def set_dialect(dialect):
'''set the MAVLink dialect to work with.
For example, set_dialect("ardupilotmega")
'''
global mavlink, current_dialect
from generator import mavparse
if mavlink is None or mavlink.WIRE_PROTOCOL_VERSION == "1.0" or not 'MAVLINK09' in os.environ:
wire_protocol = mavparse.PROTOCOL_1_0
modname = "pymavlink.dialects.v10." + dialect
else:
wire_protocol = mavparse.PROTOCOL_0_9
modname = "pymavlink.dialects.v09." + dialect
try:
mod = __import__(modname)
except Exception:
# auto-generate the dialect module
from generator.mavgen import mavgen_python_dialect
mavgen_python_dialect(dialect, wire_protocol)
mod = __import__(modname)
components = modname.split('.')
for comp in components[1:]:
mod = getattr(mod, comp)
current_dialect = dialect
mavlink = mod
def set_dialect(dialect):
'''set the MAVLink dialect to work with.
For example, set_dialect("ardupilotmega")
'''
global mavlink, current_dialect
from generator import mavparse
if mavlink is None or mavlink.WIRE_PROTOCOL_VERSION == "1.0" or not 'MAVLINK09' in os.environ:
wire_protocol = mavparse.PROTOCOL_1_0
modname = "pymavlink.dialects.v10." + dialect
else:
wire_protocol = mavparse.PROTOCOL_0_9
modname = "pymavlink.dialects.v09." + dialect
try:
mod = __import__(modname)
except Exception:
# auto-generate the dialect module
from generator.mavgen import mavgen_python_dialect
mavgen_python_dialect(dialect, wire_protocol)
mod = __import__(modname)
components = modname.split('.')
for comp in components[1:]:
mod = getattr(mod, comp)
current_dialect = dialect
mavlink = mod
def generate_content():
# generate the file content...
from generator import mavgen, mavparse
# path to message_definitions directory
if os.getenv("MDEF",None) is not None:
mdef_paths = [os.getenv("MDEF")]
else:
mdef_paths = [os.path.join('..', 'message_definitions'),
os.path.join('mavlink', 'message_definitions'),
os.path.join('..', 'mavlink', 'message_definitions'),
os.path.join('message_definitions'),
]
for path in mdef_paths:
mdef_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), path)
if os.path.exists(mdef_path):
print("Using message definitions from %s" % mdef_path)
break
dialects_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'dialects')
v10_dialects = glob.glob(os.path.join(mdef_path, 'v1.0', '*.xml'))
# for now v2.0 uses same XML files as v1.0
v20_dialects = glob.glob(os.path.join(mdef_path, 'v1.0', '*.xml'))
should_generate = not "NOGEN" in os.environ
if should_generate:
if len(v10_dialects) == 0:
print("No XML message definitions found")
sys.exit(1)
for xml in v10_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v10'))
for xml in v20_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v20'))
for xml in v10_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT",'*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s for protocol 1.0" % xml)
if not mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_1_0):
print("Building failed %s for protocol 1.0" % xml)
sys.exit(1)
for xml in v20_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT",'*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s for protocol 2.0" % xml)
if not mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_2_0):
print("Building failed %s for protocol 2.0" % xml)
sys.exit(1)
v09_dialects
if not "NOGEN" in os.environ:
for xml in v09_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v09'))
for xml in v10_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v10'))
for xml in v09_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT",'*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s" % xml)
mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_0_9)
for xml in v10_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT",'*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s" % xml)
mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_1_0)
extensions = [] # Assume we might be unable to build native code
if platform.system() != 'Windows':
extensions = [ Extension('mavnative',
sources = ['mavnative/mavnative.c'],
include_dirs = [
'generator/C/include_v1.0',
v09_dialects
if not "NOGEN" in os.environ:
for xml in v09_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v09'))
for xml in v10_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v10'))
for xml in v09_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT", '*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s" % xml)
mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_0_9)
for xml in v10_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT", '*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s" % xml)
mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_1_0)
extensions = [] # Assume we might be unable to build native code
if platform.system() != 'Windows':
extensions = [
Extension('mavnative',
sources=['mavnative/mavnative.c'],
include_dirs=['generator/C/include_v1.0', 'mavnative'])
print("No XML message definitions found")
sys.exit(1)
if not "NOGEN" in os.environ:
for xml in v10_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v10'))
for xml in v20_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v20'))
for xml in v10_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT",'*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s for protocol 1.0" % xml)
if not mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_1_0):
print("Building failed %s for protocol 1.0" % xml)
sys.exit(1)
for xml in v20_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT",'*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s for protocol 2.0" % xml)
if not mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_2_0):
print("Building failed %s for protocol 2.0" % xml)
sys.exit(1)
extensions = [] # Assume we might be unable to build native code
if platform.system() != 'Windows':
print("No XML message definitions found")
sys.exit(1)
if not "NOGEN" in os.environ:
for xml in v10_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v10'))
for xml in v20_dialects:
shutil.copy(xml, os.path.join(dialects_path, 'v20'))
for xml in v10_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT", '*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s for protocol 1.0" % xml)
if not mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_1_0):
print("Building failed %s for protocol 1.0" % xml)
sys.exit(1)
for xml in v20_dialects:
dialect = os.path.basename(xml)[:-4]
wildcard = os.getenv("MAVLINK_DIALECT", '*')
if not fnmatch.fnmatch(dialect, wildcard):
continue
print("Building %s for protocol 2.0" % xml)
if not mavgen.mavgen_python_dialect(dialect, mavparse.PROTOCOL_2_0):
print("Building failed %s for protocol 2.0" % xml)
sys.exit(1)
extensions = [] # Assume we might be unable to build native code
if platform.system() != 'Windows':
