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"""
xml = []
for fname in args:
if performValidation:
print("Validating %s" % fname)
mavgen_validate(fname, schemaFile, opts.error_limit)
else:
print("Validation skipped for %s." % fname)
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)
## Validate XML file with XSD file if possible.
if performValidation:
print("Validating %s" % fname)
mavgen_validate(fname, schemaFile, opts.error_limit)
else:
print("Validation skipped for %s." % fname)
## Parsing
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)))
# Convert language option to lowercase and validate
opts.language = opts.language.lower()
if opts.language == 'python':
import mavgen_python
mavgen_python.generate(opts.output, xml)
elif opts.language == 'c':
try:
import mavgen_c
except Exception:
from pymavlink.generator import mavgen_c
mavgen_c.generate(opts.output, xml)
elif opts.language == 'wlua':
try:
import mavgen_wlua
except Exception:
from pymavlink.generator import mavgen_wlua
mavgen_wlua.generate(opts.output, xml)
elif opts.language == 'cs':
try:
import mavgen_cs
except Exception:
from pymavlink.generator import mavgen_cs
mavgen_cs.generate(opts.output, xml)
elif opts.language == 'javascript':
try:
import mavgen_javascript
except Exception:
from pymavlink.generator import mavgen_javascript
mavgen_javascript.generate(opts.output, xml)
elif opts.language == 'objc':
try:
import mavgen_objc
except Exception:
from pymavlink.generator import mavgen_objc
mavgen_objc.generate(opts.output, xml)
elif opts.language == 'go':
try:
import mavgen_go
except Exception:
from pymavlink.generator import mavgen_go
mavgen_go.generate(opts.output, xml)
else:
print("Unsupported language %s" % opts.language)
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"""
xml = []
for fname in args:
if performValidation:
print("Validating %s" % fname)
mavgen_validate(fname, schemaFile, opts.error_limit);
else:
print("Validation skipped for %s." % fname)
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)
## Validate XML file with XSD file if possible.
if performValidation:
print("Validating %s" % fname)
mavgen_validate(fname, schemaFile, opts.error_limit);
else:
print("Validation skipped for %s." % fname)
## Parsing
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)))
# Convert language option to lowercase and validate
opts.language = opts.language.lower()
if opts.language == 'python':
import mavgen_python
mavgen_python.generate(opts.output, xml)
elif opts.language == 'c':
try:
import mavgen_c
except Exception:
from pymavlink.generator import mavgen_c
mavgen_c.generate(opts.output, xml)
elif opts.language == 'wlua':
try:
import mavgen_wlua
except Exception:
from pymavlink.generator import mavgen_wlua
mavgen_wlua.generate(opts.output, xml)
elif opts.language == 'cs':
try:
import mavgen_cs
except Exception:
from pymavlink.generator import mavgen_cs
mavgen_cs.generate(opts.output, xml)
elif opts.language == 'javascript':
try:
import mavgen_javascript
except Exception:
from pymavlink.generator import mavgen_javascript
mavgen_javascript.generate(opts.output, xml)
elif opts.language == 'objc':
try:
import mavgen_objc
except Exception:
from pymavlink.generator import mavgen_objc
mavgen_objc.generate(opts.output, xml)
elif opts.language == 'go':
try:
import mavgen_go
except Exception:
from pymavlink.generator import mavgen_go
mavgen_go.generate(opts.output, xml)
else:
print("Unsupported language %s" % opts.language)
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"""
xml = []
# Enable validation by default, disabling it if explicitly requested
if opts.validate:
try:
from lib.genxmlif import GenXmlIfError
from lib.minixsv import pyxsval
except Exception:
print("WARNING: Unable to load XML validator libraries. XML validation will not be performed")
opts.validate = False
def mavgen_validate(fname, schema, errorLimitNumber) :
"""Uses minixsv to validate an XML file with a given XSD schema file. We define mavgen_validate
here because it relies on the XML libs that were loaded in mavgen(), so it can't be called standalone"""
# use default values of minixsv, location of the schema file must be specified in the XML file
domTreeWrapper = pyxsval.parseAndValidate(fname, xsdFile=schema, errorLimit=errorLimitNumber)
# Process all XML files, validating them as necessary.
for fname in args:
if opts.validate:
print("Validating %s" % fname)
mavgen_validate(fname, schemaFile, opts.error_limit);
else:
print("Validation skipped for %s." % fname)
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)
## Validate XML file with XSD file if possible.
if opts.validate:
print("Validating %s" % fname)
mavgen_validate(fname, schemaFile, opts.error_limit);
else:
print("Validation skipped for %s." % fname)
## Parsing
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)))
# Convert language option to lowercase and validate
opts.language = opts.language.lower()
if opts.language == 'python':
import mavgen_python
mavgen_python.generate(opts.output, xml)
elif opts.language == 'c':
try:
import mavgen_c
except Exception:
from pymavlink.generator import mavgen_c
mavgen_c.generate(opts.output, xml)
elif opts.language == 'wlua':
try:
import mavgen_wlua
except Exception:
from pymavlink.generator import mavgen_wlua
mavgen_wlua.generate(opts.output, xml)
elif opts.language == 'cs':
try:
import mavgen_cs
except Exception:
from pymavlink.generator import mavgen_cs
mavgen_cs.generate(opts.output, xml)
elif opts.language == 'javascript':
try:
import mavgen_javascript
except Exception:
from pymavlink.generator import mavgen_javascript
mavgen_javascript.generate(opts.output, xml)
elif opts.language == 'objc':
try:
import mavgen_objc
except Exception:
from pymavlink.generator import mavgen_objc
mavgen_objc.generate(opts.output, xml)
else:
print("Unsupported language %s" % opts.language)