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)
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)
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)
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()
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)
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_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_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)
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)
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)
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)
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)
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)
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)
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)
