diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/generator/mavgen_c.py')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/generator/mavgen_c.py | 581 |
1 files changed, 0 insertions, 581 deletions
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py b/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py deleted file mode 100644 index 255919f0d..000000000 --- a/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py +++ /dev/null @@ -1,581 +0,0 @@ -#!/usr/bin/env python -''' -parse a MAVLink protocol XML file and generate a C implementation - -Copyright Andrew Tridgell 2011 -Released under GNU GPL version 3 or later -''' - -import sys, textwrap, os, time -import mavparse, mavtemplate - -t = mavtemplate.MAVTemplate() - -def generate_version_h(directory, xml): - '''generate version.h''' - f = open(os.path.join(directory, "version.h"), mode='w') - t.write(f,''' -/** @file - * @brief MAVLink comm protocol built from ${basename}.xml - * @see http://pixhawk.ethz.ch/software/mavlink - */ -#ifndef MAVLINK_VERSION_H -#define MAVLINK_VERSION_H - -#define MAVLINK_BUILD_DATE "${parse_time}" -#define MAVLINK_WIRE_PROTOCOL_VERSION "${wire_protocol_version}" -#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE ${largest_payload} - -#endif // MAVLINK_VERSION_H -''', xml) - f.close() - -def generate_mavlink_h(directory, xml): - '''generate mavlink.h''' - f = open(os.path.join(directory, "mavlink.h"), mode='w') - t.write(f,''' -/** @file - * @brief MAVLink comm protocol built from ${basename}.xml - * @see http://pixhawk.ethz.ch/software/mavlink - */ -#ifndef MAVLINK_H -#define MAVLINK_H - -#ifndef MAVLINK_STX -#define MAVLINK_STX ${protocol_marker} -#endif - -#ifndef MAVLINK_ENDIAN -#define MAVLINK_ENDIAN ${mavlink_endian} -#endif - -#ifndef MAVLINK_ALIGNED_FIELDS -#define MAVLINK_ALIGNED_FIELDS ${aligned_fields_define} -#endif - -#ifndef MAVLINK_CRC_EXTRA -#define MAVLINK_CRC_EXTRA ${crc_extra_define} -#endif - -#include "version.h" -#include "${basename}.h" - -#endif // MAVLINK_H -''', xml) - f.close() - -def generate_main_h(directory, xml): - '''generate main header per XML file''' - f = open(os.path.join(directory, xml.basename + ".h"), mode='w') - t.write(f, ''' -/** @file - * @brief MAVLink comm protocol generated from ${basename}.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef ${basename_upper}_H -#define ${basename_upper}_H - -#ifdef __cplusplus -extern "C" { -#endif - -// MESSAGE LENGTHS AND CRCS - -#ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {${message_lengths_array}} -#endif - -#ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {${message_crcs_array}} -#endif - -#ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {${message_info_array}} -#endif - -#include "../protocol.h" - -#define MAVLINK_ENABLED_${basename_upper} - -${{include_list:#include "../${base}/${base}.h" -}} - -// MAVLINK VERSION - -#ifndef MAVLINK_VERSION -#define MAVLINK_VERSION ${version} -#endif - -#if (MAVLINK_VERSION == 0) -#undef MAVLINK_VERSION -#define MAVLINK_VERSION ${version} -#endif - -// ENUM DEFINITIONS - -${{enum: -/** @brief ${description} */ -#ifndef HAVE_ENUM_${name} -#define HAVE_ENUM_${name} -enum ${name} -{ -${{entry: ${name}=${value}, /* ${description} |${{param:${description}| }} */ -}} -}; -#endif -}} - -// MESSAGE DEFINITIONS -${{message:#include "./mavlink_msg_${name_lower}.h" -}} - -#ifdef __cplusplus -} -#endif // __cplusplus -#endif // ${basename_upper}_H -''', xml) - - f.close() - - -def generate_message_h(directory, m): - '''generate per-message header for a XML file''' - f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w') - t.write(f, ''' -// MESSAGE ${name} PACKING - -#define MAVLINK_MSG_ID_${name} ${id} - -typedef struct __mavlink_${name_lower}_t -{ -${{ordered_fields: ${type} ${name}${array_suffix}; ///< ${description} -}} -} mavlink_${name_lower}_t; - -#define MAVLINK_MSG_ID_${name}_LEN ${wire_length} -#define MAVLINK_MSG_ID_${id}_LEN ${wire_length} - -${{array_fields:#define MAVLINK_MSG_${msg_name}_FIELD_${name_upper}_LEN ${array_length} -}} - -#define MAVLINK_MESSAGE_INFO_${name} { \\ - "${name}", \\ - ${num_fields}, \\ - { ${{ordered_fields: { "${name}", ${c_print_format}, MAVLINK_TYPE_${type_upper}, ${array_length}, ${wire_offset}, offsetof(mavlink_${name_lower}_t, ${name}) }, \\ - }} } \\ -} - - -/** - * @brief Pack a ${name_lower} message - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * -${{arg_fields: * @param ${name} ${description} -}} - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_${name_lower}_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - ${{arg_fields: ${array_const}${type} ${array_prefix}${name},}}) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[${wire_length}]; -${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname}); -}} -${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length}); -}} - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length}); -#else - mavlink_${name_lower}_t packet; -${{scalar_fields: packet.${name} = ${putname}; -}} -${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length}); -}} - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length}); -#endif - - msg->msgid = MAVLINK_MSG_ID_${name}; - return mavlink_finalize_message(msg, system_id, component_id, ${wire_length}${crc_extra_arg}); -} - -/** - * @brief Pack a ${name_lower} message on a channel - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param chan The MAVLink channel this message was sent over - * @param msg The MAVLink message to compress the data into -${{arg_fields: * @param ${name} ${description} -}} - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_${name_lower}_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - ${{arg_fields:${array_const}${type} ${array_prefix}${name},}}) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[${wire_length}]; -${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname}); -}} -${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length}); -}} - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length}); -#else - mavlink_${name_lower}_t packet; -${{scalar_fields: packet.${name} = ${putname}; -}} -${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length}); -}} - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length}); -#endif - - msg->msgid = MAVLINK_MSG_ID_${name}; - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, ${wire_length}${crc_extra_arg}); -} - -/** - * @brief Encode a ${name_lower} struct into a message - * - * @param system_id ID of this system - * @param component_id ID of this component (e.g. 200 for IMU) - * @param msg The MAVLink message to compress the data into - * @param ${name_lower} C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_${name_lower}_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_${name_lower}_t* ${name_lower}) -{ - return mavlink_msg_${name_lower}_pack(system_id, component_id, msg,${{arg_fields: ${name_lower}->${name},}}); -} - -/** - * @brief Send a ${name_lower} message - * @param chan MAVLink channel to send the message - * -${{arg_fields: * @param ${name} ${description} -}} - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_${name_lower}_send(mavlink_channel_t chan,${{arg_fields: ${array_const}${type} ${array_prefix}${name},}}) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[${wire_length}]; -${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname}); -}} -${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length}); -}} - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, buf, ${wire_length}${crc_extra_arg}); -#else - mavlink_${name_lower}_t packet; -${{scalar_fields: packet.${name} = ${putname}; -}} -${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length}); -}} - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, ${wire_length}${crc_extra_arg}); -#endif -} - -#endif - -// MESSAGE ${name} UNPACKING - -${{fields: -/** - * @brief Get field ${name} from ${name_lower} message - * - * @return ${description} - */ -static inline ${return_type} mavlink_msg_${name_lower}_get_${name}(const mavlink_message_t* msg${get_arg}) -{ - return _MAV_RETURN_${type}${array_tag}(msg, ${array_return_arg} ${wire_offset}); -} -}} - -/** - * @brief Decode a ${name_lower} message into a struct - * - * @param msg The message to decode - * @param ${name_lower} C-struct to decode the message contents into - */ -static inline void mavlink_msg_${name_lower}_decode(const mavlink_message_t* msg, mavlink_${name_lower}_t* ${name_lower}) -{ -#if MAVLINK_NEED_BYTE_SWAP -${{ordered_fields: ${decode_left}mavlink_msg_${name_lower}_get_${name}(msg${decode_right}); -}} -#else - memcpy(${name_lower}, _MAV_PAYLOAD(msg), ${wire_length}); -#endif -} -''', m) - f.close() - - -def generate_testsuite_h(directory, xml): - '''generate testsuite.h per XML file''' - f = open(os.path.join(directory, "testsuite.h"), mode='w') - t.write(f, ''' -/** @file - * @brief MAVLink comm protocol testsuite generated from ${basename}.