60 lines
1.8 KiB
Python
60 lines
1.8 KiB
Python
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#!/usr/bin/env python
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# 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 Task, Utils, Node
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from waflib.TaskGen import feature, before_method, extension
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import os
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class mavgen(Task.Task):
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"""generate mavlink header files"""
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color = 'GREEN'
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run_str = '${PYTHON} ${MAVGEN} --lang=C --wire-protocol=1.0 --output ${TGT} ${SRC}'
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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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inputs = self.to_nodes(self.source)
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outputs = []
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self.target = Utils.to_list(getattr(self, 'target', []))
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for t in self.target:
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if not isinstance(t, Node.Node):
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t = self.bld.bldnode.find_or_declare(t)
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outputs.append(t)
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self.source = []
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self.create_task('mavgen', inputs, outputs)
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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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cfg.load('python')
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cfg.check_python_version(minver=(2,7,0))
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env = cfg.env
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cfg.env.env = dict(os.environ)
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cfg.start_msg('Checking for message_definitions')
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if not cfg.srcnode.find_resource('modules/mavlink/message_definitions/v1.0/ardupilotmega.xml'):
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cfg.fatal(env.MAV_MSG_DEFS + ' not found, please run: git submodule init && git submodule update', color='RED')
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return
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cfg.end_msg('success')
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env.MAVLINK_DIR = cfg.srcnode.find_dir('modules/mavlink/').abspath()
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env.MAVLINK_HEADERS = cfg.bldnode.make_node('/libraries/GCS_MAVLink/include/mavlink/v1.0/').abspath()
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env.MAVGEN = env.MAVLINK_DIR + '/pymavlink/tools/mavgen.py'
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cfg.env.env['PYTHONPATH'] = env.MAVLINK_DIR
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env.MAV_MSG_DEFS = cfg.srcnode.find_resource('modules/mavlink/message_definitions/v1.0/ardupilotmega.xml').abspath()
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