373 lines
16 KiB
Python
373 lines
16 KiB
Python
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#!/usr/bin/env python
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'''parse a MAVLink protocol XML file and generate a python implementation
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Copyright Andrew Tridgell 2011
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Released under GNU GPL version 3 or later
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General process:
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- each filename passed in:
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- may be validated, based on --validate
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- is parsed using mavparse.MAVXML into an xml document and appended to a list, "xml"
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- expand_includes is called to do a breadth-first search of the xml
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documents structure inferred by the <include> tags in each
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document, expanding the xml list from its base (just the ones on
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the commandline) to the entire structure
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- update_includes works on the xml list created by expand_includes
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- any xml document with no includes is added to the "done" list (there must be at least one of these)
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- it repeatedly calls update_one_iteration
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- each iteration is intended to include the crcs and other information from includes into the xml document doing the include
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'''
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from __future__ import print_function
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import sys
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if sys.version_info <= (3,10):
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from future import standard_library
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standard_library.install_aliases()
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from builtins import object
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import os
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import re
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import sys
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from . import mavparse
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# XSD schema file
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schemaFile = os.path.join(os.path.dirname(os.path.realpath(__file__)), "mavschema.xsd")
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# Set defaults for generating MAVLink code
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DEFAULT_WIRE_PROTOCOL = mavparse.PROTOCOL_1_0
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DEFAULT_LANGUAGE = 'Python'
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DEFAULT_ERROR_LIMIT = 200
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DEFAULT_VALIDATE = True
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DEFAULT_STRICT_UNITS = False
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MAXIMUM_INCLUDE_FILE_NESTING = 5
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# List the supported languages. This is done globally because it's used by the GUI wrapper too
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# Right now, 'JavaScript' ~= 'JavaScript_Stable', in the future it may be made equivalent to 'JavaScript_NextGen'
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supportedLanguages = ["Ada", "C", "CS", "JavaScript", "JavaScript_Stable","JavaScript_NextGen", "TypeScript", "Python2", "Python3", "Python", "Lua", "WLua", "ObjC", "Swift", "Java", "C++11"]
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def mavgen(opts, args):
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"""Generate mavlink message formatters and parsers (C and Python ) using options
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and args where args are a list of xml files. This function allows python
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scripts under Windows to control mavgen using the same interface as
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shell scripts under Unix"""
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xml = []
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all_files = set()
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# Enable validation by default, disabling it if explicitly requested
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if opts.validate:
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try:
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from lxml import etree
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with open(schemaFile, 'r') as f:
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xmlschema_root = etree.parse(f)
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if not opts.strict_units:
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# replace the strict "SI_Unit" list of known unit strings with a more generic "xs:string" type
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for elem in xmlschema_root.iterfind('xs:attribute[@name="units"]', xmlschema_root.getroot().nsmap):
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elem.set("type", "xs:string")
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xmlschema = etree.XMLSchema(xmlschema_root)
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except ImportError:
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print("WARNING: Failed to import lxml module etree. Are lxml, libxml2 and libxslt installed? XML validation will not be performed", file=sys.stderr)
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opts.validate = False
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except etree.XMLSyntaxError as err:
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print("WARNING: XML Syntax Errors detected in %s XML schema file. XML validation will not be performed" % schemaFile, file=sys.stderr)
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print(str(err.error_log), file=sys.stderr)
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opts.validate = False
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except Exception as e:
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print("Exception:", e)
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print("WARNING: Unable to load XML validator libraries. XML validation will not be performed", file=sys.stderr)
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opts.validate = False
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def expand_includes():
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"""Expand includes. Root files already parsed objects in the xml list."""
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def expand_oneiteration():
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'''takes the list of xml files to process and finds includes which
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have not already been turned into xml documents added to
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xml files to process, turns them into xml documents and
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adds them to the xml files list. Returns false if no more
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documents were added.
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'''
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includeadded = False
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for x in xml[:]:
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for i in x.include:
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fname = os.path.abspath(os.path.join(os.path.dirname(x.filename), i))
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# Only parse new include files
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if fname in all_files:
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continue
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# Validate XML file with XSD file if possible.
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if opts.validate:
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print("Validating %s" % fname)
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if not mavgen_validate(fname):
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print("ERROR Validation of %s failed" % fname)
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exit(1)
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else:
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print("Validation skipped for %s." % fname)
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# Parsing
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print("Parsing %s" % fname)
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xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
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all_files.add(fname)
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includeadded = True
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return includeadded
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for i in range(MAXIMUM_INCLUDE_FILE_NESTING):
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if not expand_oneiteration():
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break
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if mavparse.check_duplicates(xml):
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return False
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if opts.validate and mavparse.check_missing_enum(xml):
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return False
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return True
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def update_includes():
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"""Update dialects with crcs etc of included files. Included files
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were already found and parsed into xml list in
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expand_includes().
