Ejemplo n.º 1
0
def generate_shared(basename, xml_list):
    # Create a dictionary to hold all the values we want to use in the templates
    template_dict = {}
    template_dict['parse_time'] = xml_list[0].parse_time
    template_dict['message'] = []
    template_dict['message_definition_files'] = []

    print("Generating Objective-C implementation in directory %s" % basename)
    mavparse.mkdir_p(basename)

    for xml in xml_list:
        template_dict['message'].extend(xml.message)
        basename_camel_case = camel_case_from_underscores(xml.basename)
        template_dict['message_definition_files'].append(
            {'name_camel_case': basename_camel_case})
        if not template_dict.get('basename', None):
            template_dict['basename'] = xml.basename
        else:
            template_dict[
                'basename'] = template_dict['basename'] + ', ' + xml.basename

    # Sort messages by ID
    template_dict['message'] = sorted(template_dict['message'],
                                      key=lambda message: message.id)

    # Add name_camel_case to each message object
    for message in template_dict['message']:
        message.name_camel_case = camel_case_from_underscores(
            message.name_lower)

    generate_mavlink(basename, template_dict)
    generate_base_message(basename, template_dict)
Ejemplo n.º 2
0
def generate_shared(basename, xml_list):
    # Create a dictionary to hold all the values we want to use in the templates
    template_dict = {}
    template_dict['parse_time'] = xml_list[0].parse_time
    template_dict['message'] = []
    template_dict['message_definition_files'] = []

    print("Generating Objective-C implementation in directory %s" % basename)
    mavparse.mkdir_p(basename)

    for xml in xml_list:
        template_dict['message'].extend(xml.message)
        basename_camel_case = camel_case_from_underscores(xml.basename)
        template_dict['message_definition_files'].append({'name_camel_case': basename_camel_case})
        if not template_dict.get('basename', None):
            template_dict['basename'] = xml.basename
        else:
            template_dict['basename'] = template_dict['basename'] + ', ' + xml.basename

    # Sort messages by ID
    template_dict['message'] = sorted(template_dict['message'], key = lambda message : message.id)

    # Add name_camel_case to each message object
    for message in template_dict['message']:
        message.name_camel_case = camel_case_from_underscores(message.name_lower)

    generate_mavlink(basename, template_dict)
    generate_base_message(basename, template_dict)
Ejemplo n.º 3
0
def generate_messages(basename, xml_list):
    messages = []
    print("Generating SMACCMPilot.Mavlink.Messages modules in directory %s" %
          basename)
    mavparse.mkdir_p(basename)

    for xml in xml_list:
        process_xml(basename, xml);
        for m in xml.message:
            generate_message_ivory(basename, m)
            messages.append(m)

    generate_messages_hs(basename, messages)
Ejemplo n.º 4
0
def generate_enums(basename, xml):
    '''generate main header per XML file'''
    directory = os.path.join(basename, '''enums''')
    mavparse.mkdir_p(directory)
    for en in xml.enum:
        f = open(os.path.join(directory, en.name+".java"), mode='w')
        t.write(f, '''
/** ${description}
*/
package com.MAVLink.Messages.enums;

public class ${name} {
${{entry:	public static final int ${name} = ${value}; /* ${description} |${{param:${description}| }} */
}}
}
''', en)
        f.close()
Ejemplo n.º 5
0
def generate(xml_list, outputdirectory):
    mavparse.mkdir_p(outputdirectory)

    # I've really punted on doing dependencies right -
    # it would take some significant work.
    # We'll go back to it later.

    common = None
    for xml in xml_list:
        mavgen_process_xml.process_xml(xml)
        if xml.basename == "common":
            common = xml

    for xml in xml_list:
        if xml.basename == "common":
            r = generate_mavlink_thrift(xml, None)
        else:
            r = generate_mavlink_thrift(xml, common)
        writethrift(r,outputdirectory,xml.basename)
Ejemplo n.º 6
0
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)
Ejemplo n.º 7
0
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)
Ejemplo n.º 8
0
def generate_one(basename, xml):
    '''generate headers for one XML file'''