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef ${basename_upper}_TESTSUITE_H -#define ${basename_upper}_TESTSUITE_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef MAVLINK_TEST_ALL -#define MAVLINK_TEST_ALL -${{include_list:static void mavlink_test_${base}(uint8_t, uint8_t, mavlink_message_t *last_msg); -}} -static void mavlink_test_${basename}(uint8_t, uint8_t, mavlink_message_t *last_msg); - -static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ -${{include_list: mavlink_test_${base}(system_id, component_id, last_msg); -}} - mavlink_test_${basename}(system_id, component_id, last_msg); -} -#endif - -${{include_list:#include "../${base}/testsuite.h" -}} - -${{message: -static void mavlink_test_${name_lower}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ - mavlink_message_t msg; - uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; - uint16_t i; - mavlink_${name_lower}_t packet_in = { - ${{ordered_fields:${c_test_value}, - }}}; - mavlink_${name_lower}_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - ${{scalar_fields: packet1.${name} = packet_in.${name}; - }} - ${{array_fields: mav_array_memcpy(packet1.${name}, packet_in.${name}, sizeof(${type})*${array_length}); - }} - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_${name_lower}_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_${name_lower}_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_${name_lower}_pack(system_id, component_id, &msg ${{arg_fields:, packet1.${name} }}); - mavlink_msg_${name_lower}_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_${name_lower}_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg ${{arg_fields:, packet1.${name} }}); - mavlink_msg_${name_lower}_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_to_send_buffer(buffer, &msg); - for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { - comm_send_ch(MAVLINK_COMM_0, buffer[i]); - } - mavlink_msg_${name_lower}_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_${name_lower}_send(MAVLINK_COMM_1 ${{arg_fields:, packet1.${name} }}); - mavlink_msg_${name_lower}_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} -}} - -static void mavlink_test_${basename}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ -${{message: mavlink_test_${name_lower}(system_id, component_id, last_msg); -}} -} - -#ifdef __cplusplus -} -#endif // __cplusplus -#endif // ${basename_upper}_TESTSUITE_H -''', xml) - - f.close() - -def copy_fixed_headers(directory, xml): - '''copy the fixed protocol headers to the target directory''' - import shutil - hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ] - basepath = os.path.dirname(os.path.realpath(__file__)) - srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version) - print("Copying fixed headers") - for h in hlist: - if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')): - src = os.path.realpath(os.path.join(srcpath, h)) - dest = os.path.realpath(os.path.join(directory, h)) - if src == dest: - continue - shutil.copy(src, dest) - # XXX This is a hack - to be removed - if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'): - h = 'pixhawk/pixhawk.pb.h' - src = os.path.realpath(os.path.join(srcpath, h)) - dest = os.path.realpath(os.path.join(directory, h)) - shutil.copy(src, dest) - -def copy_fixed_sources(directory, xml): - # XXX This is a hack - to be removed - import shutil - basepath = os.path.dirname(os.path.realpath(__file__)) - srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version) - if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'): - print("Copying fixed