forked from Archive/PX4-Autopilot
373 lines
14 KiB
Python
373 lines
14 KiB
Python
#!/usr/bin/env python
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'''
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mavlink python parse functions
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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 xml.parsers.expat, os, errno, time, sys, operator, mavutil
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PROTOCOL_0_9 = "0.9"
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PROTOCOL_1_0 = "1.0"
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class MAVParseError(Exception):
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def __init__(self, message, inner_exception=None):
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self.message = message
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self.inner_exception = inner_exception
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self.exception_info = sys.exc_info()
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def __str__(self):
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return self.message
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class MAVField(object):
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def __init__(self, name, type, print_format, xml, description=''):
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self.name = name
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self.name_upper = name.upper()
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self.description = description
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self.array_length = 0
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self.omit_arg = False
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self.const_value = None
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self.print_format = print_format
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lengths = {
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'float' : 4,
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'double' : 8,
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'char' : 1,
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'int8_t' : 1,
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'uint8_t' : 1,
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'uint8_t_mavlink_version' : 1,
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'int16_t' : 2,
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'uint16_t' : 2,
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'int32_t' : 4,
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'uint32_t' : 4,
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'int64_t' : 8,
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'uint64_t' : 8,
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}
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if type=='uint8_t_mavlink_version':
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type = 'uint8_t'
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self.omit_arg = True
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self.const_value = xml.version
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aidx = type.find("[")
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if aidx != -1:
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assert type[-1:] == ']'
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self.array_length = int(type[aidx+1:-1])
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type = type[0:aidx]
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if type == 'array':
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type = 'int8_t'
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if type in lengths:
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self.type_length = lengths[type]
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self.type = type
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elif (type+"_t") in lengths:
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self.type_length = lengths[type+"_t"]
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self.type = type+'_t'
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else:
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raise MAVParseError("unknown type '%s'" % type)
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if self.array_length != 0:
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self.wire_length = self.array_length * self.type_length
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else:
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self.wire_length = self.type_length
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self.type_upper = self.type.upper()
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def gen_test_value(self, i):
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'''generate a testsuite value for a MAVField'''
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if self.const_value:
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return self.const_value
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elif self.type == 'float':
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return 17.0 + self.wire_offset*7 + i
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elif self.type == 'double':
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return 123.0 + self.wire_offset*7 + i
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elif self.type == 'char':
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return chr(ord('A') + (self.wire_offset + i)%26)
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elif self.type in [ 'int8_t', 'uint8_t' ]:
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return (5 + self.wire_offset*67 + i) & 0xFF
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elif self.type in ['int16_t', 'uint16_t']:
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return (17235 + self.wire_offset*52 + i) & 0xFFFF
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elif self.type in ['int32_t', 'uint32_t']:
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return (963497464 + self.wire_offset*52 + i)&0xFFFFFFFF
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elif self.type in ['int64_t', 'uint64_t']:
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return 93372036854775807 + self.wire_offset*63 + i
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else:
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raise MAVError('unknown type %s' % self.type)
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def set_test_value(self):
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'''set a testsuite value for a MAVField'''
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if self.array_length:
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self.test_value = []
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for i in range(self.array_length):
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self.test_value.append(self.gen_test_value(i))
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else:
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self.test_value = self.gen_test_value(0)
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if self.type == 'char' and self.array_length:
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v = ""
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for c in self.test_value:
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v += c
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self.test_value = v[:-1]
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class MAVType(object):
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def __init__(self, name, id, linenumber, description=''):
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self.name = name
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self.name_lower = name.lower()
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self.linenumber = linenumber
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self.id = int(id)
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self.description = description
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self.fields = []
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self.fieldnames = []
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class MAVEnumParam(object):
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def __init__(self, index, description=''):
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self.index = index
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self.description = description
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class MAVEnumEntry(object):
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def __init__(self, name, value, description='', end_marker=False):
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self.name = name
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self.value = value
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self.description = description
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self.param = []
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self.end_marker = end_marker
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class MAVEnum(object):