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

    print("Generating CSharp 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 += 'typeof( mavlink_%s_t ), ' % name.lower()
        else:
            #xml.message_info_array += '{"EMPTY",0,{}}, '
            xml.message_info_array += 'null, '
    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 = ''
                f.array_prefix = '[MarshalAs(UnmanagedType.ByValArray,SizeConst=%u)]\n public' % f.array_length
                f.array_arg = ', %u' % f.array_length
                f.array_return_arg = '%u, ' % (f.array_length)
                f.array_tag = ''
                f.array_const = 'const '
                f.decode_left = "%s.%s = " % (m.name_lower, f.name)
                f.decode_right = ''
                f.return_type = 'void'
                f.return_value = 'void'
                if f.type == 'char':
                    f.type = "string"
                    f.array_tag = 'System.Text.ASCIIEncoding.ASCII.GetString(msg,%u,%u); //' % (
                        f.wire_offset, f.array_length)
                    f.return_type = 'string'
                    f.c_test_value = ".ToCharArray()"
                elif f.type == 'uint8_t':
                    f.type = "byte[]"
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                elif f.type == 'int8_t':
                    f.type = "byte[]"
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                else:
                    test_strings = []
                    for v in f.test_value:
                        test_strings.append(str(v))
                    f.c_test_value = '{ %s }' % ', '.join(test_strings)
                    f.array_tag = '!!!%s' % f.type
                f.get_arg = ', %s %s' % (f.type, f.name)
            else:
                if f.type == 'char':
                    f.type = "byte"
                elif f.type == 'uint8_t':
                    f.type = "byte"
                elif f.type == 'int8_t':
                    f.type = "byte"
                elif f.type == 'uint16_t':
                    f.type = "UInt16"
                elif f.type == 'uint32_t':
                    f.type = "UInt32"
                elif f.type == 'int16_t':
                    f.type = "Int16"
                elif f.type == 'int32_t':
                    f.type = "Int32"
                elif f.type == 'uint64_t':
                    f.type = "UInt64"
                elif f.type == 'int64_t':
                    f.type = "Int64"
                elif f.type == 'float':
                    f.type = "Single"
                else:
                    f.c_test_value = f.test_value
                f.array_suffix = ''
                f.array_prefix = 'public '
                f.array_tag = 'BitConverter.To%s' % f.type
                if f.type == 'byte':
                    f.array_tag = 'getByte'
                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.c_test_value = f.test_value
                f.return_type = f.type

    # 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)
Ejemplo n.º 9
0
def generate_one(basename, xml):
    '''generate headers for one XML file'''

    directory = os.path.join(basename, '''ardupilotmega''')

    print("Generating Java 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]

    # 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
            f.getText = ''
            if f.array_length != 0:
                f.array_suffix = '[] = new %s[%u]' % (mavfmt(f),
                                                      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 = 'm.%s' % (f.name)

                f.unpackField = ''' for (int i = 0; i < %s.length; i++) {
			%s[i] = payload.get%s();
		}''' % (f.name, f.name, mavfmt(f).title())
                f.packField = ''' for (int i = 0; i < %s.length; i++) {
                        packet.payload.put%s(%s[i]);
            }''' % (f.name, mavfmt(f).title(), 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
                    f.getText = '''/**
     * Sets the buffer of this message with a string, adds the necessary padding
     */    
    public void set%s(String str) {
      int len = Math.min(str.length(), %d);
      for (int i=0; i<len; i++) {
        %s[i] = (byte) str.charAt(i);
      }
      for (int i=len; i<%d; i++) {			// padding for the rest of the buffer
        %s[i] = 0;
      }
    }
    
    /**
	 * Gets the message, formated as a string
	 */
	public String get%s() {
		String result = "";
		for (int i = 0; i < %d; i++) {
			if (%s[i] != 0)
				result = result + (char) %s[i];
			else
				break;
		}
		return result;
		
	}''' % (f.name.title(), f.array_length, f.name, f.array_length, f.name,
                    f.name.title(), f.array_length, f.name, f.name)
                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' % (f.name)
                f.decode_right = ''
                f.unpackField = '%s = payload.get%s();' % (f.name,
                                                           mavfmt(f).title())
                f.packField = 'packet.payload.put%s(%s);' % (mavfmt(f).title(),
                                                             f.name)

                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

    # fix types to java
    for m in xml.message:
        for f in m.ordered_fields:
            f.type = mavfmt(f)

    #generate_mavlink_h(directory, xml)
    #generate_version_h(directory, xml)

    for m in xml.message:
        generate_message_h(directory, m)
Ejemplo n.º 10
0
def generate_one(basename, xml):
    '''generate headers for one XML file'''

    directory = os.path.join(basename, '''ardupilotmega''')

    print("Generating Java 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]



