feat: add support of comma-separated param files with comments and empty lines

CONTRIBUTING.rst

@@ -70,6 +70,8 @@ Navigate into the location where you cloned *Parasect* and install the package w
 .. code:: console
 
    $ poetry install
+   $ poetry self add poetry-plugin-shell
+   $ poetry self add poetry-plugin-export
 
 You can now run an interactive Poetry shell, giving you access to the virtual environment.
 

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "parasect"
-version = "1.2.0"
+version = "1.2.2-dev"
 description = "Utility for manipulating parameter sets for autopilots."
 authors = ["George Zogopoulos <geo.zogop.papal@gmail.com>"]
 license = "MIT"

src/parasect/_helpers.py

@@ -198,6 +198,8 @@ class Formats(Enum):
     """Ardupilot-compatible file."""
     apj = "apj"
     """File compatible with Ardupilot's apj tool."""
+    mp = "mp"
+    """Ardupilot Mission Planner comma separated file with comments."""
 
 
 ReservedOptions = Literal[
@@ -821,20 +823,6 @@ def build_param_from_qgc(row: list[str]) -> Parameter:
     return param
 
 
-def build_param_from_ulog_params(row: list[str]) -> Parameter:
-    """Build a Parameter from an ulog_params printout entry."""
-    param_name = row[0]
-    param_value: int | float
-    try:
-        param_value = int(row[1])
-    except ValueError:
-        param_value = float(row[1])
-
-    param = Parameter(param_name, param_value)
-
-    return param
-
-
 def build_param_from_mavproxy(item: Sequence) -> Parameter:
     """Convert a mavproxy parameter line to a parameter.
 
@@ -847,7 +835,10 @@ def build_param_from_mavproxy(item: Sequence) -> Parameter:
         value = int(item[1])
     except ValueError:
         value = float(item[1])
-    reasoning = item[2]
+    if len(item) < 3:
+        reasoning = None
+    else:
+        reasoning = item[2]
 
     param = Parameter(name, value)
     param.reasoning = reasoning
@@ -951,45 +942,12 @@ def read_params_qgc(filepath: Path) -> ParameterList:
             raise (SyntaxError("Could not extract any parameter from file."))
 
         return param_list
+    except UnicodeDecodeError as e:
+        raise SyntaxError(f"File encoding error - not a valid QGC parameter file: {e}") from e
     except SyntaxError as e:
         raise SyntaxError(f"File is not of QGC format:\n{e}") from e
 
 
-@parser
-def read_params_ulog_param(filepath: Path) -> ParameterList:
-    """Read and parse the outputs of the ulog_params program."""
-    param_list = ParameterList()
-
-    try:
-        with open(filepath) as csvfile:
-            param_reader = csv.reader(csvfile, delimiter=",")
-            for param_row in param_reader:  # pragma: no branch
-                if param_row[0][0] == "#":  # Skip comment lines
-                    continue
-                # Check if line has exactly two elements
-                if len(param_row) != 2:
-                    raise SyntaxError(
-                        f"Invalid number of elements for ulog param decoder: {len(param_row)}"
-                    )
-                # Check if first element is a string
-                try:
-                    float(param_row[0])
-                    raise SyntaxError(
-                        "First row element must be a parameter name string"
-                    )
-                except ValueError:
-                    pass
-                param = build_param_from_ulog_params(param_row)
-                param_list.add_param(param)
-
-        if len(param_list.params) == 0:
-            raise (SyntaxError("Could not extract any parameter from file."))
-
-        return param_list
-    except SyntaxError as e:
-        raise SyntaxError(f"File is not of ulog format:\n{e}") from e
-
-
 def split_mavproxy_row(row: str) -> Sequence:
     """Split a line, assuming it is mavproxy syntax."""
     params = row.split()
@@ -1015,13 +973,41 @@ def split_mavproxy_row(row: str) -> Sequence:
     return params
 
 
+def split_missionplanner_row(row: str) -> Sequence:
+    """Split a line, assuming it is MissionPlanner or ULOG (as its subset) syntax."""
+    params = row.split(",", 1)
+    # Check if there's at least one comma (should have 2 parts)
+    if len(params) < 2:
+        raise SyntaxError("MP: Line must contain at least one comma separator.")
+
+    # Check if first element is a string
+    try:
+        float(params[0])
+        raise SyntaxError("MP: First row element must be a parameter name string.")
+    except ValueError:
+        pass
+
+    value_reasoning = params[1].split("#", 1)
+    params[1] = value_reasoning[0].strip()
+    try:
+        float(params[1])
+    except ValueError as e:
+        raise SyntaxError("MP: First row element must be a parameter name string.") from e
+    if len(value_reasoning) <= 1:
+        params.append("")
+    else:
+        params.append(value_reasoning[1].strip())
+
+    return params
+
+
 @parser
 def read_params_mavproxy(filepath: Path) -> ParameterList:
     """Read and parse the outputs of mavproxy."""
     param_list = ParameterList()
 
     try:
-        with open(filepath) as f:
+        with open(filepath, encoding='utf-8') as f:
             for line in f:  # pragma: no branch
                 if line[0] == "#":  # Skip comment lines
                     continue
@@ -1037,6 +1023,31 @@ def read_params_mavproxy(filepath: Path) -> ParameterList:
         raise SyntaxError(f"File is not of mavproxy format:\n{e}") from e
 