sources") - src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc')) - dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version)) - destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version)) - try: - os.makedirs(destdir) - except: - print("Not re-creating directory") - shutil.copy(src, dest) - print("Copied to"), - print(dest) - -class mav_include(object): - def __init__(self, base): - self.base = base - -def generate_one(basename, xml): - '''generate headers for one XML file''' - - directory = os.path.join(basename, xml.basename) - - print("Generating C implementation in directory %s" % directory) - mavparse.mkdir_p(directory) - - if xml.little_endian: - xml.mavlink_endian = "MAVLINK_LITTLE_ENDIAN" - else: - xml.mavlink_endian = "MAVLINK_BIG_ENDIAN" - - if xml.crc_extra: - xml.crc_extra_define = "1" - else: - xml.crc_extra_define = "0" - - if xml.sort_fields: - xml.aligned_fields_define = "1" - else: - xml.aligned_fields_define = "0" - - # work out the included headers - xml.include_list = [] - for i in xml.include: - base = i[:-4] - xml.include_list.append(mav_include(base)) - - # form message lengths array - xml.message_lengths_array = '' - for mlen in xml.message_lengths: - xml.message_lengths_array += '%u, ' % mlen - xml.message_lengths_array = xml.message_lengths_array[:-2] - - # and message CRCs array - xml.message_crcs_array = '' - for crc in xml.message_crcs: - xml.message_crcs_array += '%u, ' % crc - xml.message_crcs_array = xml.message_crcs_array[:-2] - - # form message info array - xml.message_info_array = '' - for name in xml.message_names: - if name is not None: - xml.message_info_array += 'MAVLINK_MESSAGE_INFO_%s, ' % name - else: - # Several C compilers don't accept {NULL} for - # multi-dimensional arrays and structs - # feed the compiler a "filled" empty message - xml.message_info_array += '{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, ' - xml.message_info_array = xml.message_info_array[:-2] - - # add some extra field attributes for convenience with arrays - for m in xml.message: - m.msg_name = m.name - if xml.crc_extra: - m.crc_extra_arg = ", %s" % m.crc_extra - else: - m.crc_extra_arg = "" - for f in m.fields: - if f.print_format is None: - f.c_print_format = 'NULL' - else: - f.c_print_format = '"%s"' % f.print_format - if f.array_length != 0: - f.array_suffix = '[%u]' % f.array_length - f.array_prefix = '*' - f.array_tag = '_array' - f.array_arg = ', %u' % f.array_length - f.array_return_arg = '%s, %u, ' % (f.name, f.array_length) - f.array_const = 'const ' - f.decode_left = '' - f.decode_right = ', %s->%s' % (m.name_lower, f.name) - f.return_type = 'uint16_t' - f.get_arg = ', %s *%s' % (f.type, f.name) - if f.type == 'char': - f.c_test_value = '"%s"' % f.test_value - else: - test_strings = [] - for v in f.test_value: - test_strings.append(str(v)) - f.c_test_value = '{ %s }' % ', '.join(test_strings) - else: - f.array_suffix = '' - f.array_prefix = '' - f.array_tag = '' - f.array_arg = '' - f.array_return_arg = '' - f.array_const = '' - f.decode_left = "%s->%s = " % (m.name_lower, f.name) - f.decode_right = '' - f.get_arg = '' - f.return_type = f.type - if f.type == 'char': - f.c_test_value = "'%s'" % f.test_value - elif f.type == 'uint64_t': - f.c_test_value = "%sULL" % f.test_value - elif f.type == 'int64_t': - f.c_test_value = "%sLL" % f.test_value - else: - f.c_test_value = f.test_value - - # cope with uint8_t_mavlink_version - for m in xml.message: - m.arg_fields = [] - m.array_fields = [] - m.scalar_fields = [] - for f in m.ordered_fields: - if f.array_length != 0: - m.array_fields.append(f) - else: - m.scalar_fields.append(f) - for f in m.fields: - if not f.omit_arg: - m.arg_fields.append(f) - f.putname = f.name - else: - f.putname = f.const_value - - generate_mavlink_h(directory, xml) - generate_version_h(directory, xml) - generate_main_h(directory, xml) - for m in xml.message: - generate_message_h(directory, m) - generate_testsuite_h(directory, xml) - - -def generate(basename, xml_list): - '''generate complete MAVLink C implemenation''' - - for xml in xml_list: - generate_one(basename, xml) - copy_fixed_headers(basename, xml_list[0]) - copy_fixed_sources(basename, xml_list[0]) |