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Commit d4c5a5f2 authored by Lorenz Meier's avatar Lorenz Meier
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Updated to most recent MAVLink v1.0.8

parent 5a57860d
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files/mavlink_generator/C/test/posix/.gitignore deleted 100644 → 0
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/testmav0.9
/testmav1.0
/testmav1.0_nonstrict
files/mavlink_generator/C/test/posix/testmav.c deleted 100644 → 0
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/*
simple MAVLink testsuite for C
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 2
// this trick allows us to make mavlink_message_t as small as possible
// for this dialect, which saves some memory
#include <version.h>
#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
#include <mavlink_types.h>
static mavlink_system_t mavlink_system = {42,11,};
#define MAVLINK_ASSERT(x) assert(x)
static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
static mavlink_message_t last_msg;
#include <mavlink.h>
#include <testsuite.h>
static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
static unsigned error_count;
static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
static void print_message(mavlink_message_t *msg)
{
const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields;
unsigned i;
printf("%s { ", m->name);
for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]);
}
printf("}\n");
}
static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
{
mavlink_status_t status;
if (mavlink_parse_char(chan, c, &last_msg, &status)) {
print_message(&last_msg);
chan_counts[chan]++;
/* channel 0 gets 3 messages per message, because of
the channel defaults for _pack() and _encode() */
if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n",
chan_counts[chan], status.current_rx_seq);
error_count++;
} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n",
(unsigned)chan, chan_counts[chan], status.current_rx_seq);
error_count++;
}
if (message_lengths[last_msg.msgid] != last_msg.len) {
printf("Incorrect message length %u for message %u - expected %u\n",
(unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
error_count++;
}
}
if (status.packet_rx_drop_count != 0) {
printf("Parse error at packet %u\n", chan_counts[chan]);
error_count++;
}
}
int main(void)
{
mavlink_channel_t chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
exit(1);
}
printf("No errors detected\n");
return 0;
}
files/mavlink_generator/C/test/windows/stdafx.cpp deleted 100644 → 0
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// stdafx.cpp : source file that includes just the standard includes
// testmav.pch will be the pre-compiled header
// stdafx.obj will contain the pre-compiled type information
#include "stdafx.h"
// TODO: reference any additional headers you need in STDAFX.H
// and not in this file
files/mavlink_generator/C/test/windows/stdafx.h deleted 100644 → 0
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// stdafx.h : include file for standard system include files,
// or project specific include files that are used frequently, but
// are changed infrequently
//
#pragma once
#include "targetver.h"
#include <stdio.h>
#include <tchar.h>
// TODO: reference additional headers your program requires here
files/mavlink_generator/C/test/windows/targetver.h deleted 100644 → 0
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#pragma once
// Including SDKDDKVer.h defines the highest available Windows platform.
// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and
// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.
#include <SDKDDKVer.h>
files/mavlink_generator/C/test/windows/testmav.cpp deleted 100644 → 0
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// testmav.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#include "stdio.h"
#include "stdint.h"
#include "stddef.h"
#include "assert.h"
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
#define MAVLINK_COMM_NUM_BUFFERS 2
#include <mavlink_types.h>
static mavlink_system_t mavlink_system = {42,11,};
#define MAVLINK_ASSERT(x) assert(x)
static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
static mavlink_message_t last_msg;
#include <common/mavlink.h>
#include <common/testsuite.h>
static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
static unsigned error_count;
static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
{
#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
switch (f->type) {
case MAVLINK_TYPE_CHAR:
printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT8_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_INT8_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
break;
case MAVLINK_TYPE_UINT16_T:
printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_INT16_T:
printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
break;
case MAVLINK_TYPE_UINT32_T:
printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_INT32_T:
printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_UINT64_T:
printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_INT64_T:
printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
break;
case MAVLINK_TYPE_FLOAT:
printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
break;
case MAVLINK_TYPE_DOUBLE:
printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
break;
}
}
static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
{
printf("%s: ", f->name);
if (f->array_length == 0) {
print_one_field(msg, f, 0);
printf(" ");
} else {
unsigned i;
/* print an array */
if (f->type == MAVLINK_TYPE_CHAR) {
printf("'%.*s'", f->array_length,
f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
} else {
printf("[ ");
for (i=0; i<f->array_length; i++) {
print_one_field(msg, f, i);
if (i < f->array_length) {
printf(", ");
}
}
printf("]");
}
}
printf(" ");
}
static void print_message(mavlink_message_t *msg)
{
const mavlink_message_info_t *m = &message_info[msg->msgid];
const mavlink_field_info_t *f = m->fields;
unsigned i;
printf("%s { ", m->name);
for (i=0; i<m->num_fields; i++) {
print_field(msg, &f[i]);
}
printf("}\n");
}
static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
{
mavlink_status_t status;
if (mavlink_parse_char(chan, c, &last_msg, &status)) {
print_message(&last_msg);
chan_counts[chan]++;
/* channel 0 gets 3 messages per message, because of
the channel defaults for _pack() and _encode() */
if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n",
chan_counts[chan], status.current_rx_seq);
error_count++;
} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n",
(unsigned)chan, chan_counts[chan], status.current_rx_seq);
error_count++;
}
if (message_lengths[last_msg.msgid] != last_msg.len) {
printf("Incorrect message length %u for message %u - expected %u\n",
(unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
error_count++;
}
}
if (status.packet_rx_drop_count != 0) {
printf("Parse error at packet %u\n", chan_counts[chan]);
error_count++;
}
}
int _tmain(int argc, _TCHAR* argv[])
{
int chan;
mavlink_test_all(11, 10, &last_msg);
for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
printf("Received %u messages on channel %u OK\n",
chan_counts[chan], (unsigned)chan);
}
if (error_count != 0) {
printf("Error count %u\n", error_count);
return(1);
}
printf("No errors detected\n");
return 0;
}
files/mavlink_generator/generator/gen_MatrixPilot.py deleted 100755 → 0
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#!/usr/bin/env python
'''
Use mavgen.py matrixpilot.xml definitions to generate
C and Python MAVLink routines for sending and parsing the protocol
This python script is soley for MatrixPilot MAVLink impoementation
Copyright Pete Hollands 2011
Released under GNU GPL version 3 or later
'''
import os, sys, glob, re
from shutil import copy
from mavgen import mavgen
# allow import from the parent directory, where mavutil.py is
# Under Windows, this script must be run from a DOS command window
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
class options:
""" a class to simulate the options of mavgen OptionsParser"""
def __init__(self, lang, output, wire_protocol):
self.language = lang
self.wire_protocol = wire_protocol
self.output = output
def remove_include_files(target_directory):
search_pattern = target_directory+'/*.h'
print "search pattern is", search_pattern
files_to_remove = glob.glob(search_pattern)
for afile in files_to_remove :
try:
print "removing", afile
os.remove(afile)
except:
print "error while trying to remove", afile
def copy_include_files(source_directory,target_directory):
search_pattern = source_directory+'/*.h'
files_to_copy = glob.glob(search_pattern)
for afile in files_to_copy:
basename = os.path.basename(afile)
print "Copying ...", basename
copy(afile, target_directory)
protocol = "1.0"
xml_directory = './message_definitions/v'+protocol
print "xml_directory is", xml_directory
xml_file_names = []
xml_file_names.append(xml_directory+"/"+"matrixpilot.xml")
for xml_file in xml_file_names:
print "xml file is ", xml_file
opts = options(lang = "C", output = "C/include_v"+protocol, \
wire_protocol=protocol)
args = []
args.append(xml_file)
mavgen(opts, args)
xml_file_base = os.path.basename(xml_file)
xml_file_base = re.sub("\.xml","", xml_file_base)
print "xml_file_base is", xml_file_base
opts = options(lang = "python", \
output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
wire_protocol=protocol)
mavgen(opts,args)
mavlink_directory_list = ["common","matrixpilot"]
for mavlink_directory in mavlink_directory_list :
# Look specifically for MatrixPilot directory structure
target_directory = "../../../../MAVLink/include/"+mavlink_directory
source_directory = "C/include_v"+protocol+"/"+mavlink_directory
if os.access(source_directory, os.R_OK):
if os.access(target_directory, os.W_OK):
print "Preparing to copy over files..."
print "About to remove all files in",target_directory
print "OK to continue ?[Yes / No]: ",
line = sys.stdin.readline()
if line == "Yes\n" or line == "yes\n" \
or line == "Y\n" or line == "y\n":
print "passed"
remove_include_files(target_directory)
copy_include_files(source_directory,target_directory)
print "Finished copying over include files"
else :
print "Your answer is No. Exiting Program"
sys.exit()
else :
print "Cannot find " + target_directory + "in MatrixPilot"
sys.exit()
else:
print "Could not find files to copy at", source_directory
print "Exiting Program."