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"""
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# 1: Mark files that don't have includes as "done"
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done = []
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for x in xml:
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#print("\n",x)
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if len(x.include) == 0:
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done.append(x)
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#print("\nFile with no includes found (ENDPOINT): %s" % x.filename )
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if len(done) == 0:
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print("\nERROR in includes tree, no base found!")
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exit(1)
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#print("\n",done)
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# 2: Update all 'not done' files for which all includes have
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# been done. Returns True if any updates were made
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def update_oneiteration():
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initial_done_length = len(done)
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for x in xml:
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#print("\nCHECK %s" % x.filename)
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if x in done:
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#print(" already done, skip")
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continue
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#check if all its includes were already done
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all_includes_done = True
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for i in x.include:
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fname = os.path.abspath(os.path.join(os.path.dirname(x.filename), i))
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if fname not in [d.filename for d in done]:
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all_includes_done = False
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break
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if not all_includes_done:
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#print(" not all includes ready, skip")
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continue
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#Found file where all includes are done
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done.append(x)
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#print(" all includes ready, add" )
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#now update it with the facts from all it's includes
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for i in x.include:
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fname = os.path.abspath(os.path.join(os.path.dirname(x.filename), i))
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#print(" include file %s" % i )
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#Find the corresponding x
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for ix in xml:
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if ix.filename != fname:
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continue
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#print(" add %s" % ix.filename )
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x.message_crcs.update(ix.message_crcs)
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x.message_lengths.update(ix.message_lengths)
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x.message_min_lengths.update(ix.message_min_lengths)
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x.message_flags.update(ix.message_flags)
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x.message_target_system_ofs.update(ix.message_target_system_ofs)
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x.message_target_component_ofs.update(ix.message_target_component_ofs)
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x.message_names.update(ix.message_names)
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x.largest_payload = max(x.largest_payload, ix.largest_payload)
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break
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if len(done) == len(xml):
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return False # finished
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if len(done) == initial_done_length:
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# we've made no progress
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print("ERROR include tree can't be resolved, no base found!")
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exit(1)
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return True
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for i in range(MAXIMUM_INCLUDE_FILE_NESTING):
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#print("\nITERATION "+str(i))
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if not update_oneiteration():
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break
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def mavgen_validate(xmlfile):
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"""Uses lxml to validate an XML file. We define mavgen_validate
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here because it relies on the XML libs that were loaded in mavgen(), so it can't be called standalone"""
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xmlvalid = True
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try:
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with open(xmlfile, 'r') as f:
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xmldocument = etree.parse(f)
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xmlschema.assertValid(xmldocument)
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forbidden_names_re = re.compile("^(break$|case$|class$|catch$|const$|continue$|debugger$|default$|delete$|do$|else$|\
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export$|extends$|finally$|for$|function$|if$|import$|in$|instanceof$|let$|new$|\
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return$|super$|switch$|this$|throw$|try$|typeof$|var$|void$|while$|with$|yield$|\
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enum$|await$|implements$|package$|protected$|static$|interface$|private$|public$|\
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abstract$|boolean$|byte$|char$|double$|final$|float$|goto$|int$|long$|native$|\
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short$|synchronized$|transient$|volatile$).*", re.IGNORECASE)
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for element in xmldocument.iter('enum', 'entry', 'message', 'field'):
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if forbidden_names_re.search(element.get('name')):
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print("Validation error:", file=sys.stderr)
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print("Element : %s at line : %s contains forbidden word" % (element.tag, element.sourceline), file=sys.stderr)
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xmlvalid = False
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return xmlvalid
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except etree.XMLSchemaError:
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return False
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except etree.DocumentInvalid as err:
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sys.exit('ERROR: %s' % str(err.error_log))
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return True
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# Process all XML files, validating them as necessary.
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for fname in args:
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# only add each dialect file argument once.
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if fname in all_files:
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continue
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all_files.add(fname)
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if opts.validate:
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print("Validating %s" % fname)
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if not mavgen_validate(fname):
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return False
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else:
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print("Validation skipped for %s." % fname)
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print("Parsing %s" % fname)
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xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
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# expand includes
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if not expand_includes():
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return False
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update_includes()
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print("Found %u MAVLink message types in %u XML files" % (
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mavparse.total_msgs(xml), len(xml)))
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# convert language option to lowercase and validate
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opts.language = opts.language.lower()
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if opts.language == 'python':
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# We support generating type annotations starting with
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# python3.6. Type annotations were introduced in 3.5, but
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# useful things like variable annotations are only supported
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# starting with 3.6.
