ardupilot/Tools/ardupilotwaf/mavgen.py

#!/usr/bin/env python
# encoding: utf-8
# (c) Siddharth Bharat Purohit, 3DRobotics Inc.

"""
The **mavgen.py** program is a code generator which creates mavlink header files.
"""

from waflib import Task, Utils, Node
from waflib.TaskGen import feature, before_method, extension
import os

class mavgen(Task.Task):
    """generate mavlink header files"""
    color   = 'GREEN'
    run_str = '${PYTHON} ${MAVGEN} --lang=C --wire-protocol=1.0 --output ${OUTPUT_DIR} ${SRC}'
    before  = 'cxx c'

    def post_run(self):
        super(mavgen, self).post_run()
        for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):
            header.sig = header.cache_sig = self.cache_sig

def options(opt):
    opt.load('python')

@feature('mavgen')
@before_method('process_source')
def process_mavgen(self):
    if not hasattr(self, 'output_dir'):
        self.bld.fatal('mavgen: missing option output_dir')

    inputs = self.to_nodes(self.source)
    outputs = []

    self.source = []

    if not isinstance(self.output_dir, Node.Node):
        self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)

    task = self.create_task('mavgen', inputs, outputs)
    task.env['OUTPUT_DIR'] = self.output_dir.abspath()

    task.env.env = dict(os.environ)
    task.env.env['PYTHONPATH'] = task.env.MAVLINK_DIR

def configure(cfg):
    """
    setup environment for mavlink header generator
    """
    cfg.load('python')
    cfg.check_python_version(minver=(2,7,0))

    env = cfg.env

    cfg.start_msg('Checking for message_definitions')
    if not cfg.srcnode.find_resource('modules/mavlink/message_definitions/v1.0/ardupilotmega.xml'):
        cfg.fatal(env.MAV_MSG_DEFS + ' not found, please run: git submodule init && git submodule update', color='RED')
        return
    cfg.end_msg('success')

    env.MAVLINK_DIR = cfg.srcnode.find_dir('modules/mavlink/').abspath()

    env.MAVLINK_HEADERS = cfg.bldnode.make_node('/libraries/GCS_MAVLink/include/mavlink/v1.0/').abspath()

    env.MAVGEN = env.MAVLINK_DIR  + '/pymavlink/tools/mavgen.py'

    env.MAV_MSG_DEFS = cfg.srcnode.find_resource('modules/mavlink/message_definitions/v1.0/ardupilotmega.xml').abspath()