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69 lines
2.1 KiB
69 lines
2.1 KiB
#!/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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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("mavgen.py [options] <XML files>") |
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parser.add_option("-o", "--output", dest="output", default="mavlink", help="output base name") |
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parser.add_option("--lang", dest="language", default="python", help="language to generate") |
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parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="wire protocol version") |
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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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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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