388 lines
14 KiB
Python
388 lines
14 KiB
Python
|
#!/usr/bin/env python
|
||
|
|
'''
|
||
|
|
parse a MAVLink protocol XML file and generate a C# implementation
|
||
|
|
|
||
|
|
Copyright Michael Oborne 2018
|
||
|
|
Released under GNU GPL version 3 or later
|
||
|
|
'''
|
||
|
|
|
||
|
|
import sys, textwrap, os, time, re
|
||
|
|
from . import mavparse, mavtemplate
|
||
|
|
|
||
|
|
t = mavtemplate.MAVTemplate()
|
||
|
|
|
||
|
|
enumtypes = {}
|
||
|
|
|
||
|
|
map = {
|
||
|
|
'float' : 'float',
|
||
|
|
'double' : 'double',
|
||
|
|
'char' : 'byte',
|
||
|
|
'int8_t' : 'sbyte',
|
||
|
|
'uint8_t' : 'byte',
|
||
|
|
'uint8_t_mavlink_version' : 'B',
|
||
|
|
'int16_t' : 'short',
|
||
|
|
'uint16_t' : 'ushort',
|
||
|
|
'int32_t' : 'int',
|
||
|
|
'uint32_t' : 'uint',
|
||
|
|
'int64_t' : 'long',
|
||
|
|
'uint64_t' : 'ulong',
|
||
|
|
}
|
||
|
|
|
||
|
|
def generate_message_header(f, xml_list):
|
||
|
|
dedupe = {}
|
||
|
|
for xml in xml_list:
|
||
|
|
print("generate_message_header " + xml.basename)
|
||
|
|
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.command_24bit:
|
||
|
|
xml.command_24bit_define = "1"
|
||
|
|
else:
|
||
|
|
xml.command_24bit_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))
|
||
|
|
|
||
|
|
if not hasattr(xml , 'message_names_enum'):
|
||
|
|
xml.message_names_enum = ''
|
||
|
|
|
||
|
|
# and message CRCs array
|
||
|
|
if not hasattr(xml , 'message_infos_array'):
|
||
|
|
xml.message_infos_array = ''
|
||
|
|
if xml.command_24bit:
|
||
|
|
# we sort with primary key msgid, secondary key dialect
|
||
|
|
for msgid in sorted(xml.message_names.keys()):
|
||
|
|
name = xml.message_names[msgid]
|
||
|
|
if name not in dedupe:
|
||
|
|
dedupe[name] = 1
|
||
|
|
xml_list[0].message_infos_array += ' new message_info(%u, "%s", %u, %u, %u, typeof( mavlink_%s_t )),\n' % (msgid,
|
||
|
|
name,
|
||
|
|
xml.message_crcs[msgid],
|
||
|
|
xml.message_min_lengths[msgid],
|
||
|
|
xml.message_lengths[msgid],
|
||
|
|
name.lower())
|
||
|
|
xml_list[0].message_names_enum += '\n %s = %u,' % (name, msgid)
|
||
|
|
else:
|
||
|
|
for msgid in range(256):
|
||
|
|
crc = xml.message_crcs.get(msgid, None)
|
||
|
|
name = xml.message_names.get(msgid, None)
|
||
|
|
length = xml.message_lengths.get(msgid, None)
|
||
|
|
if name is not None and name not in dedupe:
|
||
|
|
dedupe[name] = 1
|
||
|
|
xml_list[0].message_infos_array += ' new message_info(%u, "%s", %u, %u, %u, typeof( mavlink_%s_t )), // none 24 bit\n' % (msgid,
|
||
|
|
name,
|
||
|
|
crc,
|
||
|
|
length,
|
||
|
|
length,
|
||
|
|
name.lower())
|
||
|
|
xml_list[0].message_names_enum += '\n %s = %u,' % (name, msgid)
|
||
|
|
|
||
|
|
# add some extra field attributes for convenience with arrays
|
||
|
|
for m in xml.enum:
|
||
|
|
for fe in m.entry[:]:
|
||
|
|
fe.name = fe.name.replace("NAV_","")
|
||
|
|
|
||
|
|
t.write(f, '''
|
||
|
|
using System;
|
||
|
|
using System.Collections.Generic;
|
||
|
|
using System.Text;
|
||
|
|
using System.Runtime.InteropServices;
|
||
|
|
|
||
|
|
