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#!/usr/bin/env python
'''
Use mavgen.py matrixpilot.xml definitions to generate
C and Python MAVLink routines for sending and parsing the protocol
This python script is soley for MatrixPilot MAVLink impoementation
Copyright Pete Hollands 2011
Released under GNU GPL version 3 or later
'''
import os, sys, glob, re
from shutil import copy
from mavgen import mavgen
# allow import from the parent directory, where mavutil.py is
# Under Windows, this script must be run from a DOS command window
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
class options:
""" a class to simulate the options of mavgen OptionsParser"""
def __init__(self, lang, output, wire_protocol):
self.language = lang
self.wire_protocol = wire_protocol
self.output = output
def remove_include_files(target_directory):
search_pattern = target_directory+'/*.h'
print "search pattern is", search_pattern
files_to_remove = glob.glob(search_pattern)
for afile in files_to_remove :
try:
print "removing", afile
os.remove(afile)
except:
print "error while trying to remove", afile
def copy_include_files(source_directory,target_directory):
search_pattern = source_directory+'/*.h'
files_to_copy = glob.glob(search_pattern)
for afile in files_to_copy:
basename = os.path.basename(afile)
print "Copying ...", basename
copy(afile, target_directory)
protocol = "1.0"
xml_directory = './message_definitions/v'+protocol
print "xml_directory is", xml_directory
xml_file_names = []
xml_file_names.append(xml_directory+"/"+"matrixpilot.xml")
for xml_file in xml_file_names:
print "xml file is ", xml_file
opts = options(lang = "C", output = "C/include_v"+protocol, \
wire_protocol=protocol)
args = []
args.append(xml_file)
mavgen(opts, args)
xml_file_base = os.path.basename(xml_file)
xml_file_base = re.sub("\.xml","", xml_file_base)
print "xml_file_base is", xml_file_base
opts = options(lang = "python", \
output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
wire_protocol=protocol)
mavgen(opts,args)
mavlink_directory_list = ["common","matrixpilot"]
for mavlink_directory in mavlink_directory_list :
# Look specifically for MatrixPilot directory structure
target_directory = "../../../../MAVLink/include/"+mavlink_directory
source_directory = "C/include_v"+protocol+"/"+mavlink_directory
if os.access(source_directory, os.R_OK):
if os.access(target_directory, os.W_OK):
print "Preparing to copy over files..."
print "About to remove all files in",target_directory
print "OK to continue ?[Yes / No]: ",
line = sys.stdin.readline()
if line == "Yes\n" or line == "yes\n" \
or line == "Y\n" or line == "y\n":
print "passed"
remove_include_files(target_directory)
copy_include_files(source_directory,target_directory)
print "Finished copying over include files"
else :
print "Your answer is No. Exiting Program"
sys.exit()
else :
print "Cannot find " + target_directory + "in MatrixPilot"
sys.exit()
else:
print "Could not find files to copy at", source_directory
print "Exiting Program."
sys.exit()
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