 
+@parser
+def read_params_missionplanner(filepath: Path) -> ParameterList:
+    """Read and parse the outputs of MissionPlanner or ULOG (as its subset)."""
+    param_list = ParameterList()
+
+    try:
+        with open(filepath, encoding='utf-8') as f:
+            for line in f:  # pragma: no branch
+                if line[0] == "#":  # Skip comment lines
+                    continue
+                # skip empty lines
+                if line.strip() == "":
+                    continue
+                params = split_missionplanner_row(line)
+                param = build_param_from_mavproxy(params)
+                param_list.add_param(param)
+
+        if len(param_list.params) == 0:
+            raise (SyntaxError("Could not extract any parameter from file."))
+
+        return param_list
+    except SyntaxError as e:
+        raise SyntaxError(f"File is not of MissionPlanner format:\n{e}") from e
+
+
 def read_params(filepath: Path) -> ParameterList:
     """Universal parameter reader."""
     get_logger().debug(f"Attempting to read file {filepath}")

src/parasect/build_lib.py

@@ -642,33 +642,45 @@ def export_to_csv(self) -> Generator[str, None, None]:
         yield from self.retrieve_header_footer("footer", Formats.csv)
 
     def export_to_apm(
-        self, include_readonly: bool = False
+        self, include_readonly: bool = False, csv: bool = False, comments: bool = False
     ) -> Generator[str, None, None]:
         """Export as apm parameter file.
 
         INPUTS:
             include_readonly: flag to enable including @READONLY on a parameter.
                 Necessary for apj tools, unsuitable for loading via a GCS.
+            csv: flag to use comma-separated format instead of tab-separated.
+            comments: flag to add parameter descriptions as comments after #.
         """
         # Read header
         yield from self.retrieve_header_footer("header", Formats.apm)
 
         indentation = ""
+        separator = "," if csv else "\t"
 
         param_hashes = sorted(self.param_list.keys())
-        for param_name in param_hashes:
-            param_name = self.param_list[param_name].name
-            param_value = self.param_list[param_name].get_pretty_value()
-            is_readonly = self.param_list[param_name].readonly
+        for param_hash in param_hashes:
+            param = self.param_list[param_hash]
+            param_name = param.name
+            param_value = param.get_pretty_value()
+            is_readonly = param.readonly
+
+            # Build the parameter line
+            line = f"{indentation}{param_name}{separator}{param_value}"
+
+            # Add readonly marker if needed
             if include_readonly and is_readonly:
-                readonly_string = "\t@READONLY"
-            else:
-                readonly_string = ""
-
-            yield f"{indentation}{param_name}\t{param_value}{readonly_string}\n"
-
-        # Read footer
-        yield from self.retrieve_header_footer("footer", Formats.apm)
+                readonly_string = f"{separator}@READONLY" if csv else "\t@READONLY"
+                line += readonly_string
+
+            # Add comment if requested and description is available
+            if comments and hasattr(param, 'reasoning') and param.reasoning:
+                line += f" # {param.reasoning}"
+
+            yield line + "\n"
+
+            # Read footer
+            yield from self.retrieve_header_footer("footer", Formats.apm)
 
     def apply_additions_px4(self) -> None:
         # Add the AUTOSTART value for each configuration
@@ -694,6 +706,8 @@ def export(self, format: Formats) -> Iterable[str]:
             return self.export_to_apm(include_readonly=False)
         elif format == Formats.apj:
             return self.export_to_apm(include_readonly=True)
+        elif format == Formats.mp:
+            return self.export_to_apm(include_readonly=False, csv=True, comments=True)
         else:
             raise ValueError(f"Output format {format} not supported.")
 
@@ -734,6 +748,8 @@ def build_filename(format: Formats, meal: Meal) -> str:
             filename += ".hil"
         return filename
     elif format in (Formats.apm, Formats.apj):
+        return f"{meal.name}.parm"
+    elif format == Formats.mp:
         return f"{meal.name}.param"
     else:
         raise ValueError(f"Unsupported format {format}")

tests/assets/ardupilot/mission_planner.param

@@ -0,0 +1,19 @@
+#ACRO_YAW_RATE,90
+
+AHRS_ORIENTATION,25 # realflight
+
+
+### Variant 1 - GPS module + Spooffing
+AHRS_GPS_USE,1
+GPS1_TYPE,1
+
+
+### Variant 2 - LUA Script
+#SCR_ENABLE,1
+AHRS_ORIG_LAT,37.090662
+#AHRS_ORIG_LON,-3.0745569
+#AHRS_ORIG_ALT,2736
+
+
+AHRS_OPTIONS,3  # відключить DCM fallback in VTOL and FW
+#AHRS_OPTIONS,7 # don't disable AIRSPEED using EKF біт3  (В СИМУЛЯТОРІ результати гірше - літає боком)