sys.exit()
files/mavlink_generator/generator/gen_all.py deleted 100755 → 0
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#!/usr/bin/env python
'''
Use mavgen.py on all available MAVLink XML definitions to generate
C and Python MAVLink routines for sending and parsing the protocol
Copyright Pete Hollands 2011
Released under GNU GPL version 3 or later
'''
import os, sys, glob, re
from mavgen import mavgen
# allow import from the parent directory, where mavutil.py is
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
class options:
""" a class to simulate the options of mavgen OptionsParser"""
def __init__(self, lang, output, wire_protocol):
self.language = lang
self.wire_protocol = wire_protocol
self.output = output
protocols = [ '0.9', '1.0' ]
for protocol in protocols :
xml_directory = './message_definitions/v'+protocol
print "xml_directory is", xml_directory
xml_file_names = glob.glob(xml_directory+'/*.xml')
for xml_file in xml_file_names:
print "xml file is ", xml_file
opts = options(lang = "C", output = "C/include_v"+protocol, \
wire_protocol=protocol)
args = []
args.append(xml_file)
mavgen(opts, args)
xml_file_base = os.path.basename(xml_file)
xml_file_base = re.sub("\.xml","", xml_file_base)
print "xml_file_base is", xml_file_base
opts = options(lang = "python", \
output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
wire_protocol=protocol)
mavgen(opts,args)
files/mavlink_generator/generator/gen_all.sh deleted 100755 → 0
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#!/bin/sh
for protocol in 0.9 1.0; do
for xml in message_definitions/v$protocol/*.xml; do
base=$(basename $xml .xml)
./mavgen.py --lang=C --wire-protocol=$protocol --output=C/include_v$protocol $xml || exit 1
./mavgen.py --lang=python --wire-protocol=$protocol --output=python/mavlink_${base}_v$protocol.py $xml || exit 1
done
done
cp -f python/mavlink_ardupilotmega_v0.9.py ../mavlink.py
cp -f python/mavlink_ardupilotmega_v1.0.py ../mavlinkv10.py
files/mavlink_generator/generator/mavgen.py deleted 100755 → 0
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#!/usr/bin/env python
'''
parse a MAVLink protocol XML file and generate a python implementation
Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
def mavgen(opts, args) :
"""Generate mavlink message formatters and parsers (C and Python ) using options
and args where args are a list of xml files. This function allows python
scripts under Windows to control mavgen using the same interface as
shell scripts under Unix"""
import sys, textwrap, os
import mavparse
import mavgen_python
import mavgen_c
xml = []
for fname in args:
print("Parsing %s" % fname)
xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
# expand includes
for x in xml[:]:
for i in x.include:
fname = os.path.join(os.path.dirname(x.filename), i)
print("Parsing %s" % fname)
xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
# include message lengths and CRCs too
for idx in range(0, 256):
if x.message_lengths[idx] == 0:
x.message_lengths[idx] = xml[-1].message_lengths[idx]
x.message_crcs[idx] = xml[-1].message_crcs[idx]
x.message_names[idx] = xml[-1].message_names[idx]
# work out max payload size across all includes
largest_payload = 0
for x in xml:
if x.largest_payload > largest_payload:
largest_payload = x.largest_payload
for x in xml:
x.largest_payload = largest_payload
if mavparse.check_duplicates(xml):
sys.exit(1)
print("Found %u MAVLink message types in %u XML files" % (
mavparse.total_msgs(xml), len(xml)))
if opts.language == 'python':
mavgen_python.generate(opts.output, xml)
elif opts.language == 'C':
mavgen_c.generate(opts.output, xml)
else:
print("Unsupported language %s" % opts.language)
if __name__=="__main__":
import sys, textwrap, os
from optparse import OptionParser
# allow import from the parent directory, where mavutil.py is
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
import mavparse
import mavgen_python
import mavgen_c
parser = OptionParser("%prog [options] <XML files>")
parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
(opts, args) = parser.parse_args()
if len(args) < 1:
parser.error("You must supply at least one MAVLink XML protocol definition")
mavgen(opts, args)
files/mavlink_generator/generator/mavgen_c.py deleted 100644 → 0
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files/mavlink_generator/generator/mavgen_python.py deleted 100644 → 0
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files/mavlink_generator/generator/mavparse.py deleted 100644 → 0
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files/mavlink_generator/generator/mavtemplate.py deleted 100644 → 0
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files/mavlink_generator/generator/mavtestgen.py deleted 100755 → 0
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mavlink/include/mavlink/v0.9/ardupilotmega/mavlink.h deleted 100644 → 0
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/** @file
* @brief MAVLink comm protocol built from ardupilotmega.xml
* @see http://pixhawk.ethz.ch/software/mavlink
*/
#ifndef MAVLINK_H
#define MAVLINK_H
#ifndef MAVLINK_STX
#define MAVLINK_STX 85
#endif
#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
#endif
#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS 0
#endif
#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA 0
#endif
#include "version.h"
#include "ardupilotmega.h"
#endif // MAVLINK_H
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