def generate(output, xml):
'''generate complete PPRZLink C implemenation from a XML messages file'''
directory, name = os.path.split(output)
print("Generating C implementation in %s" % output)
if directory != '':
pprz_parse.mkdir_p(directory)
# add some extra field attributes for convenience with arrays
for m in xml.message:
offset = 2 # 2 bytes initial offset (sender id, message id)
for f in m.fields:
if f.array_type == 'VariableArray':
f.attrib_macro = 'nb_%s, %s' % (f.field_name, f.field_name)
f.attrib_fun = 'uint8_t nb_%s, %s *_%s' % (f.field_name, f.type, f.field_name)
f.attrib_fun_unused = 'uint8_t nb_%s __attribute__((unused)), %s *_%s __attribute__((unused))' % (f.field_name, f.type, f.field_name)
f.array_byte = 'trans->put_bytes(trans->impl, dev, _FD, DL_TYPE_ARRAY_LENGTH, DL_FORMAT_SCALAR, (void *) &nb_%s, 1);\n ' % f.field_name
f.read_type = f.type+'_array'
if (offset + 1) % min(4, int(f.type_length)) == 0: # data are aligned
f.read_array_byte = '#define DL_%s_%s_length(_payload) _PPRZ_VAL_uint8_t(_payload, %d)\n' % (m.msg_name, f.field_name, offset)
else: # rely on arch capability to read or not
f.read_array_byte = '#define DL_%s_%s_length(_payload) _PPRZ_VAL_len_aligned(_payload, %d)\n' % (m.msg_name, f.field_name, offset)
offset += 1
# variable arrays are last (for now)
f.offset = offset
f.dl_format = 'DL_FORMAT_ARRAY'
elif f.array_type == 'FixedArray':
f.attrib_macro = '%s' % f.field_name
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type+'_array'
if offset % min(4, int(f.type_length)) == 0: # data are aligned
f.read_array_byte = '#define DL_%s_%s_length(_payload) (%d)\n' % (m.msg_name, f.field_name, int(f.array_length))
else: # rely on arch capability to read or not
f.read_array_byte = '#define DL_%s_%s_length(_payload) _PPRZ_VAL_fixed_len_aligned(%d)\n' % (m.msg_name, f.field_name, int(f.array_length))
f.offset = offset
offset += int(f.length)
f.dl_format = 'DL_FORMAT_ARRAY'
else:
f.offset = offset
offset += int(f.length)
f.attrib_macro = '%s' % f.field_name
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type
f.read_array_byte = ''
f.dl_format = 'DL_FORMAT_SCALAR'
generate_messages_h(directory, name, xml)
copy_fixed_headers(directory, xml.protocol_version)
def generate(output, xml):
'''generate complete PPRZLink C implemenation from a XML messages file'''
directory, name = os.path.split(output)
print("Generating C implementation in %s" % output)
if directory != '':
pprz_parse.mkdir_p(directory)
# add some extra field attributes for convenience with arrays
for m in xml.message:
offset = 2 # 2 bytes initial offset (sender id, message id)
for f in m.fields:
if f.array_type == 'VariableArray':
f.attrib_macro = 'nb_%s, %s' % (f.field_name, f.field_name)
f.attrib_fun = 'uint8_t nb_%s, %s *_%s' % (f.field_name, f.type, f.field_name)
f.attrib_fun_unused = 'uint8_t nb_%s __attribute__((unused)), %s *_%s __attribute__((unused))' % (f.field_name, f.type, f.field_name)
f.array_byte = 'trans->put_bytes(trans->impl, dev, _FD, DL_TYPE_ARRAY_LENGTH, DL_FORMAT_SCALAR, (void *) &nb_%s, 1);\n ' % f.field_name
f.read_type = f.type+'_array'
if (offset + 1) % min(4, int(f.type_length)) == 0: # data are aligned
f.read_array_byte = '#define DL_%s_%s_length(_payload) _PPRZ_VAL_uint8_t(_payload, %d)\n' % (m.msg_name, f.field_name, offset)
else: # rely on arch capability to read or not
f.read_array_byte = '#define DL_%s_%s_length(_payload) _PPRZ_VAL_len_aligned(_payload, %d)\n' % (m.msg_name, f.field_name, offset)
offset += 1
# variable arrays are last (for now)
f.offset = offset
f.dl_format = 'DL_FORMAT_ARRAY'
elif f.array_type == 'FixedArray':
f.attrib_macro = '%s' % f.field_name