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def __init__(self, name, linenumber, description=''):
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self.name = name
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self.description = description
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self.entry = []
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self.highest_value = 0
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self.linenumber = linenumber
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class MAVXML(object):
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'''parse a mavlink XML file'''
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def __init__(self, filename, wire_protocol_version=PROTOCOL_0_9):
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self.filename = filename
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self.basename = os.path.basename(filename)
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if self.basename.lower().endswith(".xml"):
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self.basename = self.basename[:-4]
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self.basename_upper = self.basename.upper()
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self.message = []
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self.enum = []
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self.parse_time = time.asctime()
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self.version = 2
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self.include = []
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self.wire_protocol_version = wire_protocol_version
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if wire_protocol_version == PROTOCOL_0_9:
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self.protocol_marker = ord('U')
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self.sort_fields = False
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self.little_endian = False
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self.crc_extra = False
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elif wire_protocol_version == PROTOCOL_1_0:
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self.protocol_marker = 0xFE
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self.sort_fields = True
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self.little_endian = True
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self.crc_extra = True
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else:
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print("Unknown wire protocol version")
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print("Available versions are: %s %s" % (PROTOCOL_0_9, PROTOCOL_1_0))
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raise MAVParseError('Unknown MAVLink wire protocol version %s' % wire_protocol_version)
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in_element_list = []
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def check_attrs(attrs, check, where):
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for c in check:
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if not c in attrs:
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raise MAVParseError('expected missing %s "%s" attribute at %s:%u' % (
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where, c, filename, p.CurrentLineNumber))
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def start_element(name, attrs):
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in_element_list.append(name)
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in_element = '.'.join(in_element_list)
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#print in_element
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if in_element == "mavlink.messages.message":
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check_attrs(attrs, ['name', 'id'], 'message')
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self.message.append(MAVType(attrs['name'], attrs['id'], p.CurrentLineNumber))
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elif in_element == "mavlink.messages.message.field":
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check_attrs(attrs, ['name', 'type'], 'field')
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if 'print_format' in attrs:
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print_format = attrs['print_format']
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else:
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print_format = None
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self.message[-1].fields.append(MAVField(attrs['name'], attrs['type'],
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print_format, self))
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elif in_element == "mavlink.enums.enum":
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check_attrs(attrs, ['name'], 'enum')
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self.enum.append(MAVEnum(attrs['name'], p.CurrentLineNumber))
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elif in_element == "mavlink.enums.enum.entry":
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check_attrs(attrs, ['name'], 'enum entry')
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if 'value' in attrs:
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value = int(attrs['value'])
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else:
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value = self.enum[-1].highest_value + 1
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if (value > self.enum[-1].highest_value):
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self.enum[-1].highest_value = value
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self.enum[-1].entry.append(MAVEnumEntry(attrs['name'], value))
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elif in_element == "mavlink.enums.enum.entry.param":
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check_attrs(attrs, ['index'], 'enum param')
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self.enum[-1].entry[-1].param.append(MAVEnumParam(attrs['index']))
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def end_element(name):
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in_element = '.'.join(in_element_list)
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if in_element == "mavlink.enums.enum":
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# add a ENUM_END
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self.enum[-1].entry.append(MAVEnumEntry("%s_ENUM_END" % self.enum[-1].name,
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self.enum[-1].highest_value+1, end_marker=True))
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in_element_list.pop()
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def char_data(data):
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in_element = '.'.join(in_element_list)
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if in_element == "mavlink.messages.message.description":
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self.message[-1].description += data
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elif in_element == "mavlink.messages.message.field":
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self.message[-1].fields[-1].description += data
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elif in_element == "mavlink.enums.enum.description":
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self.enum[-1].description += data
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elif in_element == "mavlink.enums.enum.entry.description":
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self.enum[-1].entry[-1].description += data
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elif in_element == "mavlink.enums.enum.entry.param":
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self.enum[-1].entry[-1].param[-1].description += data
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elif in_element == "mavlink.version":
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self.version = int(data)
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elif in_element == "mavlink.include":
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self.include.append(data)
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f = open(filename, mode='rb')
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p = xml.parsers.expat.ParserCreate()
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p.StartElementHandler = start_element
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p.EndElementHandler = end_element
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p.CharacterDataHandler = char_data
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p.ParseFile(f)
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f.close()
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self.message_lengths = [ 0 ] * 256
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self.message_crcs = [ 0 ] * 256
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self.message_names = [ None ] * 256