public partial class MAVLink
|
||
|
|
{
|
||
|
|
public const string MAVLINK_BUILD_DATE = "${parse_time}";
|
||
|
|
public const string MAVLINK_WIRE_PROTOCOL_VERSION = "${wire_protocol_version}";
|
||
|
|
public const int MAVLINK_MAX_PAYLOAD_LEN = ${largest_payload};
|
||
|
|
|
||
|
|
public const byte MAVLINK_CORE_HEADER_LEN = 9;///< Length of core header (of the comm. layer)
|
||
|
|
public const byte MAVLINK_CORE_HEADER_MAVLINK1_LEN = 5;///< Length of MAVLink1 core header (of the comm. layer)
|
||
|
|
public const byte MAVLINK_NUM_HEADER_BYTES = (MAVLINK_CORE_HEADER_LEN + 1);///< Length of all header bytes, including core and stx
|
||
|
|
public const byte MAVLINK_NUM_CHECKSUM_BYTES = 2;
|
||
|
|
public const byte MAVLINK_NUM_NON_PAYLOAD_BYTES = (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES);
|
||
|
|
|
||
|
|
public const int MAVLINK_MAX_PACKET_LEN = (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN);///< Maximum packet length
|
||
|
|
public const byte MAVLINK_SIGNATURE_BLOCK_LEN = 13;
|
||
|
|
|
||
|
|
public const int MAVLINK_LITTLE_ENDIAN = 1;
|
||
|
|
public const int MAVLINK_BIG_ENDIAN = 0;
|
||
|
|
|
||
|
|
public const byte MAVLINK_STX = ${protocol_marker};
|
||
|
|
|
||
|
|
public const byte MAVLINK_STX_MAVLINK1 = 0xFE;
|
||
|
|
|
||
|
|
public const byte MAVLINK_ENDIAN = ${mavlink_endian};
|
||
|
|
|
||
|
|
public const bool MAVLINK_ALIGNED_FIELDS = (${aligned_fields_define} == 1);
|
||
|
|
|
||
|
|
public const byte MAVLINK_CRC_EXTRA = ${crc_extra_define};
|
||
|
|
|
||
|
|
public const byte MAVLINK_COMMAND_24BIT = ${command_24bit_define};
|
||
|
|
|
||
|
|
public const bool MAVLINK_NEED_BYTE_SWAP = (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN);
|
||
|
|
|
||
|
|
// msgid, name, crc, minlength, length, type
|
||
|
|
public static message_info[] MAVLINK_MESSAGE_INFOS = new message_info[] {
|
||
|
|
${message_infos_array}
|
||
|
|
};
|
||
|
|
|
||
|
|
public const byte MAVLINK_VERSION = ${version};
|
||
|
|
|
||
|
|
public const byte MAVLINK_IFLAG_SIGNED= 0x01;
|
||
|
|
public const byte MAVLINK_IFLAG_MASK = 0x01;
|
||
|
|
|
||
|
|
public struct message_info
|
||
|
|
{
|
||
|
|
public uint msgid { get; internal set; }
|
||
|
|
public string name { get; internal set; }
|
||
|
|
public byte crc { get; internal set; }
|
||
|
|
public uint minlength { get; internal set; }
|
||
|
|
public uint length { get; internal set; }
|
||
|
|
public Type type { get; internal set; }
|
||
|
|
|
||
|
|
public message_info(uint msgid, string name, byte crc, uint minlength, uint length, Type type)
|
||
|
|
{
|
||
|
|
this.msgid = msgid;
|
||
|
|
this.name = name;
|
||
|
|
this.crc = crc;
|
||
|
|
this.minlength = minlength;
|
||
|
|
this.length = length;
|
||
|
|
this.type = type;
|
||
|
|
}
|
||
|
|
|
||
|
|
public override string ToString()
|
||
|
|
{
|
||
|
|
return String.Format("{0} - {1}",name,msgid);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public enum MAVLINK_MSG_ID
|
||
|
|
{
|
||
|
|
${message_names_enum}
|
||
|
|
}
|
||
|
|
|
||
|
|
