1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
|
#!/usr/bin/env python
'''
parse a MAVLink protocol XML file and generate a python implementation
Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
def mavgen(opts, args) :
"""Generate mavlink message formatters and parsers (C and Python ) using options
and args where args are a list of xml files. This function allows python
scripts under Windows to control mavgen using the same interface as
shell scripts under Unix"""
import sys, textwrap, os
import mavparse
import mavgen_python
import mavgen_c
xml = []
for fname in args:
print("Parsing %s" % fname)
xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
# expand includes
for x in xml[:]:
for i in x.include:
fname = os.path.join(os.path.dirname(x.filename), i)
print("Parsing %s" % fname)
xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
# include message lengths and CRCs too
for idx in range(0, 256):
if x.message_lengths[idx] == 0:
x.message_lengths[idx] = xml[-1].message_lengths[idx]
x.message_crcs[idx] = xml[-1].message_crcs[idx]
x.message_names[idx] = xml[-1].message_names[idx]
# work out max payload size across all includes
largest_payload = 0
for x in xml:
if x.largest_payload > largest_payload:
largest_payload = x.largest_payload
for x in xml:
x.largest_payload = largest_payload
if mavparse.check_duplicates(xml):
sys.exit(1)
print("Found %u MAVLink message types in %u XML files" % (
mavparse.total_msgs(xml), len(xml)))
if opts.language == 'python':
mavgen_python.generate(opts.output, xml)
elif opts.language == 'C':
mavgen_c.generate(opts.output, xml)
else:
print("Unsupported language %s" % opts.language)
if __name__=="__main__":
import sys, textwrap, os
from optparse import OptionParser
# allow import from the parent directory, where mavutil.py is
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
import mavparse
import mavgen_python
import mavgen_c
parser = OptionParser("%prog [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
(opts, args) = parser.parse_args()
if len(args) < 1:
parser.error("You must supply at least one MAVLink XML protocol definition")
mavgen(opts, args)
|