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self.largest_payload = 0
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for m in self.message:
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m.wire_length = 0
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m.fieldnames = []
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m.ordered_fieldnames = []
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if self.sort_fields:
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m.ordered_fields = sorted(m.fields,
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key=operator.attrgetter('type_length'),
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reverse=True)
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else:
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m.ordered_fields = m.fields
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for f in m.fields:
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m.fieldnames.append(f.name)
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for f in m.ordered_fields:
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f.wire_offset = m.wire_length
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m.wire_length += f.wire_length
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m.ordered_fieldnames.append(f.name)
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f.set_test_value()
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m.num_fields = len(m.fieldnames)
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if m.num_fields > 64:
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raise MAVParseError("num_fields=%u : Maximum number of field names allowed is" % (
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m.num_fields, 64))
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m.crc_extra = message_checksum(m)
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self.message_lengths[m.id] = m.wire_length
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self.message_names[m.id] = m.name
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self.message_crcs[m.id] = m.crc_extra
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if m.wire_length > self.largest_payload:
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self.largest_payload = m.wire_length
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if m.wire_length+8 > 64:
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print("Note: message %s is longer than 64 bytes long (%u bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit." % (m.name, m.wire_length+8))
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def __str__(self):
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return "MAVXML for %s from %s (%u message, %u enums)" % (
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self.basename, self.filename, len(self.message), len(self.enum))
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def message_checksum(msg):
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'''calculate a 8-bit checksum of the key fields of a message, so we
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can detect incompatible XML changes'''
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crc = mavutil.x25crc(msg.name + ' ')
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for f in msg.ordered_fields:
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crc.accumulate(f.type + ' ')
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crc.accumulate(f.name + ' ')
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if f.array_length:
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crc.accumulate(chr(f.array_length))
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return (crc.crc&0xFF) ^ (crc.crc>>8)
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def merge_enums(xml):
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'''merge enums between XML files'''
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emap = {}
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for x in xml:
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newenums = []
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for enum in x.enum:
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if enum.name in emap:
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emap[enum.name].entry.pop() # remove end marker
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emap[enum.name].entry.extend(enum.entry)
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print("Merged enum %s" % enum.name)
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else:
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newenums.append(enum)
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emap[enum.name] = enum
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x.enum = newenums
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# sort by value
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for e in emap:
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emap[e].entry = sorted(emap[e].entry,
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key=operator.attrgetter('value'),
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reverse=False)
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def check_duplicates(xml):
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'''check for duplicate message IDs'''
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merge_enums(xml)
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msgmap = {}
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enummap = {}
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for x in xml:
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for m in x.message:
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if m.id in msgmap:
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print("ERROR: Duplicate message id %u for %s (%s:%u) also used by %s" % (
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m.id, m.name,
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x.filename, m.linenumber,
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msgmap[m.id]))
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return True
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fieldset = set()
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for f in m.fields:
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if f.name in fieldset:
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print("ERROR: Duplicate field %s in message %s (%s:%u)" % (
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f.name, m.name,
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x.filename, m.linenumber))
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return True
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fieldset.add(f.name)
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msgmap[m.id] = '%s (%s:%u)' % (m.name, x.filename, m.linenumber)
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for enum in x.enum:
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for entry in enum.entry:
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s1 = "%s.%s" % (enum.name, entry.name)
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s2 = "%s.%s" % (enum.name, entry.value)
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if s1 in enummap or s2 in enummap:
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print("ERROR: Duplicate enums %s/%s at %s:%u and %s" % (
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s1, entry.value, x.filename, enum.linenumber,
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enummap.get(s1) or enummap.get(s2)))
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return True
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enummap[s1] = "%s:%u" % (x.filename, enum.linenumber)
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enummap[s2] = "%s:%u" % (x.filename, enum.linenumber)
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return False
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def total_msgs(xml):
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'''count total number of msgs'''
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count = 0
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for x in xml:
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count += len(x.message)
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return count
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def mkdir_p(dir):
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try:
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os.makedirs(dir)
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except OSError as exc:
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if exc.errno == errno.EEXIST:
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pass
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else: raise
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# check version consistent
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# add test.xml
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# finish test suite
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# printf style error macro, if defined call errors
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