    # 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
            f.getText = ''
            if f.array_length != 0:
                f.array_suffix = '[] = new %s[%u]' % (mavfmt(f),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 = 'm.%s' % (f.name)
                
                f.unpackField = ''' for (int i = 0; i < %s.length; i++) {
			%s[i] = payload.get%s();
		}''' % (f.name, f.name, mavfmt(f).title() )
                f.packField = ''' for (int i = 0; i < %s.length; i++) {
                        packet.payload.put%s(%s[i]);
            }''' % (f.name, mavfmt(f).title(),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
                    f.getText = '''/**
     * Sets the buffer of this message with a string, adds the necessary padding
     */    
    public void set%s(String str) {
      int len = Math.min(str.length(), %d);
      for (int i=0; i<len; i++) {
        %s[i] = (byte) str.charAt(i);
      }
      for (int i=len; i<%d; i++) {			// padding for the rest of the buffer
        %s[i] = 0;
      }
    }
    
    /**
	 * Gets the message, formated as a string
	 */
	public String get%s() {
		String result = "";
		for (int i = 0; i < %d; i++) {
			if (%s[i] != 0)
				result = result + (char) %s[i];
			else
				break;
		}
		return result;
		
	}''' % (f.name.title(),f.array_length,f.name,f.array_length,f.name,f.name.title(),f.array_length,f.name,f.name)
                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' % (f.name)
                f.decode_right = ''
                f.unpackField = '%s = payload.get%s();' % (f.name, mavfmt(f).title())
                f.packField = 'packet.payload.put%s(%s);' % (mavfmt(f).title(),f.name)                   
		

                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

    # fix types to java
    for m in xml.message:
        for f in m.ordered_fields:
                f.type = mavfmt(f)
            
    #generate_mavlink_h(directory, xml)
    #generate_version_h(directory, xml)
    
    for m in xml.message:
        generate_message_h(directory, m)
Ejemplo n.º 11
0
def generate_one(fh, basename, xml):
    '''generate headers for one XML file'''

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

    print("Generating CSharp implementation in directory %s" % directory)
    mavparse.mkdir_p(directory)

    # 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 = ""
        m.msg_nameid = "MAVLINK_MSG_ID_${name} = ${id}"
        for f in m.fields:
            f.description = f.description.replace("\n"," ")
            f.description = f.description.replace("\r","")
            if f.array_length != 0:
                f.array_suffix = ''
                f.array_prefix = '[MarshalAs(UnmanagedType.ByValArray,SizeConst=%u)]\n\t\tpublic' % f.array_length
                f.array_arg = ', %u' % f.array_length
                f.array_return_arg = '%u, ' % (f.array_length)
                f.array_tag = ''
                f.array_const = 'const '
                f.decode_left = "%s.%s = " % (m.name_lower, f.name)
                f.decode_right = ''
                f.return_type = 'void'
                f.return_value = 'void'
                if f.type == 'char': 
                    f.type = "byte[]"
                    f.array_tag = 'System.Text.ASCIIEncoding.ASCII.GetString(msg,%u,%u); //' % (f.wire_offset, f.array_length)
                    f.return_type = 'byte[]'
                    f.c_test_value = ".ToCharArray()";
                elif f.type == 'uint8_t':
                    f.type = "byte[]";
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                elif f.type == 'int8_t':
                    f.type = "byte[]";
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                elif f.type == 'int16_t':
                    f.type = "Int16[]";
                    f.array_tag = 'getBytes'
                    f.return_type = 'Int16[]'
                elif f.type == 'uint16_t':
                    f.type = "UInt16[]";
                    f.array_tag = 'getBytes'
                    f.return_type = 'UInt16[]'
                else:
                    test_strings = []
                    for v in f.test_value:
                        test_strings.append(str(v))
                    f.c_test_value = '{ %s }' % ', '.join(test_strings)
                    f.array_tag = '!!!%s' % f.type
                f.get_arg = ', %s %s' % (f.type, f.name)
            else:
                if f.type == 'char':
                    f.type = "byte";
                elif f.type == 'uint8_t':
                    f.type = "byte";
                elif f.type == 'int8_t':
                    f.type = "byte";
                elif f.type == 'int16_t': 
                    f.type = "Int16";
                elif f.type == 'uint16_t': 
                    f.type = "UInt16";
                elif f.type == 'uint32_t':
                    f.type = "UInt32";
                elif f.type == 'int16_t': 
                    f.type = "Int16";
                elif f.type == 'int32_t':
                    f.type = "Int32";
                elif f.type == 'uint64_t':
                    f.type = "UInt64";                  
                elif f.type == 'int64_t':     
                    f.type = "Int64";   
                elif f.type == 'float':     
                    f.type = "Single"; 					
                else:
                    f.c_test_value = f.test_value
                f.array_suffix = ''
                f.array_prefix = 'public '
                f.array_tag = 'BitConverter.To%s' % f.type
                if f.type == 'byte':
                    f.array_tag = 'getByte'
                if f.name == 'fixed':   # this is a keyword
                    f.name = '@fixed' 
                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.c_test_value = f.test_value
                f.return_type = f.type

