mavgen.py

#!/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)