{waypoints}, -waypoints => $self->{waypoints},
-nb_waypoints => $self->{nb_waypoints}, -nb_waypoints => $self->{nb_waypoints},
-mission => $self->{mission}, -mission => $self->{mission},
); );
} }
@@ -184,6 +199,7 @@ sub parse_mission {
my ($blocks, $blocks_stages); my ($blocks, $blocks_stages);
my ($nb_excep, $excep_cond, $excep_deroute); my ($nb_excep, $excep_cond, $excep_deroute);
my (@deroute, $deroute_block); my (@deroute, $deroute_block);
my ($block_id, $stage_id);
foreach my $stage ($doc->getElementsByTagName('stage')) { foreach my $stage ($doc->getElementsByTagName('stage')) {
my $block_name = $stage->getAttribute('block_name'); my $block_name = $stage->getAttribute('block_name');
@@ -191,14 +207,36 @@ sub parse_mission {
my $stage_no = $stage->getAttribute('stage'); my $stage_no = $stage->getAttribute('stage');
my $stage_text = ""; my $stage_text = "";
my $stage_kids = $stage->getChildNodes(); my $stage_kids = $stage->getChildNodes();
$block_id = get_block_id($block_no);
$stage_id = get_stage_id($block_no, $stage_no);
foreach my $kid (@{$stage_kids}) { foreach my $kid (@{$stage_kids}) {
$stage_text = $stage_text.$kid->toString() if $kid->getNodeType() != TEXT_NODE; if ($kid->getNodeType() != TEXT_NODE) {
$stage_text = $stage_text.$kid->toString() if $kid->getNodeType() != TEXT_NODE;
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = $kid->getNodeName()
if $kid->getNodeName() ne "#text";
# if ($stage_text ne "" and $kid->getNodeName() ne "#text") {
# printf "stage_id: $stage_id stage_text: $stage_text NodeName: %s \n", $kid->getNodeName();
my $kid_attributes = $kid->getAttributes();
my ($attrib_name, $attrib_value);
my $atributes_nb = $kid_attributes->getLength();
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{nb_attribute} = $atributes_nb;
for (my $i=0; $i<$atributes_nb; $i++) {
$attrib_name = $kid_attributes->item($i)->getNodeName();
$attrib_value = $kid_attributes->item($i)->getNodeValue();
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{$attrib_name} = $attrib_value;
# print "attribute '$attrib_name' valueing '$attrib_value' \n";
}
}
# else { print "Marche pas... stage_id: $stage_id \n"; }
} }
$blocks_stages->{$block_name}->{$stage_text} = get_stage_id($block_no, $stage_no); $blocks_stages->{$block_name}->{$stage_text} = $stage_id;
$blocks->{$block_name} = get_block_id($block_no) unless defined $blocks->{block_name}; $blocks->{$block_name} = $block_id unless defined $blocks->{block_name};
} }
my $nb_block = 0;
foreach my $block ($doc->getElementsByTagName('block')) { foreach my $block ($doc->getElementsByTagName('block')) {
$nb_block++;
my $block_name = $block->getAttribute('NAME').$block->getAttribute('name'); my $block_name = $block->getAttribute('NAME').$block->getAttribute('name');
my $block_description = $block->getAttribute('description'); my $block_description = $block->getAttribute('description');
my $block_id = $blocks->{$block_name}; my $block_id = $blocks->{$block_name};
@@ -209,38 +247,40 @@ sub parse_mission {
$key =~ s/^\s*//; # remove any leading whitespace $key =~ s/^\s*//; # remove any leading whitespace
$key =~ s/\s*$//; # remove any trailing whitespace $key =~ s/\s*$//; # remove any trailing whitespace
if ($key ne "") { if ($key ne "") {
my $stage_id = $blocks_stages->{$block_name}->{$key}; my $stage_id = $blocks_stages->{$block_name}->{$key};
my $tags = [$block_id]; my $tags = [$block_id];
push(@{$tags}, ($stage_id)) if defined $stage_id; push(@{$tags}, ($stage_id)) if defined $stage_id;
if (defined $stage_id) { if (defined $stage_id) {
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{text} = $line; $self->{mission}->{$block_id}->{stage}->{$stage_id}->{text} = $line;
# Parse the stage_line to get a wp_name defined with `wp="wp_name"` # Parse the stage_line to get a wp_name defined with `wp="wp_name"`
my $wp_name = $line; my $wp_name = $line;
$wp_name =~ s/^.*\s[wW][pP]="([^"]*)".*$/$1/; $wp_name =~ s/^.*\s[wW][pP]="([^"]*)".*$/$1/;
$wp_name =~ s/^(\s*<.*>\s*)$//; $wp_name =~ s/^(\s*<.*>\s*)$//;
if ($wp_name ne "") { if ($wp_name ne "") {
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{waypoint} = $wp_name; $self->{mission}->{$block_id}->{stage}->{$stage_id}->{waypoint} = $wp_name;
} }
# I think we can do this better... # I think we can do this better...
my $type = $line; # It is in progess few lines above.
if ($type =~ /^.*<xyz.*$/) { my $type = $line;
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'xyz'; if ($type =~ /^.*<xyz.*$/) {
} $self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'xyz';
if ($type =~ /^.*<circle.*$/) { }
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'circle'; if ($type =~ /^.*<circle.*$/) {
} $self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'circle';
if ($type =~ /^.*<go.*$/) { }
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'go'; if ($type =~ /^.*<go.*$/) {
} $self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'go';
if ($type =~ /^.*<attitude.*$/) { }
$self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'go'; if ($type =~ /^.*<attitude.*$/) {
} $self->{mission}->{$block_id}->{stage}->{$stage_id}->{type} = 'go';
}
} }
} }
} }
$self->{mission}->{nb_block} = $nb_block;
$nb_excep = 0; $nb_excep = 0;
foreach my $except ($block->getElementsByTagName('exception')) { foreach my $except ($block->getElementsByTagName('exception')) {
$nb_excep++; $nb_excep++;