forked from Archive/PX4-Autopilot
582 lines
18 KiB
Python
582 lines
18 KiB
Python
#!/usr/bin/env python
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'''
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parse a MAVLink protocol XML file and generate a C 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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import sys, textwrap, os, time
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import mavparse, mavtemplate
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t = mavtemplate.MAVTemplate()
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def generate_version_h(directory, xml):
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'''generate version.h'''
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f = open(os.path.join(directory, "version.h"), mode='w')
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t.write(f,'''
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/** @file
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* @brief MAVLink comm protocol built from ${basename}.xml
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* @see http://pixhawk.ethz.ch/software/mavlink
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*/
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#ifndef MAVLINK_VERSION_H
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#define MAVLINK_VERSION_H
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#define MAVLINK_BUILD_DATE "${parse_time}"
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#define MAVLINK_WIRE_PROTOCOL_VERSION "${wire_protocol_version}"
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#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE ${largest_payload}
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#endif // MAVLINK_VERSION_H
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''', xml)
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f.close()
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def generate_mavlink_h(directory, xml):
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'''generate mavlink.h'''
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f = open(os.path.join(directory, "mavlink.h"), mode='w')
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t.write(f,'''
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/** @file
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* @brief MAVLink comm protocol built from ${basename}.xml
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* @see http://pixhawk.ethz.ch/software/mavlink
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*/
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#ifndef MAVLINK_H
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#define MAVLINK_H
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#ifndef MAVLINK_STX
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#define MAVLINK_STX ${protocol_marker}
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#endif
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#ifndef MAVLINK_ENDIAN
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#define MAVLINK_ENDIAN ${mavlink_endian}
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#endif
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#ifndef MAVLINK_ALIGNED_FIELDS
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#define MAVLINK_ALIGNED_FIELDS ${aligned_fields_define}
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#endif
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#ifndef MAVLINK_CRC_EXTRA
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#define MAVLINK_CRC_EXTRA ${crc_extra_define}
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#endif
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#include "version.h"
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#include "${basename}.h"
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#endif // MAVLINK_H
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''', xml)
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f.close()
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def generate_main_h(directory, xml):
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'''generate main header per XML file'''
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f = open(os.path.join(directory, xml.basename + ".h"), mode='w')
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t.write(f, '''
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/** @file
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* @brief MAVLink comm protocol generated from ${basename}.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef ${basename_upper}_H
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#define ${basename_upper}_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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// MESSAGE LENGTHS AND CRCS
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#ifndef MAVLINK_MESSAGE_LENGTHS
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#define MAVLINK_MESSAGE_LENGTHS {${message_lengths_array}}
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#endif
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#ifndef MAVLINK_MESSAGE_CRCS
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#define MAVLINK_MESSAGE_CRCS {${message_crcs_array}}
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#endif
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#ifndef MAVLINK_MESSAGE_INFO
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#define MAVLINK_MESSAGE_INFO {${message_info_array}}
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#endif
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#include "../protocol.h"
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#define MAVLINK_ENABLED_${basename_upper}
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${{include_list:#include "../${base}/${base}.h"
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}}
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// MAVLINK VERSION
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#ifndef MAVLINK_VERSION
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#define MAVLINK_VERSION ${version}
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#endif
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#if (MAVLINK_VERSION == 0)
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#undef MAVLINK_VERSION
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#define MAVLINK_VERSION ${version}
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#endif
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// ENUM DEFINITIONS
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${{enum:
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/** @brief ${description} */
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#ifndef HAVE_ENUM_${name}
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#define HAVE_ENUM_${name}
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enum ${name}
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{
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${{entry: ${name}=${value}, /* ${description} |${{param:${description}| }} */
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}}
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};
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#endif
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}}
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// MESSAGE DEFINITIONS
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${{message:#include "./mavlink_msg_${name_lower}.h"
