#!/usr/bin/env python3

# Copyright Daniel Hooper 2019

#

# This program is free software: you can redistribute it and/or modify

# it under the terms of the GNU General Public License as published by

# the Free Software Foundation, either version 3 of the License, or

# (at your option) any later version.

#

# This program is distributed in the hope that it will be useful,

# but WITHOUT ANY WARRANTY; without even the implied warranty of

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

# GNU General Public License for more details.

#

# You should have received a copy of the GNU General Public License

# along with this program. If not, see <https://www.gnu.org/licenses/>.

# This script works with iNav (version 2.2 as of writing), and can be used

# to interpret a command-line settings dump from the drone and convert it

# to C-style code for use in target/YOUR_TARGET/config.c

# This script uses settings.yaml located in the src/main/fc directory to

# translate from CLI names to source code names.

#

# The output is not guaranteed to compile and may need some hand-holding

# to work properly. This is intended to save a huge amount of time in looking

# up configuration struct names.

import yaml

import math

import argparse

parser = argparse.ArgumentParser(description="This script converts 'set settingname = value' lines from iNav CLI dumps into " \

"Currently it does not handle any other dump commands besides 'set'.")

parser.add_argument('infile', type=argparse.FileType('r'),

help='input text dump from CLI')

parser.add_argument('-inyaml', type=argparse.FileType('r'), metavar='SETTINGS.YAML', default='settings.yaml',

help='settings.yaml file. Looks in current directory by default.')

parser.add_argument('outfile', type=argparse.FileType('w+'),

help='C command output file')

parser.add_argument('-c', '--comments', action='store_true',

help='adds the cli command string as a comment in output')

parser.add_argument('-t', '--tabsize', type=int, default=8,

help='sets tab size (default is 8)')

parser.add_argument('-s', '--start-col', type=int, default=0,

help='column location to start comments if possible. Make sure this is a multiple of --tabsize')

parser.add_argument('--force-spaces', action='store_true',

help='forces spaces to be used instead of tabs')

args = parser.parse_args()

if args.force_spaces:

args.tabsize = 1

#######

#

# Open settings.yaml file and build a flattened decoder ring

#

#######

settings = yaml.safe_load(args.inyaml)

args.inyaml.close()

groups = settings["groups"]

lookup = []

for group in groups:

#print(group["name"])

for member in group["members"]:

if 'field' in member: # some members don't have a full field list for some reason, ie "looptime"

lookup.append({"group_name": group["name"], "group_type": group["type"], "member_field": member["field"], "member_name": member["name"] })

#print(lookup)

#print(settings["groups"])

######

#

# Open the CLI dump file and build a list of items to process

#

#####

config_entries = []

#for line in dumpinput:

for line in args.infile:

tokens = line.split()

if len(tokens) == 4 and tokens[0] == 'set': # Only grab 'set variable = value' lines

for lookupentry in lookup:

if lookupentry["member_name"] == tokens[1]: # Search lookup for setting name

#print(values[1],lookupentry["member_field"])

config_entries.append(dict(lookupentry, **{"value" : tokens[3], "cli_command" : line}))

args.infile.close()

#print(config_entries)

######

#

# Format config_entries into an output file

#

# Note: this relies on the group.type in the YAML file following the following convention

# YAML structName_t

# Variable structNameMutable()

#

#####

for entry in config_entries:

# Generally the CLI names and enums/constants have the same (or similar) names.

# If you find more than ON/true OFF/false, you can make simple substitutions here.

if entry["value"] == "ON":

entry["value"] = "true"

if entry["value"] == "OFF":

entry["value"] = "false"

c_code = "{}Mutable()->{} = {};".format(entry["group_type"][:-2], entry["member_field"], entry["value"])

if args.comments:

code_len = len(c_code)

remainder_len = code_len % args.tabsize

if remainder_len > 0:

total_len = code_len + args.tabsize-remainder_len # length of line with one tab appended

else:

total_len = code_len

if args.force_spaces:

spacing_char = " "

else:

spacing_char = "\t"

if total_len <= args.start_col:

if remainder_len > 0:

c_code += spacing_char

c_code += spacing_char * math.ceil((args.start_col - total_len)/args.tabsize)

else:

c_code += " "

c_code += "// " + entry["cli_command"]

else:

c_code += "\n"

args.outfile.write(c_code)

args.outfile.close()