mirror of https://github.com/ArduPilot/ardupilot
132 lines
2.7 KiB
Perl
132 lines
2.7 KiB
Perl
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$dir = "C:/Users/hog/Documents/Arduino/libraries/GCS_MAVLink/message_definitions/";
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#$dir = "C:/Users/hog/Desktop/DIYDrones&avr/pixhawk-mavlink-c91adfb/include/common/";
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opendir(DIR,$dir) || die print $!;
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@files = readdir(DIR);
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closedir(DIR);
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open(OUT,">MAVLinkTypes.cs");
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print OUT <<EOF;
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using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Runtime.InteropServices;
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namespace ArdupilotMega
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{
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partial class MAVLink
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{
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EOF
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foreach $file (@files) {
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if (!($file eq "common.xml" || $file eq "ardupilotmega.xml"))
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{
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next;
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}
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print "$file\n";
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open(F,$dir.$file);
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$start = 0;
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while ($line = <F>) {
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if ($line =~ /enum name="(MAV_.*)"/) {
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$start = 1;
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print OUT "\t\tpublic enum $1\n\t\t{ \n";
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}
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if ($line =~ /<message id="([0-9]+)" name="([^"]+)">/) {
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$name = lc($2);
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print OUT "\t\tpublic const byte MAVLINK_MSG_ID_".uc($name) . " = " . $1 . ";\n";
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print OUT "\t\t[StructLayout(LayoutKind.Sequential,Pack=1)]\n";
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print OUT "\t\tpublic struct __mavlink_".$name."_t\n\t\t{\n";
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$no = $1;
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$start = 1;
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#__mavlink_gps_raw_t
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$structs[$no] = "__mavlink_".$name."_t";
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} # __mavlink_heartbeat_t
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$line =~ s/MAV_CMD_NAV_//;
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$line =~ s/MAV_CMD_//;
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if ($line =~ /<entry value="([0-9]+)" name="([^"]+)">/)
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{
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print OUT "\t\t\t$2 = $1,\n";
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}
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#<field type="uint8_t" name="type">
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if ($line =~ /<field type="([^"]+)" name="([^"]+)">(.*)<\/field>/)
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{
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$type = $1;
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$name = $2;
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$desc = $3;
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print "$type = $name\n";
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$type =~ s/byte_mavlink_version/public byte/;
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$type =~ s/array/public byte/;
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$type =~ s/uint8_t/public byte/;
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$type =~ s/int8_t/public byte/;
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$type =~ s/float/public float/;
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$type =~ s/uint16_t/public ushort/;
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$type =~ s/uint32_t/public uint/;
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$type =~ s/uint64_t/public ulong/;
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$type =~ s/int16_t/public short/;
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$type =~ s/int32_t/public int/;
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$type =~ s/int64_t/public long/;
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if ($type =~ /\[(.*)\]/) { # array
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print OUT "\t\t\t[MarshalAs(UnmanagedType.ByValArray, SizeConst=". $1 .")] \n";
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$type =~ s/\[.*\]//;
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$type =~ s/public\s+([^\s]+)/public $1\[\]/o;
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}
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print OUT "\t\t\t$type $name; ///< $desc\n";
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}
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if ($start && ($line =~ /<\/message>/ || $line =~ /<\/enum>/)) {
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print OUT "\t\t};\n\n";
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$start = 0;
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}
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}
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close(F);
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}
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print OUT "Type[] mavstructs = new Type[] {";
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for ($a = 0; $a <= 256;$a++)
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{
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if (defined($structs[$a])) {
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print OUT "typeof(".$structs[$a] .") ,";
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} else {
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print OUT "null ,";
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}
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}
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print OUT "};\n\n";
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print OUT <<EOF;
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}
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}
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EOF
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close OUT;
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1;
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