ardupilot-methodic-configurator 2.1.2__py3-none-any.whl → 2.1.3__py3-none-any.whl

ardupilot_methodic_configurator/data_model_par_dict.py

@@ -0,0 +1,546 @@
+"""
+ArduPilot parameter dictionary data model.
+
+This module provides the Par class and ParDict class which extends dict[str, Par]
+with specialized methods for managing ArduPilot parameters.
+
+SPDX-FileCopyrightText: 2024-2025 Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
+
+SPDX-License-Identifier: GPL-3.0-or-later
+"""
+
+import logging
+import re
+from os import path as os_path
+from os import popen as os_popen
+from sys import exc_info as sys_exc_info
+from types import TracebackType
+from typing import Callable, Optional, Union
+
+from ardupilot_methodic_configurator import _
+
+# ArduPilot parameter names start with a capital letter and can have capital letters, numbers and _
+PARAM_NAME_REGEX = r"^[A-Z][A-Z_0-9]*$"
+PARAM_NAME_MAX_LEN = 16
+
+
+def is_within_tolerance(x: float, y: float, atol: float = 1e-08, rtol: float = 1e-04) -> bool:
+    """
+    Determines if the absolute difference between two numbers is within a specified tolerance.
+
+    This function checks if the absolute difference between `x` and `y` is less than or equal to
+    the sum of the absolute tolerance (`atol`) and the product of the relative tolerance (`rtol`)
+    and the absolute value of `y`.
+
+    Args:
+      x (float): The first number to compare.
+      y (float): The second number to compare.
+      atol (float, optional): The absolute tolerance. Default is 1e-08.
+      rtol (float, optional): The relative tolerance. Default is 1e-04.
+
+    Returns:
+      bool: True if the difference is within the tolerance, False otherwise.
+
+    """
+    return abs(x - y) <= atol + (rtol * abs(y))
+
+
+class Par:
+    """
+    Represents a parameter with a value and an optional comment.
+
+    Attributes:
+        value (float): The value of the parameter.
+        comment (Optional[str]): An optional comment associated with the parameter.
+
+    """
+
+    def __init__(self, value: float, comment: Optional[str] = None) -> None:
+        self.value = value
+        self.comment = comment
+
+    def __eq__(self, other: object) -> bool:
+        """Equality operation."""
+        if isinstance(other, Par):
+            return self.value == other.value and self.comment == other.comment
+        return False
+
+    def __hash__(self) -> int:
+        """Hash operation for using Par objects in sets and as dict keys."""
+        return hash((self.value, self.comment))
+
+
+class ParDict(dict[str, Par]):
+    """
+    A specialized dictionary for managing ArduPilot parameters.
+
+    This class extends dict[str, Par] to provide additional functionality
+    for merging and comparing parameter dictionaries.
+    """
+
+    def __init__(self, initial_data: Optional[dict[str, Par]] = None) -> None:
+        """
+        Initialize the ParDict.
+
+        Args:
+            initial_data: Optional initial parameter data to populate the dictionary.
+
+        """
+        super().__init__()
+        if initial_data is not None:
+            self.update(initial_data)
+
+    @staticmethod
+    def load_param_file_into_dict(param_file: str) -> "ParDict":
+        """
+        Loads an ArduPilot parameter file into a ParDict with name, value pairs.
+
+        Args:
+            param_file (str): The name of the parameter file to load.
+
+        Returns:
+            ParDict: A ParDict containing the parameters from the file.
+
+        """
+        parameter_dict = ParDict()
+        try:
+            with open(param_file, encoding="utf-8") as f_handle:
+                for i, f_line in enumerate(f_handle, start=1):
+                    original_line = f_line
+                    line = f_line.strip()
+                    comment = None
+                    if not line:
+                        continue  # skip empty lines
+                    if line[0] == "#":
+                        continue  # skip comments
+                    if "#" in line:
+                        line, comment = line.split("#", 1)  # strip trailing comments
+                        comment = comment.strip()
+                    if "," in line:
+                        # parse mission planner style parameter files
+                        parameter, value = line.split(",", 1)
