mavgen_c.py 18.5 KB
Newer Older
Lorenz Meier's avatar
Lorenz Meier committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581
#!/usr/bin/env python
'''
parse a MAVLink protocol XML file and generate a C implementation

Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''

import sys, textwrap, os, time
import mavparse, mavtemplate

t = mavtemplate.MAVTemplate()

def generate_version_h(directory, xml):
    '''generate version.h'''
    f = open(os.path.join(directory, "version.h"), mode='w')
    t.write(f,'''
/** @file
 *	@brief MAVLink comm protocol built from ${basename}.xml
 *	@see http://pixhawk.ethz.ch/software/mavlink
 */
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H

#define MAVLINK_BUILD_DATE "${parse_time}"
#define MAVLINK_WIRE_PROTOCOL_VERSION "${wire_protocol_version}"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE ${largest_payload}
 
#endif // MAVLINK_VERSION_H
''', xml)
    f.close()

def generate_mavlink_h(directory, xml):
    '''generate mavlink.h'''
    f = open(os.path.join(directory, "mavlink.h"), mode='w')
    t.write(f,'''
/** @file
 *	@brief MAVLink comm protocol built from ${basename}.xml
 *	@see http://pixhawk.ethz.ch/software/mavlink
 */
#ifndef MAVLINK_H
#define MAVLINK_H

#ifndef MAVLINK_STX
#define MAVLINK_STX ${protocol_marker}
#endif

#ifndef MAVLINK_ENDIAN
#define MAVLINK_ENDIAN ${mavlink_endian}
#endif

#ifndef MAVLINK_ALIGNED_FIELDS
#define MAVLINK_ALIGNED_FIELDS ${aligned_fields_define}
#endif

#ifndef MAVLINK_CRC_EXTRA
#define MAVLINK_CRC_EXTRA ${crc_extra_define}
#endif

#include "version.h"
#include "${basename}.h"

#endif // MAVLINK_H
''', xml)
    f.close()

def generate_main_h(directory, xml):
    '''generate main header per XML file'''
    f = open(os.path.join(directory, xml.basename + ".h"), mode='w')
    t.write(f, '''
/** @file
 *	@brief MAVLink comm protocol generated from ${basename}.xml
 *	@see http://qgroundcontrol.org/mavlink/
 */
#ifndef ${basename_upper}_H
#define ${basename_upper}_H

#ifdef __cplusplus
extern "C" {
#endif

// MESSAGE LENGTHS AND CRCS

#ifndef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS {${message_lengths_array}}
#endif

#ifndef MAVLINK_MESSAGE_CRCS
#define MAVLINK_MESSAGE_CRCS {${message_crcs_array}}
#endif

#ifndef MAVLINK_MESSAGE_INFO
#define MAVLINK_MESSAGE_INFO {${message_info_array}}
#endif

#include "../protocol.h"

#define MAVLINK_ENABLED_${basename_upper}

${{include_list:#include "../${base}/${base}.h"
}}

// MAVLINK VERSION

#ifndef MAVLINK_VERSION
#define MAVLINK_VERSION ${version}
#endif

#if (MAVLINK_VERSION == 0)
#undef MAVLINK_VERSION
#define MAVLINK_VERSION ${version}
#endif

// ENUM DEFINITIONS

${{enum:
/** @brief ${description} */
#ifndef HAVE_ENUM_${name}
#define HAVE_ENUM_${name}
enum ${name}
{
${{entry:	${name}=${value}, /* ${description} |${{param:${description}| }} */
}}
};
#endif
}}

// MESSAGE DEFINITIONS
${{message:#include "./mavlink_msg_${name_lower}.h"
}}

#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ${basename_upper}_H
''', xml)

    f.close()
             

def generate_message_h(directory, m):
    '''generate per-message header for a XML file'''
    f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w')
    t.write(f, '''
// MESSAGE ${name} PACKING

#define MAVLINK_MSG_ID_${name} ${id}

typedef struct __mavlink_${name_lower}_t
{
${{ordered_fields: ${type} ${name}${array_suffix}; ///< ${description}
}}
} mavlink_${name_lower}_t;

#define MAVLINK_MSG_ID_${name}_LEN ${wire_length}
#define MAVLINK_MSG_ID_${id}_LEN ${wire_length}

${{array_fields:#define MAVLINK_MSG_${msg_name}_FIELD_${name_upper}_LEN ${array_length}
}}

#define MAVLINK_MESSAGE_INFO_${name} { \\
	"${name}", \\
	${num_fields}, \\
	{ ${{ordered_fields: { "${name}", ${c_print_format}, MAVLINK_TYPE_${type_upper}, ${array_length}, ${wire_offset}, offsetof(mavlink_${name_lower}_t, ${name}) }, \\
        }} } \\
}


/**
 * @brief Pack a ${name_lower} message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
${{arg_fields: * @param ${name} ${description}
}}
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_${name_lower}_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
						      ${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[${wire_length}];
${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
}}
${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
}}
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
#else
	mavlink_${name_lower}_t packet;
${{scalar_fields:	packet.${name} = ${putname};
}}
${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
}}
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
#endif

	msg->msgid = MAVLINK_MSG_ID_${name};
	return mavlink_finalize_message(msg, system_id, component_id, ${wire_length}${crc_extra_arg});
}

/**
 * @brief Pack a ${name_lower} message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message was sent over
 * @param msg The MAVLink message to compress the data into
${{arg_fields: * @param ${name} ${description}
}}
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_${name_lower}_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
							   mavlink_message_t* msg,
						           ${{arg_fields:${array_const}${type} ${array_prefix}${name},}})
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[${wire_length}];
${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
}}
${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
}}
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
#else
	mavlink_${name_lower}_t packet;
${{scalar_fields:	packet.${name} = ${putname};
}}
${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
}}
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
#endif

	msg->msgid = MAVLINK_MSG_ID_${name};
	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, ${wire_length}${crc_extra_arg});
}