''', xml_list[0])
|
||
|
|
|
||
|
|
|
||
|
|
def generate_message_enum_types(xml):
|
||
|
|
print("generate_message_enum_types: " + xml.filename)
|
||
|
|
for m in xml.message:
|
||
|
|
for fld in m.fields:
|
||
|
|
if fld.array_length == 0:
|
||
|
|
fld.type = map[fld.type]
|
||
|
|
if fld.enum != "" and fld.array_length == 0:
|
||
|
|
enumtypes[fld.enum] = fld.type
|
||
|
|
print(fld.enum + " is type " + fld.type)
|
||
|
|
|
||
|
|
def cleanText(text):
|
||
|
|
text = text.replace("\n"," ")
|
||
|
|
text = text.replace("\r"," ")
|
||
|
|
return text.replace("\"","'")
|
||
|
|
|
||
|
|
def generate_message_enums(f, xml):
|
||
|
|
print("generate_message_enums: " + xml.filename)
|
||
|
|
# add some extra field attributes for convenience with arrays
|
||
|
|
for m in xml.enum:
|
||
|
|
m.description = cleanText(m.description)
|
||
|
|
m.flags = ""
|
||
|
|
if m.description.lower().find("bitmask") >= 0 or m.name.lower().find("_flags") >= 0:
|
||
|
|
m.flags = "[Flags]\n\t"
|
||
|
|
m.enumtype = enumtypes.get(m.name,"int /*default*/")
|
||
|
|
for fe in m.entry:
|
||
|
|
if fe.name.endswith('ENUM_END'):
|
||
|
|
m.entry.remove(fe)
|
||
|
|
continue
|
||
|
|
fe.description = cleanText(fe.description)
|
||
|
|
fe.name = fe.name.replace(m.name + "_","")
|
||
|
|
firstchar = re.search('^([0-9])', fe.name )
|
||
|
|
if firstchar != None and firstchar.group():
|
||
|
|
fe.name = '_%s' % fe.name
|
||
|
|
if hasattr(fe, "deprecated") and fe.deprecated is True:
|
||
|
|
fe.name = '''[Obsolete]
|
||
|
|
%s''' % fe.name
|
||
|
|
for p in fe.param:
|
||
|
|
p.description = cleanText(p.description)
|
||
|
|
|
||
|
|
t.write(f, '''
|
||
|
|
${{enum:
|
||
|
|
///<summary> ${description} </summary>
|
||
|
|
${flags}public enum ${name}: ${enumtype}
|
||
|
|
{
|
||
|
|
${{entry:///<summary> ${description} |${{param:${description}| }} </summary>
|
||
|
|
[Description("${description}")]
|
||
|
|
${name}=${value},
|
||
|
|
}}
|
||
|
|
};
|
||
|
|
}}
|
||
|
|
''', xml)
|
||
|
|
|
||
|
|
|
||
|
|
def generate_message_footer(f, xml):
|
||
|
|
t.write(f, '''
|
||
|
|
}
|
||
|
|
''', xml)
|
||
|
|
f.close()
|
||
|
|
|
||
|
|
|
||
|
|
def generate_message_h(f, directory, m):
|
||
|
|
'''generate per-message header for a XML file'''
|
||
|
|
|
||
|
|
m.obsolete = ""
|
||
|
|
if hasattr(m, "deprecated") and m.deprecated is True:
|
||
|
|
m.obsolete = "[Obsolete]"
|
||
|
|
|
||
|
|
t.write(f, '''
|
||
|
|
${obsolete}
|
||
|
|
/// extensions_start ${extensions_start}
|
||
|
|
[StructLayout(LayoutKind.Sequential,Pack=1,Size=${wire_length})]
|
||
|
|
///<summary> ${description} </summary>
|
||
|
|
public struct mavlink_${name_lower}_t
|
||
|
|
{
|
||
|
|
public mavlink_${name_lower}_t(${{ordered_fields:${type} ${name},}})
|
||
|
|
{
|
||
|
|
${{ordered_fields: this.${name} = ${name};
|
||
|
|
}}
|
||
|
|
}
|
||
|
|
${{ordered_fields: /// <summary>${description} ${enum} ${units} ${display}</summary>
|
||
|
|
[Units("${units}")]
|
||
|
|
[Description("${description}")]
|
||
|
|
${array_prefix} ${type} ${name};