+                    elif " " in line:
+                        # parse mavproxy style parameter files
+                        parameter, value = line.split(" ", 1)
+                    elif "\t" in line:
+                        parameter, value = line.split("\t", 1)
+                    else:
+                        msg = f"Missing parameter-value separator: {line} in {param_file} line {i}"
+                        raise SystemExit(msg)
+                    # Strip whitespace from both parameter name and value immediately after splitting
+                    parameter = parameter.strip()
+                    value = value.strip()
+                    ParDict._validate_parameter(param_file, parameter_dict, i, original_line, comment, parameter, value)
+        except UnicodeDecodeError as exp:
+            msg = f"Fatal error reading {param_file}: {exp}"
+            raise SystemExit(msg) from exp
+        return parameter_dict
+
+    @staticmethod
+    def _validate_parameter(  # pylint: disable=too-many-arguments, too-many-positional-arguments
+        param_file: str,
+        parameter_dict: "ParDict",
+        i: int,
+        original_line: str,
+        comment: Union[None, str],
+        parameter_name: str,
+        value: str,
+    ) -> None:
+        if len(parameter_name) > PARAM_NAME_MAX_LEN:
+            msg = f"Too long parameter name: {parameter_name} in {param_file} line {i}"
+            raise SystemExit(msg)
+        if not re.match(PARAM_NAME_REGEX, parameter_name):
+            msg = f"Invalid characters in parameter name {parameter_name} in {param_file} line {i}"
+            raise SystemExit(msg)
+        if parameter_name in parameter_dict:
+            msg = f"Duplicated parameter {parameter_name} in {param_file} line {i}"
+            raise SystemExit(msg)
+        try:
+            fvalue = float(value)
+            parameter_dict[parameter_name] = Par(fvalue, comment)
+        except ValueError as exc:
+            msg = f"Invalid parameter value {value} in {param_file} line {i}"
+            raise SystemExit(msg) from exc
+        except OSError as exc:
+            _exc_type, exc_value, exc_traceback = sys_exc_info()
+            if isinstance(exc_traceback, TracebackType):
+                fname = os_path.split(exc_traceback.tb_frame.f_code.co_filename)[1]
+                logging.critical("in line %s of file %s: %s", exc_traceback.tb_lineno, fname, exc_value)
+                msg = f"Caused by line {i} of file {param_file}: {original_line}"
+                raise SystemExit(msg) from exc
+
+    @staticmethod
+    def missionplanner_sort(item: str) -> tuple[str, ...]:
+        """
+        Sorts a parameter name according to the rules defined in the Mission Planner software.
+
+        Args:
+            item: The parameter name to sort.
+
+        Returns:
+            A tuple representing the sorted parameter name.
+
+        """
+        parts = item.split("_")  # Split the parameter name by underscore
+        # Compare the parts separately
+        return tuple(parts)
+
+    def _format_params(self, file_format: str = "missionplanner") -> list[str]:  # pylint: disable=too-many-branches
+        """
+        Formats the parameters in this dictionary into a list of strings.
+
+        Each string in the returned list is a formatted representation of a parameter,
+        consisting of the parameter's name, its value, and optionally its comment.
+
+        Args:
+            file_format (str): Can be "missionplanner" or "mavproxy"
+
+        Returns:
+            List[str]: A list of strings, each string representing a parameter
+                       in the format "name,value # comment".
+
+        """
+        if file_format == "missionplanner":
+            sorted_dict = ParDict(dict(sorted(self.items(), key=lambda x: ParDict.missionplanner_sort(x[0]))))
+        elif file_format == "mavproxy":
+            sorted_dict = ParDict(dict(sorted(self.items())))
+        else:
+            msg = f"ERROR: Unsupported file format {file_format}"
+            raise SystemExit(msg)
+
+        formatted_params = []
+        if file_format == "missionplanner":
+            for key, parameter in sorted_dict.items():
+                if isinstance(parameter, Par):
+                    if parameter.comment:
+                        formatted_params.append(