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}}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // ${basename_upper}_H
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''', xml)
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f.close()
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def generate_message_h(directory, m):
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'''generate per-message header for a XML file'''
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f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w')
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t.write(f, '''
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// MESSAGE ${name} PACKING
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#define MAVLINK_MSG_ID_${name} ${id}
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typedef struct __mavlink_${name_lower}_t
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{
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${{ordered_fields: ${type} ${name}${array_suffix}; ///< ${description}
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}}
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} mavlink_${name_lower}_t;
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#define MAVLINK_MSG_ID_${name}_LEN ${wire_length}
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#define MAVLINK_MSG_ID_${id}_LEN ${wire_length}
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${{array_fields:#define MAVLINK_MSG_${msg_name}_FIELD_${name_upper}_LEN ${array_length}
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}}
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#define MAVLINK_MESSAGE_INFO_${name} { \\
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"${name}", \\
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${num_fields}, \\
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{ ${{ordered_fields: { "${name}", ${c_print_format}, MAVLINK_TYPE_${type_upper}, ${array_length}, ${wire_offset}, offsetof(mavlink_${name_lower}_t, ${name}) }, \\
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}} } \\
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}
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/**
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* @brief Pack a ${name_lower} message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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${{arg_fields: * @param ${name} ${description}
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}}
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_${name_lower}_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[${wire_length}];
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${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname});
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}}
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${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
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}}
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
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#else
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mavlink_${name_lower}_t packet;
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${{scalar_fields: packet.${name} = ${putname};
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}}
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${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
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}}
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
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#endif
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msg->msgid = MAVLINK_MSG_ID_${name};
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return mavlink_finalize_message(msg, system_id, component_id, ${wire_length}${crc_extra_arg});
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}
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/**
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* @brief Pack a ${name_lower} message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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${{arg_fields: * @param ${name} ${description}
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}}
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_${name_lower}_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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${{arg_fields:${array_const}${type} ${array_prefix}${name},}})
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[${wire_length}];
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${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname});
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}}
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${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
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}}
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
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#else
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mavlink_${name_lower}_t packet;
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${{scalar_fields: packet.${name} = ${putname};
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}}
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${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
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}}
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
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#endif
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msg->msgid = MAVLINK_MSG_ID_${name};
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, ${wire_length}${crc_extra_arg});
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}
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/**
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* @brief Encode a ${name_lower} struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param ${name_lower} C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_${name_lower}_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_${name_lower}_t* ${name_lower})
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{
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return mavlink_msg_${name_lower}_pack(system_id, component_id, msg,${{arg_fields: ${name_lower}->${name},}});
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}
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/**
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* @brief Send a ${name_lower} message
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* @param chan MAVLink channel to send the message
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*
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${{arg_fields: * @param ${name} ${description}
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}}
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_${name_lower}_send(mavlink_channel_t chan,${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[${wire_length}];
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${{scalar_fields: _mav_put_${type}(buf, ${wire_offset}, ${putname});
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}}
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${{array_fields: _mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
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}}
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, buf, ${wire_length}${crc_extra_arg});
