mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.0 KiB
Perl
140 lines
3.0 KiB
Perl
$dir = "C:/Users/hog/Documents/Arduino/libraries/GCS_MAVLink/include/common/";
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$dir2 = "C:/Users/hog/Documents/Arduino/libraries/GCS_MAVLink/include/ardupilotmega/";
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# mavlink 1.0 with old structs
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$dir = "C:/Users/hog/Desktop/DIYDrones/ardupilot-mega/libraries/GCS_MAVLink/include_v1.0/common/";
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$dir2 = "C:/Users/hog/Desktop/DIYDrones/ardupilot-mega/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/";
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opendir(DIR,$dir) || die print $!;
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@files2 = readdir(DIR);
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closedir(DIR);
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opendir(DIR,$dir2) || die print $!;
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@files = readdir(DIR);
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closedir(DIR);
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push(@files,@files2);
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push(@files,"../mavlink_types.h");
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open(OUT,">MAVLinkTypes.cs");
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$crcs = 0;
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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 $file (@files) {
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print "$file\n";
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if ($done{$file} == 1) {
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next;
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}
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$done{$file} = 1;
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open(F,$dir.$file) || open(F,$dir2.$file);
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$start = 0;
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while ($line = <F>) {
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if ($line =~ /(MAVLINK_MESSAGE_LENGTHS|MAVLINK_MESSAGE_CRCS) (.*)/ && $crcs < 2) {
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print OUT "\t\tpublic byte[] $1 = new byte[] $2;\n";
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$crcs++;
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}
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if ($line =~ /enum (MAV_.*)/) {
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$start = 1;
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print OUT "\t\tpublic ";
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}
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if ($line =~ /#define (MAVLINK_MSG_ID[^\s]+)\s+([0-9]+)/) {
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if ($line =~ /MAVLINK_MSG_ID_([0-9]+)_LEN/) {
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next;
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} else {
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print OUT "\t\tpublic const byte ".$1 . " = " . $2 . ";\n";
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$no = $2;
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}
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}
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if ($line =~ /typedef struct(.*)/) {
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if ($1 =~ /__mavlink_system|param_union/) {
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last;
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}
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$start = 1;
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print OUT "\t\t[StructLayout(LayoutKind.Sequential,Pack=1)]\n";
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#__mavlink_gps_raw_t
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$structs[$no] = $1;
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}
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if ($start) {
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$line =~ s/MAV_CMD_NAV_//;
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$line =~ s/MAV_CMD_//;
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$line =~ s/\/\/\/</\/\/\//;
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$line =~ s/typedef/public/;
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$line =~ s/uint8_t/public byte/;
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$line =~ s/int8_t/public byte/;
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$line =~ s/char/public byte/;
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$line =~ s/^\s+float/public float/;
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$line =~ s/uint16_t/public ushort/;
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$line =~ s/uint32_t/public uint/;
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$line =~ s/uint64_t/public ulong/;
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$line =~ s/int16_t/public short/;
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$line =~ s/int32_t/public int/;
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$line =~ s/int64_t/public long/;
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$line =~ s/typedef/public/;
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$line =~ s/}.*/};\n/;
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if ($line =~ /\[(.*)\].*;/) { # array
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print OUT "\t\t[MarshalAs(
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UnmanagedType.ByValArray,
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SizeConst=". $1 .")] \n";
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$line =~ s/\[.*\]//;
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$line =~ s/public\s+([^\s]+)/public $1\[\]/o;
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}
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print OUT "\t\t".$line;
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}
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if ($line =~ /}/) {
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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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<STDIN>;
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1; |