+                            f"{key},{format(parameter.value, '.6f').rstrip('0').rstrip('.')}  # {parameter.comment}"
+                        )
+                    else:
+                        formatted_params.append(f"{key},{format(parameter.value, '.6f').rstrip('0').rstrip('.')}")
+                else:
+                    formatted_params.append(f"{key},{format(parameter, '.6f').rstrip('0').rstrip('.')}")
+        elif file_format == "mavproxy":
+            for key, parameter in sorted_dict.items():
+                if isinstance(parameter, Par):
+                    if parameter.comment:
+                        formatted_params.append(f"{key:<16} {parameter.value:<8.6f}  # {parameter.comment}")
+                    else:
+                        formatted_params.append(f"{key:<16} {parameter.value:<8.6f}")
+                else:
+                    formatted_params.append(f"{key:<16} {parameter:<8.6f}")
+        return formatted_params
+
+    def export_to_param(
+        self, filename_out: str, file_format: str = "missionplanner", content_header: Optional[list[str]] = None
+    ) -> None:
+        """
+        Export parameters to a parameter file.
+
+        Args:
+            filename_out: Output filename.
+            file_format: File format ("missionplanner" or "mavproxy").
+            content_header: Optional list of header lines to include at the top of the file.
+
+        """
+        formatted_params = self._format_params(file_format)
+        with open(filename_out, "w", encoding="utf-8") as output_file:
+            if content_header:
+                output_file.write("\n".join(content_header) + "\n")
+            output_file.writelines(line + "\n" for line in formatted_params)
+
+    @staticmethod
+    def print_out(formatted_params: list[str], name: str) -> None:
+        """
+        Print out the contents of the provided list.
+
+        If the list is too large, print only the ones that fit on the screen and
+        wait for user input to continue.
+
+        Args:
+            formatted_params (List[str]): The list of formatted parameters to print.
+            name (str): A descriptive string for the list contents
+
+        Returns:
+            None
+
+        """
+        if not formatted_params:
+            return
+
+        rows_str = "100"  # number of lines to display before waiting for user input
+
+        # Get the size of the terminal
+        if __name__ == "__main__":
+            rows_str, _columns = os_popen("stty size", "r").read().split()  # noqa: S605, S607
+
+        # Convert rows to integer
+        rows = int(rows_str) - 2  # -2 for the next print and the input line
+
+        # Convert rows
+        print(f"\n{name} has {len(formatted_params)} parameters:")  # noqa: T201
+        for i, line in enumerate(formatted_params):
+            if i % rows == 0 and __name__ == "__main__":
+                input(f"\n{name} list is long hit enter to continue")
+                rows_str, _columns = os_popen("stty size", "r").read().split()  # noqa: S605, S607
+                rows = int(rows_str) - 2  # -2 for the next print and the input line
+            print(line)  # noqa: T201
+
+    def append(self, other: "ParDict") -> None:
+        """
+        Append parameters from another ParDict.
+
+        Parameters with the same name will be replaced with values from the other dictionary.
+
+        Args:
+            other: Another ParDict to append from.
+
+        Raises:
+            TypeError: If other is not an ParDict instance.
+
+        """
+        if not isinstance(other, ParDict):
+            msg = _("Can only append another ParDict instance")
+            raise TypeError(msg)
+
+        for param_name, param_value in other.items():
+            self[param_name] = param_value
+
+    def remove_if_value_is_similar(
+        self, other: "ParDict", tolerance_func: Optional[Callable[[float, float], bool]] = None
+    ) -> None:
+        """
+        Remove parameters from this dictionary if their values match those in another dictionary.
+
+        This method compares only parameter values and ignores comments when determining similarity.
+        Parameters from the current dictionary are removed if they have the same name and value
+        as parameters in the other dictionary, regardless of comment differences.
+