    # 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
    
    for m in xml.message:
        generate_message_h(fh, directory, m)
Ejemplo n.º 12
0
def generate_message_definitions(basename, xml):
    '''generate files for one XML file'''

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

    print("Generating Objective-C implementation in directory %s" % directory)
    mavparse.mkdir_p(directory)

    xml.basename_camel_case = camel_case_from_underscores(xml.basename)

    # Add some extra field attributes for convenience
    for m in xml.message:
        m.basename = xml.basename
        m.parse_time = xml.parse_time
        m.name_camel_case = camel_case_from_underscores(m.name_lower)
        for f in m.fields:
            f.name_lower_camel_case = lower_camel_case_from_underscores(f.name);
            f.get_message = "[self %s]" % f.name_lower_camel_case
            f.return_method_implementation = ''
            f.array_prefix = ''
            f.array_return_arg = ''
            f.get_arg = ''
            f.get_arg_objc = ''
            if f.enum:
                f.return_type = f.enum
                f.arg_type = f.enum
            else:
                f.return_type = f.type
                f.arg_type = f.type
            if f.print_format is None:
                if f.array_length != 0:
                    f.print_format = "%@"
                elif f.type.startswith('uint64_t'):
                    f.print_format = "%lld"
                elif f.type.startswith('uint') or f.type.startswith('int'):
                    f.print_format = "%d"
                elif f.type.startswith('float'):
                    f.print_format = "%f"
                elif f.type.startswith('char'):
                    f.print_format = "%c"
                else:
                    print ("print_format unsupported for type %s" % f.type)
            if f.array_length != 0:
                f.get_message = '@"[array of %s[%d]]"' % (f.type, f.array_length)
                f.array_prefix = ' *'
                f.array_return_arg = '%s, %u, ' % (f.name, f.array_length)
                f.return_type = 'uint16_t'
                f.get_arg = ', %s' % (f.name)
                f.get_arg_objc = ':(%s *)%s' % (f.type, f.name)
                if f.type == 'char':
                    # Special handling for strings (assumes all char arrays are strings)
                    f.return_type = 'NSString *'
                    f.get_arg_objc = ''
                    f.get_message = "[self %s]" % f.name_lower_camel_case
                    f.return_method_implementation = \
"""char string[%(array_length)d];
  mavlink_msg_%(message_name_lower)s_get_%(name)s(&(self->_message), (char *)&string);
  return [[NSString alloc] initWithBytes:string length:%(array_length)d encoding:NSASCIIStringEncoding];""" % {'array_length': f.array_length, 'message_name_lower': m.name_lower, 'name': f.name}

            if not f.return_method_implementation:
                f.return_method_implementation = \
"""return mavlink_msg_%(message_name_lower)s_get_%(name)s(&(self->_message)%(get_arg)s);""" % {'message_name_lower': m.name_lower, 'name': f.name, 'get_arg': f.get_arg}

    for m in xml.message:
        m.arg_fields = []
        for f in m.fields:
            if not f.omit_arg:
                m.arg_fields.append(f)

    generate_message_definitions_h(directory, xml)
    for m in xml.message:
        generate_message(directory, m)
Ejemplo n.º 13
0
def generate_one(fh, basename, xml):
    '''generate headers for one XML file'''

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

    print("Generating CSharp implementation in directory %s" % directory)
    mavparse.mkdir_p(directory)

