ardupilot/Tools/ArdupilotMegaPlanner/mavlinklist.pl

140 lines
3.0 KiB
Perl

$dir = "C:/Users/hog/Documents/Arduino/libraries/GCS_MAVLink/include/common/";
$dir2 = "C:/Users/hog/Documents/Arduino/libraries/GCS_MAVLink/include/ardupilotmega/";
# mavlink 1.0 with old structs
$dir = "C:/Users/hog/Desktop/DIYDrones/ardupilot-mega/libraries/GCS_MAVLink/include_v1.0/common/";
$dir2 = "C:/Users/hog/Desktop/DIYDrones/ardupilot-mega/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/";
opendir(DIR,$dir) || die print $!;
@files2 = readdir(DIR);
closedir(DIR);
opendir(DIR,$dir2) || die print $!;
@files = readdir(DIR);
closedir(DIR);
push(@files,@files2);
push(@files,"../mavlink_types.h");
open(OUT,">MAVLinkTypes.cs");
$crcs = 0;
print OUT <<EOF;
using System;
using System.Collections.Generic;
using System.Text;
using System.Runtime.InteropServices;
namespace ArdupilotMega
{
partial class MAVLink
{
EOF
foreach $file (@files) {
print "$file\n";
if ($done{$file} == 1) {
next;
}
$done{$file} = 1;
open(F,$dir.$file) || open(F,$dir2.$file);
$start = 0;
while ($line = <F>) {
if ($line =~ /(MAVLINK_MESSAGE_LENGTHS|MAVLINK_MESSAGE_CRCS) (.*)/ && $crcs < 2) {
print OUT "\t\tpublic byte[] $1 = new byte[] $2;\n";
$crcs++;
}
if ($line =~ /enum (MAV_.*)/) {
$start = 1;
print OUT "\t\tpublic ";
}
if ($line =~ /#define (MAVLINK_MSG_ID[^\s]+)\s+([0-9]+)/) {
if ($line =~ /MAVLINK_MSG_ID_([0-9]+)_LEN/) {
next;
} else {
print OUT "\t\tpublic const byte ".$1 . " = " . $2 . ";\n";
$no = $2;
}
}
if ($line =~ /typedef struct(.*)/) {
if ($1 =~ /__mavlink_system|param_union/) {
last;
}
$start = 1;
print OUT "\t\t[StructLayout(LayoutKind.Sequential,Pack=1)]\n";
#__mavlink_gps_raw_t
$structs[$no] = $1;
}
if ($start) {
$line =~ s/MAV_CMD_NAV_//;
$line =~ s/MAV_CMD_//;
$line =~ s/\/\/\/</\/\/\//;
$line =~ s/typedef/public/;
$line =~ s/uint8_t/public byte/;
$line =~ s/int8_t/public byte/;
$line =~ s/char/public byte/;
$line =~ s/^\s+float/public float/;
$line =~ s/uint16_t/public ushort/;
$line =~ s/uint32_t/public uint/;
$line =~ s/uint64_t/public ulong/;
$line =~ s/int16_t/public short/;
$line =~ s/int32_t/public int/;
$line =~ s/int64_t/public long/;
$line =~ s/typedef/public/;
$line =~ s/}.*/};\n/;
if ($line =~ /\[(.*)\].*;/) { # array
print OUT "\t\t[MarshalAs(
UnmanagedType.ByValArray,
SizeConst=". $1 .")] \n";
$line =~ s/\[.*\]//;
$line =~ s/public\s+([^\s]+)/public $1\[\]/o;
}
print OUT "\t\t".$line;
}
if ($line =~ /}/) {
$start = 0;
}
}
close(F);
}
print OUT "Type[] mavstructs = new Type[] {";
for ($a = 0; $a <= 256;$a++)
{
if (defined($structs[$a])) {
print OUT "typeof(".$structs[$a] .") ,";
} else {
print OUT "null ,";
}
}
print OUT "};\n\n";
print OUT <<EOF;
}
}
EOF
close OUT;
<STDIN>;
1;