/**
 * @brief Encode a ${name_lower} struct into a message
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param ${name_lower} C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_${name_lower}_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_${name_lower}_t* ${name_lower})
{
	return mavlink_msg_${name_lower}_pack(system_id, component_id, msg,${{arg_fields: ${name_lower}->${name},}});
}

/**
 * @brief Send a ${name_lower} message
 * @param chan MAVLink channel to send the message
 *
${{arg_fields: * @param ${name} ${description}
}}
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_${name_lower}_send(mavlink_channel_t chan,${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
	char buf[${wire_length}];
${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
}}
${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
}}
	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, buf, ${wire_length}${crc_extra_arg});
#else
	mavlink_${name_lower}_t packet;
${{scalar_fields:	packet.${name} = ${putname};
}}
${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
}}
	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, ${wire_length}${crc_extra_arg});
#endif
}

#endif

// MESSAGE ${name} UNPACKING

${{fields:
/**
 * @brief Get field ${name} from ${name_lower} message
 *
 * @return ${description}
 */
static inline ${return_type} mavlink_msg_${name_lower}_get_${name}(const mavlink_message_t* msg${get_arg})
{
	return _MAV_RETURN_${type}${array_tag}(msg, ${array_return_arg} ${wire_offset});
}
}}

/**
 * @brief Decode a ${name_lower} message into a struct
 *
 * @param msg The message to decode
 * @param ${name_lower} C-struct to decode the message contents into
 */
static inline void mavlink_msg_${name_lower}_decode(const mavlink_message_t* msg, mavlink_${name_lower}_t* ${name_lower})
{
#if MAVLINK_NEED_BYTE_SWAP
${{ordered_fields:	${decode_left}mavlink_msg_${name_lower}_get_${name}(msg${decode_right});
}}
#else
	memcpy(${name_lower}, _MAV_PAYLOAD(msg), ${wire_length});
#endif
}
''', m)
    f.close()


def generate_testsuite_h(directory, xml):
    '''generate testsuite.h per XML file'''
    f = open(os.path.join(directory, "testsuite.h"), mode='w')
    t.write(f, '''
/** @file
 *	@brief MAVLink comm protocol testsuite generated from ${basename}.xml
 *	@see http://qgroundcontrol.org/mavlink/
 */
#ifndef ${basename_upper}_TESTSUITE_H
#define ${basename_upper}_TESTSUITE_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL
${{include_list:static void mavlink_test_${base}(uint8_t, uint8_t, mavlink_message_t *last_msg);
}}
static void mavlink_test_${basename}(uint8_t, uint8_t, mavlink_message_t *last_msg);

static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
${{include_list:	mavlink_test_${base}(system_id, component_id, last_msg);
}}
	mavlink_test_${basename}(system_id, component_id, last_msg);
}
#endif

${{include_list:#include "../${base}/testsuite.h"
}}

${{message:
static void mavlink_test_${name_lower}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
	mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
	mavlink_${name_lower}_t packet_in = {
		${{ordered_fields:${c_test_value},
	}}};
	mavlink_${name_lower}_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        ${{scalar_fields:	packet1.${name} = packet_in.${name};
        }}
        ${{array_fields:	mav_array_memcpy(packet1.${name}, packet_in.${name}, sizeof(${type})*${array_length});
        }}

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_${name_lower}_encode(system_id, component_id, &msg, &packet1);
	mavlink_msg_${name_lower}_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_${name_lower}_pack(system_id, component_id, &msg ${{arg_fields:, packet1.${name} }});
	mavlink_msg_${name_lower}_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_${name_lower}_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg ${{arg_fields:, packet1.${name} }});
	mavlink_msg_${name_lower}_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
	mavlink_msg_${name_lower}_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
	mavlink_msg_${name_lower}_send(MAVLINK_COMM_1 ${{arg_fields:, packet1.${name} }});
	mavlink_msg_${name_lower}_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
}}

static void mavlink_test_${basename}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
${{message:	mavlink_test_${name_lower}(system_id, component_id, last_msg);
}}
}

#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ${basename_upper}_TESTSUITE_H
''', xml)

    f.close()

def copy_fixed_headers(directory, xml):
    '''copy the fixed protocol headers to the target directory'''
    import shutil
    hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ]
    basepath = os.path.dirname(os.path.realpath(__file__))
    srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version)
    print("Copying fixed headers")
    for h in hlist:
        if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')):
           src = os.path.realpath(os.path.join(srcpath, h))
           dest = os.path.realpath(os.path.join(directory, h))
           if src == dest:
               continue
           shutil.copy(src, dest)
    # XXX This is a hack - to be removed
    if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
        h = 'pixhawk/pixhawk.pb.h'
        src = os.path.realpath(os.path.join(srcpath, h))
        dest = os.path.realpath(os.path.join(directory, h))
        shutil.copy(src, dest)
        
def copy_fixed_sources(directory, xml):
    # XXX This is a hack - to be removed
    import shutil
    basepath = os.path.dirname(os.path.realpath(__file__))
    srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version)
    if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
        print("Copying fixed sources")
        src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc'))
        dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version))
        destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version))
        try:
           os.makedirs(destdir)
        except:
           print("Not re-creating directory")
        shutil.copy(src, dest)
        print("Copied to"),
        print(dest)

class mav_include(object):
    def __init__(self, base):
        self.base = base

def generate_one(basename, xml):
    '''generate headers for one XML file'''

    directory = os.path.join(basename, xml.basename)

    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])