    # 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 = ""
        m.msg_nameid = "MAVLINK_MSG_ID_${name} = ${id}"
        for f in m.fields:
            f.description = f.description.replace("\n", " ")
            f.description = f.description.replace("\r", "")
            if f.array_length != 0:
                f.array_suffix = ''
                f.array_prefix = '[MarshalAs(UnmanagedType.ByValArray,SizeConst=%u)]\n\t\tpublic' % f.array_length
                f.array_arg = ', %u' % f.array_length
                f.array_return_arg = '%u, ' % (f.array_length)
                f.array_tag = ''
                f.array_const = 'const '
                f.decode_left = "%s.%s = " % (m.name_lower, f.name)
                f.decode_right = ''
                f.return_type = 'void'
                f.return_value = 'void'
                if f.type == 'char':
                    f.type = "byte[]"
                    f.array_tag = 'System.Text.ASCIIEncoding.ASCII.GetString(msg,%u,%u); //' % (
                        f.wire_offset, f.array_length)
                    f.return_type = 'byte[]'
                    f.c_test_value = ".ToCharArray()"
                elif f.type == 'uint8_t':
                    f.type = "byte[]"
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                elif f.type == 'int8_t':
                    f.type = "byte[]"
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                elif f.type == 'int16_t':
                    f.type = "Int16[]"
                    f.array_tag = 'getBytes'
                    f.return_type = 'Int16[]'
                elif f.type == 'uint16_t':
                    f.type = "UInt16[]"
                    f.array_tag = 'getBytes'
                    f.return_type = 'UInt16[]'
                else:
                    test_strings = []
                    for v in f.test_value:
                        test_strings.append(str(v))
                    f.c_test_value = '{ %s }' % ', '.join(test_strings)
                    f.array_tag = '!!!%s' % f.type
                f.get_arg = ', %s %s' % (f.type, f.name)
            else:
                if f.type == 'char':
                    f.type = "byte"
                elif f.type == 'uint8_t':
                    f.type = "byte"
                elif f.type == 'int8_t':
                    f.type = "byte"
                elif f.type == 'int16_t':
                    f.type = "Int16"
                elif f.type == 'uint16_t':
                    f.type = "UInt16"
                elif f.type == 'uint32_t':
                    f.type = "UInt32"
                elif f.type == 'int16_t':
                    f.type = "Int16"
                elif f.type == 'int32_t':
                    f.type = "Int32"
                elif f.type == 'uint64_t':
                    f.type = "UInt64"
                elif f.type == 'int64_t':
                    f.type = "Int64"
                elif f.type == 'float':
                    f.type = "Single"
                else:
                    f.c_test_value = f.test_value
                f.array_suffix = ''
                f.array_prefix = 'public '
                f.array_tag = 'BitConverter.To%s' % f.type
                if f.type == 'byte':
                    f.array_tag = 'getByte'
                if f.name == 'fixed':  # this is a keyword
                    f.name = '@fixed'
                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.c_test_value = f.test_value
                f.return_type = f.type

    # 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

    for m in xml.message:
        generate_message_h(fh, directory, m)
Ejemplo n.º 14
0
def generate_message_definitions(basename, xml):
    '''generate files for one XML file'''

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

    print("Generating Objective-C implementation in directory %s" % directory)
    mavparse.mkdir_p(directory)

    xml.basename_camel_case = camel_case_from_underscores(xml.basename)