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#else
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mavlink_${name_lower}_t packet;
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${{scalar_fields: packet.${name} = ${putname};
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}}
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${{array_fields: mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
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}}
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, ${wire_length}${crc_extra_arg});
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#endif
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}
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#endif
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// MESSAGE ${name} UNPACKING
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${{fields:
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/**
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* @brief Get field ${name} from ${name_lower} message
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*
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* @return ${description}
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*/
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static inline ${return_type} mavlink_msg_${name_lower}_get_${name}(const mavlink_message_t* msg${get_arg})
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{
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return _MAV_RETURN_${type}${array_tag}(msg, ${array_return_arg} ${wire_offset});
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}
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}}
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/**
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* @brief Decode a ${name_lower} message into a struct
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*
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* @param msg The message to decode
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* @param ${name_lower} C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_${name_lower}_decode(const mavlink_message_t* msg, mavlink_${name_lower}_t* ${name_lower})
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{
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#if MAVLINK_NEED_BYTE_SWAP
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${{ordered_fields: ${decode_left}mavlink_msg_${name_lower}_get_${name}(msg${decode_right});
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}}
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#else
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memcpy(${name_lower}, _MAV_PAYLOAD(msg), ${wire_length});
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#endif
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}
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''', m)
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f.close()
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def generate_testsuite_h(directory, xml):
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'''generate testsuite.h per XML file'''
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f = open(os.path.join(directory, "testsuite.h"), mode='w')
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t.write(f, '''
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/** @file
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* @brief MAVLink comm protocol testsuite generated from ${basename}.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef ${basename_upper}_TESTSUITE_H
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#define ${basename_upper}_TESTSUITE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef MAVLINK_TEST_ALL
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#define MAVLINK_TEST_ALL
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${{include_list:static void mavlink_test_${base}(uint8_t, uint8_t, mavlink_message_t *last_msg);
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}}
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static void mavlink_test_${basename}(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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${{include_list: mavlink_test_${base}(system_id, component_id, last_msg);
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}}
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mavlink_test_${basename}(system_id, component_id, last_msg);
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}
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#endif
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${{include_list:#include "../${base}/testsuite.h"
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}}
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${{message:
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static void mavlink_test_${name_lower}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_${name_lower}_t packet_in = {
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${{ordered_fields:${c_test_value},
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}}};
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mavlink_${name_lower}_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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${{scalar_fields: packet1.${name} = packet_in.${name};
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}}
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${{array_fields: mav_array_memcpy(packet1.${name}, packet_in.${name}, sizeof(${type})*${array_length});
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}}
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_${name_lower}_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_${name_lower}_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_${name_lower}_pack(system_id, component_id, &msg ${{arg_fields:, packet1.${name} }});
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mavlink_msg_${name_lower}_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_${name_lower}_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg ${{arg_fields:, packet1.${name} }});
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mavlink_msg_${name_lower}_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_${name_lower}_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_${name_lower}_send(MAVLINK_COMM_1 ${{arg_fields:, packet1.${name} }});
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mavlink_msg_${name_lower}_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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}}
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static void mavlink_test_${basename}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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${{message: mavlink_test_${name_lower}(system_id, component_id, last_msg);
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}}
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}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // ${basename_upper}_TESTSUITE_H
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''', xml)
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f.close()
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def copy_fixed_headers(directory, xml):
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'''copy the fixed protocol headers to the target directory'''
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import shutil
