ardupilot/Tools/ardupilotwaf/mavgen.py

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#!/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
env.MAVLINK_DIR = cfg.srcnode.make_node('modules/mavlink/').abspath()
env.MAVGEN = env.MAVLINK_DIR + '/pymavlink/tools/mavgen.py'