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from . import mavgen_python
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mavgen_python.generate(opts.output, xml, enable_type_annotations=sys.version_info >= (3, 6))
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elif opts.language == 'python2':
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from . import mavgen_python
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mavgen_python.generate(opts.output, xml, enable_type_annotations=False)
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elif opts.language == 'python3':
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from . import mavgen_python
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mavgen_python.generate(opts.output, xml, enable_type_annotations=True)
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elif opts.language == 'c':
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from . import mavgen_c
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mavgen_c.generate(opts.output, xml)
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elif opts.language == 'lua':
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from . import mavgen_lua
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mavgen_lua.generate(opts.output, xml)
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elif opts.language == 'wlua':
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from . import mavgen_wlua
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mavgen_wlua.generate(opts.output, xml)
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elif opts.language == 'cs':
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from . import mavgen_cs
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mavgen_cs.generate(opts.output, xml)
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elif (opts.language == 'javascript' ) or ( opts.language == 'javascript_stable' ):
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from . import mavgen_javascript_stable as mavgen_javascript
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mavgen_javascript.generate(opts.output, xml)
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elif opts.language == 'javascript_nextgen':
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from . import mavgen_javascript
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mavgen_javascript.generate(opts.output, xml)
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elif opts.language == 'typescript':
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from . import mavgen_typescript
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mavgen_typescript.generate(opts.output, xml)
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elif opts.language == 'objc':
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from . import mavgen_objc
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mavgen_objc.generate(opts.output, xml)
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elif opts.language == 'swift':
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from . import mavgen_swift
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mavgen_swift.generate(opts.output, xml)
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elif opts.language == 'java':
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from . import mavgen_java
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mavgen_java.generate(opts.output, xml)
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elif opts.language == 'c++11':
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from . import mavgen_cpp11
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mavgen_cpp11.generate(opts.output, xml)
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elif opts.language == 'ada':
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if opts.wire_protocol != mavparse.PROTOCOL_1_0:
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raise DeprecationWarning("Error! Mavgen_Ada only supports protocol version 1.0")
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else:
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from . import mavgen_ada
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mavgen_ada.generate(opts.output, xml)
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else:
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print("Unsupported language %s" % opts.language)
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return True
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# build all the dialects in the dialects subpackage
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class Opts(object):
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def __init__(self, output, wire_protocol=DEFAULT_WIRE_PROTOCOL, language=DEFAULT_LANGUAGE, validate=DEFAULT_VALIDATE, error_limit=DEFAULT_ERROR_LIMIT, strict_units=DEFAULT_STRICT_UNITS):
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self.wire_protocol = wire_protocol
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self.error_limit = error_limit
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self.language = language
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self.output = output
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self.validate = validate
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self.strict_units = strict_units
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def mavgen_python_dialect(dialect, wire_protocol, with_type_annotations):
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'''generate the python code on the fly for a MAVLink dialect'''
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dialects = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'dialects')
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mdef = os.getenv("MDEF", default=os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', 'message_definitions'))
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legacy_path = "python2" if not with_type_annotations else ""
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if wire_protocol == mavparse.PROTOCOL_0_9:
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py = os.path.join(dialects, 'v09', legacy_path, dialect + '.py')
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xml = os.path.join(dialects, 'v09', dialect + '.xml')
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if not os.path.exists(xml):
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xml = os.path.join(mdef, 'v0.9', dialect + '.xml')
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elif wire_protocol == mavparse.PROTOCOL_1_0:
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py = os.path.join(dialects, 'v10', legacy_path, dialect + '.py')
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xml = os.path.join(dialects, 'v10', dialect + '.xml')
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if not os.path.exists(xml):
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xml = os.path.join(mdef, 'v1.0', dialect + '.xml')
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else:
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py = os.path.join(dialects, 'v20', legacy_path, dialect + '.py')
|
||
|
|
xml = os.path.join(dialects, 'v20', dialect + '.xml')
|
||
|
|
if not os.path.exists(xml):
|
||
|
|
xml = os.path.join(mdef, 'v1.0', dialect + '.xml')
|
||
|
|
|
||
|
|
if with_type_annotations:
|
||
|
|
opts = Opts(py, wire_protocol, language="Python3")
|
||
|
|
else:
|
||
|
|
opts = Opts(py, wire_protocol, language='Python2')
|
||
|
|
|
||
|
|
# Python 2 to 3 compatibility
|
||
|
|
try:
|
||
|
|
import StringIO as io
|
||
|
|
except ImportError:
|
||
|
|
import io
|
||
|
|
|
||
|
|
# throw away stdout while generating
|
||
|
|
stdout_saved = sys.stdout
|
||
|
|
sys.stdout = io.StringIO()
|
||
|
|
try:
|
||
|
|
xml = os.path.relpath(xml)
|
||
|
|
if not mavgen(opts, [xml]):
|
||
|
|
sys.stdout.seek(0)
|
||
|
|
stdout_saved.write(sys.stdout.getvalue())
|
||
|
|
sys.stdout = stdout_saved
|
||
|
|
return False
|
||
|
|
except Exception:
|
||
|
|
sys.stdout = stdout_saved
|
||
|
|
raise
|
||
|
|
sys.stdout = stdout_saved
|
||
|
|
return True
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
raise DeprecationWarning("Executable was moved to pymavlink.tools.mavgen")
|