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type+'_array'
if offset % min(4, int(f.type_length)) == 0: # data are aligned
f.read_array_byte = '#define DL_%s_%s_length(_payload) (%d)\n' % (m.msg_name, f.field_name, int(f.array_length))
else: # rely on arch capability to read or not
f.read_array_byte = '#define DL_%s_%s_length(_payload) _PPRZ_VAL_fixed_len_aligned(%d)\n' % (m.msg_name, f.field_name, int(f.array_length))
f.offset = offset
offset += int(eval(f.length))
f.dl_format = 'DL_FORMAT_ARRAY'
else:
f.offset = offset
offset += int(f.length)
f.attrib_macro = '%s' % f.field_name
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type
f.read_array_byte = ''
f.dl_format = 'DL_FORMAT_SCALAR'
generate_messages_h(directory, name, xml)
copy_fixed_headers(directory, xml.protocol_version)
def generate(output, xml, msg_list):
'''
generate PPRZLINK C standalone implemenation
single header to send / read a limited set of messages
'''
# filter messages
msg_filtered = []
for m in xml.message:
if m.msg_name in msg_list.split(','):
msg_filtered.append(m)
xml.message = msg_filtered
print(xml)
directory, name = os.path.split(output)
print("Generating C standalone implementation in %s" % output)
if directory != '':
pprz_parse.mkdir_p(directory)
# add some extra field attributes for convenience with arrays
for m in xml.message:
offset = 4 # 4 bytes initial offset (sender id, receiver id, component and class id, message id)
for f in m.fields:
if f.array_type == 'VariableArray':
f.attrib_fun = 'uint8_t nb_%s, %s *_%s' % (
f.field_name, f.type, f.field_name)
f.attrib_fun_unused = 'uint8_t nb_%s __attribute__((unused)), %s *_%s __attribute__((unused))' % (
f.field_name, f.type, f.field_name)
f.array_byte = 'pprzlink_put_bytes(dev, (uint8_t *) &nb_%s, 1);\n ' % f.field_name
f.read_type = f.type + '_array'
f.return_type = f.type + ' *'
if (offset + 1) % min(4, int(
f.type_length)) == 0: # data are aligned
f.fun_read_array_byte = 'static inline uint8_t pprzlink_get_%s_%s_length(void* _payload) {\n return _PPRZ_VAL_uint8_t(_payload, %d);\n}\n' \
% (m.msg_name, f.field_name ,offset)
else: # rely on arch capability to read or not
f.fun_read_array_byte = 'static inline uint8_t pprzlink_get_%s_%s_length(void * _payload __attribute__ ((unused))) {\n return _PPRZ_VAL_len_aligned(_payload, %d);\n}\n' \
% (m.msg_name, f.field_name ,offset)
offset += 1
# variable arrays are last (for now)
f.offset = offset
elif f.array_type == 'FixedArray':
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (
f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type + '_array'
f.return_type = f.type + ' *'
if offset % min(4, int(
f.type_length)) == 0: # data are aligned
f.fun_read_array_byte = 'static inline uint8_t pprzlink_get_%s_%s_length(void* _payload __attribute__ ((unused))) {\n return %d;\n}\n' \
% (m.msg_name, f.field_name ,int(f.array_length))
else: # rely on arch capability to read or not
f.fun_read_array_byte = 'static inline uint8_t pprzlink_get_%s_%s_length(void* _payload __attribute__ ((unused))) {\n return _PPRZ_VAL_fixed_len_aligned(%d);\n}\n' \
% (m.msg_name, f.field_name ,int(f.array_length))
f.offset = offset
offset += int(eval(f.length))
else:
f.offset = offset
offset += int(f.length)
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (
f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type
f.return_type = f.type
f.fun_read_array_byte = ''
generate_main_h(directory, name, xml)
copy_fixed_headers(directory, xml.protocol_version)
def generate(output, xml):
'''generate complete MAVLink C implemenation'''
directory, name = os.path.split(output)
print("Generating C implementation in %s" % output)
if directory != '':
pprz_parse.mkdir_p(directory)