|
||
|
|
}}
|
||
|
|
};
|
||
|
|
|
||
|
|
''', m)
|
||
|
|
|
||
|
|
|
||
|
|
class mav_include(object):
|
||
|
|
def __init__(self, base):
|
||
|
|
self.base = base
|
||
|
|
|
||
|
|
def generate_one(fh, basename, xml):
|
||
|
|
'''generate headers for one XML file'''
|
||
|
|
|
||
|
|
directory = os.path.join(basename, xml.basename)
|
||
|
|
|
||
|
|
print("Generating CSharp implementation for %s" % xml.basename)
|
||
|
|
|
||
|
|
# add some extra field attributes for convenience with arrays
|
||
|
|
for m in xml.message:
|
||
|
|
m.msg_name = m.name
|
||
|
|
if xml.crc_extra:
|
||
|
|
m.crc_extra_arg = ", %s" % m.crc_extra
|
||
|
|
else:
|
||
|
|
m.crc_extra_arg = ""
|
||
|
|
m.msg_nameid = "MAVLINK_MSG_ID_${name} = ${id}"
|
||
|
|
m.description = cleanText(m.description)
|
||
|
|
if m.extensions_start is None:
|
||
|
|
m.extensions_start = 0;
|
||
|
|
for f in m.fields:
|
||
|
|
f.description = cleanText(f.description)
|
||
|
|
if f.array_length != 0:
|
||
|
|
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'
|
||
|
|
f.type = "%s%s" % (map[f.type], '[]')
|
||
|
|
else:
|
||
|
|
if f.enum != "":
|
||
|
|
f.type = "/*" +f.enum + "*/" + f.type;
|
||
|
|
#f.type = "/*" +f.type + "*/" + f.enum;
|
||
|
|
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 copy_fixed_headers(directory, xml):
|
||
|
|
'''copy the fixed protocol headers to the target directory'''
|
||
|
|
import shutil, filecmp
|
||
|
|
hlist = {
|
||
|
|
"1.0": [ 'MavlinkCRC.cs', 'MAVLinkMessage.cs', 'MavlinkParse.cs', 'MavlinkUtil.cs', 'MAVLink.csproj' ],
|
||
|
|
"2.0": [ 'MavlinkCRC.cs', 'MAVLinkMessage.cs', 'MavlinkParse.cs', 'MavlinkUtil.cs', 'MAVLink.csproj' ]
|
||
|
|
}
|
||
|
|
basepath = os.path.dirname(os.path.realpath(__file__))
|
||
|
|
srcpath = os.path.join(basepath, 'CS')
|
||
|
|
print("Copying fixed headers for protocol %s to %s" % (xml.wire_protocol_version, directory))
|
||
|
|
for h in hlist[xml.wire_protocol_version]:
|
||
|
|
src = os.path.realpath(os.path.join(srcpath, h))
|
||
|
|
dest = os.path.realpath(os.path.join(directory, h))
|
||
|
|
if src == dest or (os.path.exists(dest) and filecmp.cmp(src, dest)):
|
||
|
|
continue
|
||
|
|
shutil.copy(src, dest)
|
||
|
|
|
||
|
|
|
||
|
|
def generate(basename, xml_list):
|
||
|
|
'''generate complete MAVLink CSharp implemenation'''
|
||
|
|
print("generate for protocol %s to %s" % (xml_list[0].wire_protocol_version, basename))
|
||
|
|
|
||
|
|
directory = basename
|
||
|
|
|
||
|
|
if not os.path.exists(directory):
|
||
|
|
os.makedirs(directory)
|
||
|
|
|
||
|
|
f = open(os.path.join(directory, "mavlink.cs"), mode='w')
|
||
|
|
|
||
|
|
generate_message_header(f, xml_list)
|
||
|
|
|
||
|
|
for xml1 in xml_list:
|
||
|
|
generate_message_enum_types(xml1)
|
||
|
|
|
||
|
|
for xml2 in xml_list:
|
||
|
|
generate_message_enums(f, xml2)
|
||
|
|
|
||
|
|
for xml3 in xml_list:
|
||
|
|
generate_one(f, basename, xml3)
|
||
|
|
|
||
|
|
generate_message_footer(f,xml_list[0])
|
||
|
|
|
||
|
|
copy_fixed_headers(basename, xml_list[0])
|