+        This is particularly useful when comparing flight controller parameters (which have no comments)
+        with file parameters (which typically have comments).
+
+        Args:
+            other: Another ParDict to compare against.
+            tolerance_func: the tolerance function to use to compare values
+
+        Raises:
+            TypeError: If other is not an ParDict instance.
+
+        """
+        if not isinstance(other, ParDict):
+            msg = _("Can only compare with another ParDict instance")
+            raise TypeError(msg)
+
+        # Use the shared filtering logic and replace the contents of the current dictionary
+        filtered_params = self._get_different_or_missing_params(other, tolerance_func)
+        self.clear()
+        self.update(filtered_params)
+
+    def get_missing_or_different(
+        self, other: "ParDict", tolerance_func: Optional[Callable[[float, float], bool]] = None
+    ) -> "ParDict":
+        """
+        Get parameters that are missing in the other ParDict or have different values.
+
+        Args:
+            other: The ParDict to compare against.
+            tolerance_func: the tolerance function to use to compare values
+
+        Returns:
+            A new ParDict containing parameters that are missing or different.
+
+        Raises:
+            TypeError: If other is not an ParDict instance.
+
+        """
+        if not isinstance(other, ParDict):
+            msg = _("Can only compare with another ParDict instance")
+            raise TypeError(msg)
+
+        # Use the shared filtering logic to create a new ParDict
+        return ParDict(self._get_different_or_missing_params(other, tolerance_func))
+
+    def _get_different_or_missing_params(
+        self, other: "ParDict", tolerance_func: Optional[Callable[[float, float], bool]] = None
+    ) -> dict[str, Par]:
+        """
+        Private helper method to get parameters that are missing or have different values.
+
+        Args:
+            other: The ParDict to compare against.
+            tolerance_func: the tolerance function to use to compare values
+
+        Returns:
+            A dictionary containing parameters that are missing or different.
+
+        """
+        return {
+            param_name: param_value
+            for param_name, param_value in self.items()
+            if param_name not in other
+            or (
+                not tolerance_func(param_value.value, other[param_name].value)
+                if tolerance_func
+                else param_value.value != other[param_name].value
+            )
+        }
+
+    @classmethod
+    def from_file(cls, param_file: str) -> "ParDict":
+        """
+        Create a ParDict by loading from a parameter file.
+
+        Args:
+            param_file: Path to the parameter file.
+
+        Returns:
+            A new ParDict loaded from the file.
+
+        """
+        param_dict = ParDict.load_param_file_into_dict(param_file)
+        return cls(param_dict)
+
+    @classmethod
+    def from_float_dict(cls, param_dict: dict[str, float], default_comment: str = "") -> "ParDict":
+        """
+        Create a ParDict from a dictionary of parameter names to float values.
+
+        Args:
+            param_dict: Dictionary mapping parameter names to float values.
+            default_comment: Default comment to apply to all parameters.
+
+        Returns:
+            A new ParDict with Par objects created from the float values.
+
+        """
+        result = cls()
+        for param_name, param_value in param_dict.items():
+            result[param_name] = Par(float(param_value), default_comment)
+        return result
+
+    @classmethod
+    def from_fc_parameters(cls, fc_params: dict[str, float]) -> "ParDict":
+        """
+        Create a ParDict from flight controller parameters (dict[str, float]).
+
+        Args:
+            fc_params: Dictionary of flight controller parameters.
+
+        Returns:
+            A new ParDict with Par objects created from the flight controller parameters.
+
+        """
+        return cls.from_float_dict(fc_params)
+
+    def _filter_by_defaults(
+        self, default_params: "ParDict", tolerance_func: Optional[Callable[[float, float], bool]] = None
+    ) -> "ParDict":
+        """
+        Filter out parameters that have default values within tolerance.
+
+        Args:
+            default_params: ParDict containing default parameter values.
+            tolerance_func: Function to check if values are within tolerance.
+                           If None, uses exact comparison.
+
+        Returns:
+            A new ParDict containing only non-default parameters.
+
+        """
+        result = ParDict()
+        for param_name, param_info in self.items():
+            if param_name in default_params:
+                if tolerance_func:
+                    if not tolerance_func(param_info.value, default_params[param_name].value):
+                        result[param_name] = param_info
+                elif param_info.value != default_params[param_name].value:
+                    result[param_name] = param_info
+            else:
+                result[param_name] = param_info
+        return result
+
+    def _filter_by_readonly(self, doc_dict: dict) -> "ParDict":
+        """
+        Filter parameters that are marked as read-only in the documentation.
+
+        Args:
+            doc_dict: Documentation dictionary containing parameter metadata.
+
+        Returns:
+            A new ParDict containing only read-only parameters.
+
+        """
+        result = ParDict()
+        for param_name, param_info in self.items():
+            if param_name in doc_dict and doc_dict[param_name].get("ReadOnly", False):
+                result[param_name] = param_info
+        return result
+
+    def _filter_by_calibration(self, doc_dict: dict) -> "ParDict":
+        """
+        Filter parameters that are marked as calibration parameters in the documentation.
+
+        Args:
+            doc_dict: Documentation dictionary containing parameter metadata.
+
+        Returns:
+            A new ParDict containing only calibration parameters.
+
+        """
+        result = ParDict()
+        for param_name, param_info in self.items():
+            if param_name in doc_dict and doc_dict[param_name].get("Calibration", False):
+                result[param_name] = param_info
+        return result
+
+    def categorize_by_documentation(
+        self,
+        doc_dict: dict,
+        default_params: "ParDict",
+        tolerance_func: Optional[Callable[[float, float], bool]] = None,
+    ) -> tuple["ParDict", "ParDict", "ParDict"]:
+        """
+        Categorize parameters into read-only, calibration, and other non-default parameters.
+
+        Args:
+            doc_dict: Documentation dictionary containing parameter metadata.
+            default_params: ParDict containing default parameter values.
+            tolerance_func: Function to check if values are within tolerance.
+
+        Returns:
+            A tuple of three ParDict objects:
+            - Non-default read-only parameters
+            - Non-default writable calibration parameters
+            - Non-default writable non-calibration parameters
+
+        """
+        non_default_params = self._filter_by_defaults(default_params, tolerance_func)
+
+        # there are protected members from a locally created object, so it is OK to access them like this
+        read_only_params = non_default_params._filter_by_readonly(doc_dict)  # pylint: disable=protected-access # noqa: SLF001
+        calibration_params = non_default_params._filter_by_calibration(doc_dict)  # pylint: disable=protected-access # noqa: SLF001
+
+        # Non-calibration parameters are those that are not read-only and not calibration
+        other_params = ParDict()
+        for param_name, param_info in non_default_params.items():
+            if param_name not in read_only_params and param_name not in calibration_params:
+                other_params[param_name] = param_info
+
+        return read_only_params, calibration_params, other_params
+
+    def annotate_with_comments(self, comment_lookup: dict[str, str]) -> "ParDict":
+        """
+        Create a new ParDict with comments added from a lookup table.
+
+        Args:
+            comment_lookup: Dictionary mapping parameter names to their comments.
+
+        Returns:
+            A new ParDict with updated comments.
+
+        """
+        result = ParDict()
+        for param_name, param in self.items():
+            new_comment = comment_lookup.get(param_name, param.comment or "")
+            result[param_name] = Par(param.value, new_comment)
+        return result

