1 files changed, 82 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen.py b/mavlink/share/pyshared/pymavlink/generator/mavgen.py
new file mode 100644
index 000000000..05f71f778
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/generator/mavgen.py
@@ -0,0 +1,82 @@
+#!/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)