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hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ]
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basepath = os.path.dirname(os.path.realpath(__file__))
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srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version)
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print("Copying fixed headers")
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for h in hlist:
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if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')):
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src = os.path.realpath(os.path.join(srcpath, h))
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dest = os.path.realpath(os.path.join(directory, h))
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if src == dest:
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continue
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shutil.copy(src, dest)
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# XXX This is a hack - to be removed
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if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
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h = 'pixhawk/pixhawk.pb.h'
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src = os.path.realpath(os.path.join(srcpath, h))
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dest = os.path.realpath(os.path.join(directory, h))
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shutil.copy(src, dest)
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def copy_fixed_sources(directory, xml):
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# XXX This is a hack - to be removed
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import shutil
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basepath = os.path.dirname(os.path.realpath(__file__))
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srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version)
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if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
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print("Copying fixed sources")
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src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc'))
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dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version))
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destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version))
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try:
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os.makedirs(destdir)
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except:
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print("Not re-creating directory")
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shutil.copy(src, dest)
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print("Copied to"),
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print(dest)
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class mav_include(object):
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def __init__(self, base):
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self.base = base
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def generate_one(basename, xml):
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'''generate headers for one XML file'''
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directory = os.path.join(basename, xml.basename)
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|
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print("Generating C implementation in directory %s" % directory)
|
|
mavparse.mkdir_p(directory)
|
|
|
|
if xml.little_endian:
|
|
xml.mavlink_endian = "MAVLINK_LITTLE_ENDIAN"
|
|
else:
|
|
xml.mavlink_endian = "MAVLINK_BIG_ENDIAN"
|
|
|
|
if xml.crc_extra:
|
|
xml.crc_extra_define = "1"
|
|
else:
|
|
xml.crc_extra_define = "0"
|
|
|
|
if xml.sort_fields:
|
|
xml.aligned_fields_define = "1"
|
|
else:
|
|
xml.aligned_fields_define = "0"
|
|
|
|
# work out the included headers
|
|
xml.include_list = []
|
|
for i in xml.include:
|
|
base = i[:-4]
|
|
xml.include_list.append(mav_include(base))
|
|
|
|
# form message lengths array
|
|
xml.message_lengths_array = ''
|
|
for mlen in xml.message_lengths:
|
|
xml.message_lengths_array += '%u, ' % mlen
|
|
xml.message_lengths_array = xml.message_lengths_array[:-2]
|
|
|
|
# and message CRCs array
|
|
xml.message_crcs_array = ''
|
|
for crc in xml.message_crcs:
|
|
xml.message_crcs_array += '%u, ' % crc
|
|
xml.message_crcs_array = xml.message_crcs_array[:-2]
|
|
|
|
# form message info array
|
|
xml.message_info_array = ''
|
|
for name in xml.message_names:
|
|
if name is not None:
|
|
xml.message_info_array += 'MAVLINK_MESSAGE_INFO_%s, ' % name
|
|
else:
|
|
# Several C compilers don't accept {NULL} for
|
|
# multi-dimensional arrays and structs
|
|
# feed the compiler a "filled" empty message
|
|
xml.message_info_array += '{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, '
|
|
xml.message_info_array = xml.message_info_array[:-2]
|
|
|
|
# add some extra field attributes for convenience with arrays
|
|
for m in xml.message:
|
|
m.msg_name = m.name
|
|
if xml.crc_extra:
|
|
m.crc_extra_arg = ", %s" % m.crc_extra
|
|
else:
|
|
m.crc_extra_arg = ""
|
|
for f in m.fields:
|
|
if f.print_format is None:
|
|
f.c_print_format = 'NULL'
|
|
else:
|
|
f.c_print_format = '"%s"' % f.print_format
|
|
if f.array_length != 0:
|
|
f.array_suffix = '[%u]' % f.array_length
|
|
f.array_prefix = '*'
|
|
f.array_tag = '_array'
|
|
f.array_arg = ', %u' % f.array_length
|
|
f.array_return_arg = '%s, %u, ' % (f.name, f.array_length)
|
|
f.array_const = 'const '
|
|
f.decode_left = ''
|
|
f.decode_right = ', %s->%s' % (m.name_lower, f.name)
|
|
f.return_type = 'uint16_t'
|
|
f.get_arg = ', %s *%s' % (f.type, f.name)
|
|
if f.type == 'char':
|
|
f.c_test_value = '"%s"' % f.test_value
|
|
else:
|
|
test_strings = []
|
|
for v in f.test_value:
|
|
test_strings.append(str(v))
|
|
f.c_test_value = '{ %s }' % ', '.join(test_strings)
|
|
else:
|
|
f.array_suffix = ''
|
|
f.array_prefix = ''
|
|
f.array_tag = ''
|
|
f.array_arg = ''
|
|
f.array_return_arg = ''
|
|
f.array_const = ''
|
|
f.decode_left = "%s->%s = " % (m.name_lower, f.name)
|
|
f.decode_right = ''
|
|
f.get_arg = ''
|
|
f.return_type = f.type
|
|
if f.type == 'char':
|
|
f.c_test_value = "'%s'" % f.test_value
|
|
elif f.type == 'uint64_t':
|
|
f.c_test_value = "%sULL" % f.test_value
|
|
elif f.type == 'int64_t':
|
|
f.c_test_value = "%sLL" % f.test_value
|
|
else:
|
|
f.c_test_value = f.test_value
|
|
|
|
# cope with uint8_t_mavlink_version
|
|
for m in xml.message:
|
|
m.arg_fields = []
|
|
m.array_fields = []
|
|
m.scalar_fields = []
|
|
for f in m.ordered_fields:
|
|
if f.array_length != 0:
|
|
m.array_fields.append(f)
|
|
else:
|
|
m.scalar_fields.append(f)
|
|
for f in m.fields:
|
|
if not f.omit_arg:
|
|
m.arg_fields.append(f)
|
|
f.putname = f.name
|
|
else:
|
|
f.putname = f.const_value
|
|
|
|
generate_mavlink_h(directory, xml)
|
|
generate_version_h(directory, xml)
|
|
generate_main_h(directory, xml)
|
|
for m in xml.message:
|
|
generate_message_h(directory, m)
|
|
generate_testsuite_h(directory, xml)
|
|
|
|
|
|
def generate(basename, xml_list):
|
|
'''generate complete MAVLink C implemenation'''
|
|
|
|
for xml in xml_list:
|
|
generate_one(basename, xml)
|
|
copy_fixed_headers(basename, xml_list[0])
|
|
copy_fixed_sources(basename, xml_list[0])
|