mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.7 KiB
Python
99 lines
2.7 KiB
Python
# encoding: utf-8
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# (c) Siddharth Bharat Purohit, 3DRobotics Inc.
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"""
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The **mavgen.py** program is a code generator which creates mavlink header files.
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"""
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from waflib import Logs, Task, Utils, Node
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from waflib.TaskGen import feature, before_method, extension
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import os, sys
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import os.path
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from xml.etree import ElementTree as et
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class mavgen(Task.Task):
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"""generate mavlink header files"""
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color = 'BLUE'
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before = 'cxx c'
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def scan(self):
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nodes = []
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names = []
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entry_point = self.inputs[0]
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queue = [entry_point]
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head = 0
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while head < len(queue):
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node = queue[head]
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head += 1
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tree = et.parse(node.abspath())
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root = tree.getroot()
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includes = root.findall('include')
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for i in includes:
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path = i.text.strip()
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n = node.parent.find_node(path)
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if n:
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nodes.append(n)
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if n not in queue:
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queue.append(n)
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continue
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path = os.path.join(
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node.parent.path_from(entry_point.parent),
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path
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)
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if not path in names:
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names.append(path)
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return nodes, names
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def run(self):
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sys.path.insert(0,self.env.get_flat('MAVLINK_DIR'))
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from pymavlink.generator import mavgen
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class mavgen_options:
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language = 'C'
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wire_protocol = '2.0'
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validate = False
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output = self.env.get_flat('OUTPUT_DIR')
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xml = self.inputs[0].abspath()
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if mavgen.mavgen(mavgen_options(), [xml]):
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return 0
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return 1
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def post_run(self):
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super(mavgen, self).post_run()
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for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):
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header.sig = header.cache_sig = self.cache_sig
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def options(opt):
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opt.load('python')
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@feature('mavgen')
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@before_method('process_source')
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def process_mavgen(self):
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if not hasattr(self, 'output_dir'):
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self.bld.fatal('mavgen: missing option output_dir')
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inputs = self.to_nodes(self.bld.srcnode.find_node(self.source))
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outputs = []
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self.source = []
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if not isinstance(self.output_dir, Node.Node):
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self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)
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task = self.create_task('mavgen', inputs, outputs)
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task.env['OUTPUT_DIR'] = self.output_dir.abspath()
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task.env.env = dict(os.environ)
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task.env.env['PYTHONPATH'] = task.env.MAVLINK_DIR
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def configure(cfg):
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"""
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setup environment for mavlink header generator
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"""
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env = cfg.env
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env.MAVLINK_DIR = cfg.srcnode.make_node('modules/mavlink/').abspath()
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