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#!/usr/bin/env python
'''
generate a MAVLink test suite
Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
import sys, textwrap
from optparse import OptionParser
# mavparse is up a directory level
sys.path.append('..')
import mavparse
def gen_value(f, i, language):
'''generate a test value for the ith field of a message'''
type = f.type
# could be an array
if type.find("[") != -1:
aidx = type.find("[")
basetype = type[0:aidx]
if basetype == "array":
basetype = "int8_t"
if language == 'C':
return '(const %s *)"%s%u"' % (basetype, f.name, i)
return '"%s%u"' % (f.name, i)
if type == 'float':
return 17.0 + i*7
if type == 'char':
return 'A' + i
if type == 'int8_t':
return 5 + i
if type in ['int8_t', 'uint8_t']:
return 5 + i
if type in ['uint8_t_mavlink_version']:
return 2
if type in ['int16_t', 'uint16_t']:
return 17235 + i*52
if type in ['int32_t', 'uint32_t']:
v = 963497464 + i*52
if language == 'C':
return "%sL" % v
return v
if type in ['int64_t', 'uint64_t']:
v = 9223372036854775807 + i*63
if language == 'C':
return "%sLL" % v
return v
def generate_methods_python(outf, msgs):
outf.write("""
'''
MAVLink protocol test implementation (auto-generated by mavtestgen.py)
Generated from: %s
Note: this file has been auto-generated. DO NOT EDIT
'''
import mavlink
def generate_outputs(mav):
'''generate all message types as outputs'''
""")
for m in msgs:
if m.name == "HEARTBEAT": continue
outf.write("\tmav.%s_send(" % m.name.lower())
for i in range(0, len(m.fields)):
f = m.fields[i]
outf.write("%s=%s" % (f.name, gen_value(f, i, 'py')))
if i != len(m.fields)-1:
outf.write(",")
outf.write(")\n")
def generate_methods_C(outf, msgs):
outf.write("""
/*
MAVLink protocol test implementation (auto-generated by mavtestgen.py)
Generated from: %s
Note: this file has been auto-generated. DO NOT EDIT
*/
static void mavtest_generate_outputs(mavlink_channel_t chan)
{
""")
for m in msgs:
if m.name == "HEARTBEAT": continue
outf.write("\tmavlink_msg_%s_send(chan," % m.name.lower())
for i in range(0, len(m.fields)):
f = m.fields[i]
outf.write("%s" % gen_value(f, i, 'C'))
if i != len(m.fields)-1:
outf.write(",")
outf.write(");\n")
outf.write("}\n")
######################################################################
'''main program'''
parser = OptionParser("%prog [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavtest", help="output folder [default: %default]")
(opts, args) = parser.parse_args()
if len(args) < 1:
parser.error("You must supply at least one MAVLink XML protocol definition")
msgs = []
enums = []
for fname in args:
(m, e) = mavparse.parse_mavlink_xml(fname)
msgs.extend(m)
enums.extend(e)
if mavparse.check_duplicates(msgs):
sys.exit(1)
print("Found %u MAVLink message types" % len(msgs))
print("Generating python %s" % (opts.output+'.py'))
outf = open(opts.output + '.py', "w")
generate_methods_python(outf, msgs)
outf.close()
print("Generating C %s" % (opts.output+'.h'))
outf = open(opts.output + '.h', "w")
generate_methods_C(outf, msgs)
outf.close()
print("Generated %s OK" % opts.output)
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