ardupilot_methodic_configurator/frontend_tkinter_base_window.py

@@ -37,6 +37,25 @@ from ardupilot_methodic_configurator import _
 from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem
 
 
+def is_debugging() -> bool:
+    """Return True if a VS Code's debugger is attached."""
+    try:
+        # debug adapter used by VS Code Python debugger
+        import debugpy  # noqa: PLC0415,T100 # pylint: disable=import-outside-toplevel # pyright: ignore[reportMissingImports]
+    except ImportError:
+        debugpy = None
+
+    is_connected = getattr(debugpy, "is_client_connected", None)
+    if not callable(is_connected):
+        return False
+
+    try:
+        return bool(is_connected())
+    except (TypeError, RuntimeError) as e:
+        logging_error(_("Error while checking debugpy connection: %s"), e)
+        return False
+
+
 class BaseWindow:
     """
     A foundational class for creating Tkinter windows in the ArduPilot Methodic Configurator.
@@ -115,6 +134,9 @@ class BaseWindow:
         if os.environ.get("PYTEST_CURRENT_TEST"):
             return
 
+        if is_debugging():
+            return  # the vscode debugger can not cope with the application icon
+
         # https://pythonassets.com/posts/window-icon-in-tk-tkinter/
         try:
             icon_path = LocalFilesystem.application_icon_filepath()
@@ -141,7 +163,7 @@ class BaseWindow:
         self.default_font_size = tkfont.nametofont("TkDefaultFont").cget("size")
         # Warning: on linux the font size might be negative
         bold_font_size = self.calculate_scaled_font_size(self.default_font_size)
-        style.configure("Bold.TLabel", font=("TkDefaultFont", bold_font_size, "bold"))  # type: ignore[no-untyped-call]
+        style.configure("Bold.TLabel", font=("TkDefaultFont", bold_font_size, "bold"))
 
     def _get_dpi_scaling_factor(self) -> float:
         """
@@ -360,6 +382,9 @@ class BaseWindow:
                 # Create PhotoImage from buffer
                 photo = tk.PhotoImage(data=buffer.getvalue())
 
+            if is_debugging():
+                return ttk.Label(parent)  # the vscode debugger can not cope with the images
+
             # Create the label with the image
             image_label = ttk.Label(parent, image=photo)
             # Keep a reference to prevent garbage collection

ardupilot_methodic_configurator/frontend_tkinter_component_editor_base.py

@@ -155,15 +155,15 @@ class ComponentEditorWindowBase(BaseWindow):  # pylint: disable=too-many-instanc
         """Configure the styles for UI elements."""
         style = ttk.Style()
         style.configure(
-            "bigger.TLabel",  # type: ignore[no-untyped-call]
+            "bigger.TLabel",
             font=("TkDefaultFont", self.calculate_scaled_font_size(self.default_font_size)),
         )
-        style.configure("comb_input_invalid.TCombobox", fieldbackground="red")  # type: ignore[no-untyped-call]
-        style.configure("comb_input_valid.TCombobox", fieldbackground="white")  # type: ignore[no-untyped-call]
-        style.configure("entry_input_invalid.TEntry", fieldbackground="red")  # type: ignore[no-untyped-call]
-        style.configure("entry_input_valid.TEntry", fieldbackground="white")  # type: ignore[no-untyped-call]
-        style.configure("Optional.TLabelframe", borderwidth=2)  # type: ignore[no-untyped-call]
-        style.configure("Optional.TLabelframe.Label", foreground="gray")  # type: ignore[no-untyped-call]
+        style.configure("comb_input_invalid.TCombobox", fieldbackground="red")
+        style.configure("comb_input_valid.TCombobox", fieldbackground="white")
+        style.configure("entry_input_invalid.TEntry", fieldbackground="red")
+        style.configure("entry_input_valid.TEntry", fieldbackground="white")
+        style.configure("Optional.TLabelframe", borderwidth=2)
+        style.configure("Optional.TLabelframe.Label", foreground="gray")
 
     def _create_intro_frame(self) -> None:
         """Create the introduction frame with explanations and image."""
@@ -301,7 +301,7 @@ class ComponentEditorWindowBase(BaseWindow):  # pylint: disable=too-many-instanc
             wrap=tk.WORD,
             height=5,
             bd=0,
-            background=style.lookup("TLabel", "background"),  # type: ignore[no-untyped-call]
+            background=style.lookup("TLabel", "background"),
         )
         # pylint: enable=duplicate-code
         instructions_text.insert(tk.END, _("1. Describe the properties of the vehicle components in the window below.\n"))

ardupilot_methodic_configurator/frontend_tkinter_connection_selection.py

@@ -155,7 +155,7 @@ class ConnectionSelectionWindow(BaseWindow):
     def __init__(self, flight_controller: FlightController, connection_result_string: str) -> None:
         super().__init__()
         self.root.title(_("Flight controller connection"))
-        self.root.geometry("460x450")  # Set the window size
+        self.root.geometry("460x462")  # Set the window size
 
         # Explain why we are here
         if flight_controller.comport is None:

ardupilot_methodic_configurator/frontend_tkinter_directory_selection.py

@@ -242,7 +242,7 @@ class VehicleDirectorySelectionWindow(BaseWindow):  # pylint: disable=too-many-i
 
         # Set dynamic window size based on number of settings
         nr_new_project_settings = len(new_project_settings_metadata)
-        window_height = 550 + (nr_new_project_settings * 21)
+        window_height = 550 + (nr_new_project_settings * 23)
         self.root.geometry(f"800x{window_height}")  # Set the window size
 
         # Explain why we are here