pprz_parse.mkdir_p(os.path.join(directory, xml.class_name))
# add some extra field attributes for convenience with arrays
for m in xml.message:
offset = 4 # 4 bytes initial offset (sender id, receiver id, component and class id, message id)
for f in m.fields:
if f.array_type == 'VariableArray':
f.attrib_macro = 'nb_%s, %s' % (f.field_name, f.field_name)
f.attrib_param = 'nb_%s,_%s' % (f.field_name, f.field_name)
f.attrib_fun = 'uint8_t nb_%s, %s *_%s' % (
f.field_name, f.type, f.field_name)
f.attrib_fun_unused = 'uint8_t nb_%s __attribute__((unused)), %s *_%s __attribute__((unused))' % (
f.field_name, f.type, f.field_name)
f.array_byte = 'msg->trans->put_bytes(msg, _FD, DL_TYPE_ARRAY_LENGTH, DL_FORMAT_SCALAR, (void *) &nb_%s, 1);\n ' % f.field_name
f.read_type = f.type + '_array'
f.return_type = f.type + ' *'
if (offset + 1) % min(4, int(
f.type_length)) == 0: # data are aligned
f.fun_read_array_byte = '/** Getter for length of array %s in message %s\n *\n * @return %s : %s\n */\n static inline uint8_t pprzlink_get_%s_%s_length(void* _payload) {\n return _PPRZ_VAL_uint8_t(_payload, %d);\n}\n' \
% (f.field_name,m.msg_name, f.field_name, f.description, m.msg_name, f.field_name ,offset)
else: # rely on arch capability to read or not
f.fun_read_array_byte = '/** Getter for length of array %s in message %s\n *\n * @return %s : %s\n */\n static inline uint8_t pprzlink_get_%s_%s_length(__attribute__ ((unused)) void* _payload) {\n return _PPRZ_VAL_len_aligned(_payload, %d);\n}\n' \
% (f.field_name,m.msg_name, f.field_name, f.description, m.msg_name, f.field_name ,offset)
f.read_array_byte = '#define DL_%s_%s_length(_payload) pprzlink_get_%s_%s_length(_payload)\n' % (
m.msg_name, f.field_name, m.msg_name, f.field_name)
offset += 1
# variable arrays are last (for now)
f.offset = offset
f.dl_format = 'DL_FORMAT_ARRAY'
elif f.array_type == 'FixedArray':
f.attrib_macro = '%s' % f.field_name
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_param = '_%s' % (f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (
f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type + '_array'
f.return_type = f.type + ' *'
if offset % min(4, int(
f.type_length)) == 0: # data are aligned
f.fun_read_array_byte = '/** Getter for length of array %s in message %s\n *\n * @return %s : %s\n */\n static inline uint8_t pprzlink_get_%s_%s_length(void* _payload __attribute__ ((unused))) {\n return %d;\n}\n' \
% (f.field_name,m.msg_name, f.field_name, f.description, m.msg_name, f.field_name ,int(f.array_length))
else: # rely on arch capability to read or not
f.fun_read_array_byte = '/** Getter for length of array %s in message %s\n *\n * @return %s : %s\n */\n static inline uint8_t pprzlink_get_%s_%s_length(void* _payload __attribute__ ((unused))) {\n return _PPRZ_VAL_fixed_len_aligned(%d);\n}\n' \
% (f.field_name,m.msg_name, f.field_name, f.description, m.msg_name, f.field_name ,int(f.array_length))
f.read_array_byte = '#define DL_%s_%s_length(_payload) pprzlink_get_%s_%s_length(_payload)\n' % (
m.msg_name, f.field_name, m.msg_name, f.field_name)
f.offset = offset
offset += int(eval(f.length))
f.dl_format = 'DL_FORMAT_ARRAY'
else:
f.offset = offset
offset += int(f.length)
f.attrib_macro = '%s' % f.field_name
f.attrib_fun = '%s *_%s' % (f.type, f.field_name)
f.attrib_param = '_%s' % (f.field_name)
f.attrib_fun_unused = '%s *_%s __attribute__((unused))' % (
f.type, f.field_name)
f.array_byte = ''
f.read_type = f.type
f.return_type = f.type
f.read_array_byte = ''
f.fun_read_array_byte = ''
f.dl_format = 'DL_FORMAT_SCALAR'
generate_one(directory, xml, m)
generate_main_h(directory, name, xml)
copy_fixed_headers(directory, xml.protocol_version)