forked from Archive/PX4-Autopilot
83 lines
2.8 KiB
Python
83 lines
2.8 KiB
Python
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#!/usr/bin/env python
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'''
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parse a MAVLink protocol XML file and generate a python implementation
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Copyright Andrew Tridgell 2011
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Released under GNU GPL version 3 or later
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'''
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def mavgen(opts, args) :
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"""Generate mavlink message formatters and parsers (C and Python ) using options
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and args where args are a list of xml files. This function allows python
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scripts under Windows to control mavgen using the same interface as
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shell scripts under Unix"""
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import sys, textwrap, os
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import mavparse
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import mavgen_python
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import mavgen_c
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xml = []
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for fname in args:
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print("Parsing %s" % fname)
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xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
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# expand includes
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for x in xml[:]:
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for i in x.include:
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fname = os.path.join(os.path.dirname(x.filename), i)
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print("Parsing %s" % fname)
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xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
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# include message lengths and CRCs too
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for idx in range(0, 256):
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if x.message_lengths[idx] == 0:
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x.message_lengths[idx] = xml[-1].message_lengths[idx]
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x.message_crcs[idx] = xml[-1].message_crcs[idx]
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x.message_names[idx] = xml[-1].message_names[idx]
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# work out max payload size across all includes
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largest_payload = 0
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for x in xml:
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if x.largest_payload > largest_payload:
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largest_payload = x.largest_payload
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for x in xml:
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x.largest_payload = largest_payload
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if mavparse.check_duplicates(xml):
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sys.exit(1)
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print("Found %u MAVLink message types in %u XML files" % (
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mavparse.total_msgs(xml), len(xml)))
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if opts.language == 'python':
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mavgen_python.generate(opts.output, xml)
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elif opts.language == 'C':
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mavgen_c.generate(opts.output, xml)
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else:
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print("Unsupported language %s" % opts.language)
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if __name__=="__main__":
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import sys, textwrap, os
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from optparse import OptionParser
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# allow import from the parent directory, where mavutil.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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import mavparse
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import mavgen_python
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import mavgen_c
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parser = OptionParser("%prog [options] <XML files>")
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parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
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parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
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parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
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(opts, args) = parser.parse_args()
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if len(args) < 1:
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parser.error("You must supply at least one MAVLink XML protocol definition")
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mavgen(opts, args)
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