    # Add some extra field attributes for convenience
    for m in xml.message:
        m.basename = xml.basename
        m.parse_time = xml.parse_time
        m.name_camel_case = camel_case_from_underscores(m.name_lower)
        for f in m.fields:
            f.name_lower_camel_case = lower_camel_case_from_underscores(f.name)
            f.get_message = "[self %s]" % f.name_lower_camel_case
            f.return_method_implementation = ''
            f.array_prefix = ''
            f.array_return_arg = ''
            f.get_arg = ''
            f.get_arg_objc = ''
            if f.enum:
                f.return_type = f.enum
                f.arg_type = f.enum
            else:
                f.return_type = f.type
                f.arg_type = f.type
            if f.print_format is None:
                if f.array_length != 0:
                    f.print_format = "%@"
                elif f.type.startswith('uint64_t'):
                    f.print_format = "%lld"
                elif f.type.startswith('uint') or f.type.startswith('int'):
                    f.print_format = "%d"
                elif f.type.startswith('float'):
                    f.print_format = "%f"
                elif f.type.startswith('char'):
                    f.print_format = "%c"
                else:
                    print "print_format unsupported for type %s" % f.type
            if f.array_length != 0:
                f.get_message = '@"[array of %s[%d]]"' % (f.type,
                                                          f.array_length)
                f.array_prefix = ' *'
                f.array_return_arg = '%s, %u, ' % (f.name, f.array_length)
                f.return_type = 'uint16_t'
                f.get_arg = ', %s' % (f.name)
                f.get_arg_objc = ':(%s *)%s' % (f.type, f.name)
                if f.type == 'char':
                    # Special handling for strings (assumes all char arrays are strings)
                    f.return_type = 'NSString *'
                    f.get_arg_objc = ''
                    f.get_message = "[self %s]" % f.name_lower_camel_case
                    f.return_method_implementation = \
"""char string[%(array_length)d];
  mavlink_msg_%(message_name_lower)s_get_%(name)s(&(self->_message), (char *)&string);
  return [[NSString alloc] initWithBytes:string length:%(array_length)d encoding:NSASCIIStringEncoding];""" % {'array_length': f.array_length, 'message_name_lower': m.name_lower, 'name': f.name}

            if not f.return_method_implementation:
                f.return_method_implementation = \
"""return mavlink_msg_%(message_name_lower)s_get_%(name)s(&(self->_message)%(get_arg)s);""" % {'message_name_lower': m.name_lower, 'name': f.name, 'get_arg': f.get_arg}

    for m in xml.message:
        m.arg_fields = []
        for f in m.fields:
            if not f.omit_arg:
                m.arg_fields.append(f)

    generate_message_definitions_h(directory, xml)
    for m in xml.message:
        generate_message(directory, m)
Ejemplo n.º 15
0
def generate_one(basename, xml):
    '''generate headers for one XML file'''

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

    print("Generating CSharp 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 += 'typeof( mavlink_%s_t ), ' % name.lower()
        else:
            #xml.message_info_array += '{"EMPTY",0,{}}, '
            xml.message_info_array += 'null, '
    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 = ''
                f.array_prefix = '[MarshalAs(UnmanagedType.ByValArray,SizeConst=%u)]\n public' % f.array_length
                f.array_arg = ', %u' % f.array_length
                f.array_return_arg = '%u, ' % (f.array_length)
                f.array_tag = ''
                f.array_const = 'const '
                f.decode_left = "%s.%s = " % (m.name_lower, f.name)
                f.decode_right = ''
                f.return_type = 'void'
                f.return_value = 'void'
                if f.type == 'char': 
                    f.type = "string"
                    f.array_tag = 'System.Text.ASCIIEncoding.ASCII.GetString(msg,%u,%u); //' % (f.wire_offset, f.array_length)
                    f.return_type = 'string'
                    f.c_test_value = ".ToCharArray()";
                elif f.type == 'uint8_t':
                    f.type = "byte[]";
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                elif f.type == 'int8_t':
                    f.type = "byte[]";
                    f.array_tag = 'getBytes'
                    f.return_type = 'byte[]'
                else:
                    test_strings = []
                    for v in f.test_value:
                        test_strings.append(str(v))
                    f.c_test_value = '{ %s }' % ', '.join(test_strings)
                    f.array_tag = '!!!%s' % f.type
                f.get_arg = ', %s %s' % (f.type, f.name)
            else:
                if f.type == 'char':
                    f.type = "byte";
                elif f.type == 'uint8_t':
                    f.type = "byte";
                elif f.type == 'int8_t':
                    f.type = "byte";
                elif f.type == 'uint16_t': 
                    f.type = "UInt16";
                elif f.type == 'uint32_t':
                    f.type = "UInt32";
                elif f.type == 'int16_t': 
                    f.type = "Int16";
                elif f.type == 'int32_t':
                    f.type = "Int32";
                elif f.type == 'uint64_t':
                    f.type = "UInt64";                  
                elif f.type == 'int64_t':     
                    f.type = "Int64";   
                elif f.type == 'float':     
                    f.type = "Single"; 					
                else:
                    f.c_test_value = f.test_value
                f.array_suffix = ''
                f.array_prefix = 'public '
                f.array_tag = 'BitConverter.To%s' % f.type
                if f.type == 'byte':
                    f.array_tag = 'getByte'
                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.c_test_value = f.test_value
                f.return_type = f.type

    # 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)