parameter_update.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
"""
File: parameter_update.py
Description:
This script searches for declarations of BlockParam, creates a variable name of the
form "_param_name_of_parameter" and replaces the old variable with the new one.
Example:
(ParamExtFloat<px4::params::EKF2_GYR_NOISE>) _gyroNoise,
[...]
_gyroNoise.set(1.f);
is replaced by
(ParamExtFloat<px4::params::EKF2_GYR_NOISE>) _param_ekf2_gyr_noise,
[...]
_param_ekf2_gyr_noise.set(1.f);
Usage:
The script needs a list of files as an input. To quickly find and feed all the file
that it needs to inspect, one can simply pipe the result of a ripgrep -l command as follows:
rg -l '\.[gs]et\(|px4::params::' -tcpp | python parameter_update.py
"""
import re
import fileinput
import sys
filenames = []
for filename in sys.stdin:
filenames.append(filename.rstrip())
pattern = r'^.*<px4::params::([A-Za-z0-9_]+)>\)\s*([A-Za-z0-9_]+)[,\s]?.*$'
regex = re.compile(pattern, re.MULTILINE)
replace_dict = dict()
print("Searching for parameters...")
for filename in filenames:
print(filename)
with open(filename, 'r') as f:
text = f.read()
for match in regex.finditer(text):
replace_dict[match.group(2)] = "_param_" + match.group(1).strip().lower()
print("The following variables will be changed")
for old_var in replace_dict:
print("{} -> {}".format(old_var, replace_dict[old_var]))
for filename in filenames:
print(filename)
for old_var in replace_dict:
for line in fileinput.input(filename, inplace=1):
line = re.sub(r'(>\)\s*)\b' + old_var + r'\b', r'\1' + replace_dict[old_var], line.rstrip()) # replace the declaration
line = re.sub(r'(^\s*)\b' + old_var + r'\b', r'\1' + replace_dict[old_var], line.rstrip()) # replace the 2 liner declaration and when the variable is used a the beginning of a new line
line = re.sub(r'\b' + old_var + r'\b(\.([gs]et|commit)\()',replace_dict[old_var] + r'\1' , line.rstrip()) # replace the usages (with get/set/commit)
line = re.sub(r'(\()\b' + old_var + r'\b', r'\1' + replace_dict[old_var], line.rstrip()) # replace the 2 liner declaration
print(line)