public static MavLink Parse(string xmlFile)
{
using (var fs = new FileStream(xmlFile, FileMode.Open, FileAccess.Read))
{
XmlSerializer s = new XmlSerializer(typeof(MavLink));
MavLink mavlink = (MavLink)s.Deserialize(fs);
// unfortunately the <extensions/> sections in each <message> is not something the XmlSerializer can handle,
// so we have to post-process the MavLink tree with this additional information.
fs.Seek(0, SeekOrigin.Begin);
XDocument doc = XDocument.Load(fs);
foreach (XElement message in doc.Root.Element("messages").Elements("message"))
{
string id = (string)message.Attribute("id");
MavMessage msg = (from m in mavlink.messages where m.id == id select m).FirstOrDefault();
int count = 0;
foreach (XElement child in message.Elements())
{
string childName = child.Name.LocalName;
if (childName == "field")
{
count++;
}
else if (childName == "extensions")
{
msg.ExtensionPos = count;
break;
}
}
}
return(mavlink);
}
}
public void Generate(MavLink definitions, string outputDirectory)
{
this.definitions = definitions;
using (header = new StreamWriter(Path.Combine(outputDirectory, "MavLinkMessages.hpp")))
{
using (impl = new StreamWriter(Path.Combine(outputDirectory, "MavLinkMessages.cpp")))
{
header.WriteLine("#ifndef MavLinkCom_MavLinkMessages_hpp");
header.WriteLine("#define MavLinkCom_MavLinkMessages_hpp");
header.WriteLine("");
header.WriteLine("#include <stdint.h>");
header.WriteLine("#include <string>");
header.WriteLine("#include \"MavLinkMessageBase.hpp\"");
header.WriteLine("");
header.WriteLine("namespace mavlinkcom");
header.WriteLine("{");
header.WriteLine("");
impl.WriteLine("#include \"MavLinkMessages.hpp\"");
impl.WriteLine("using namespace mavlinkcom;");
impl.WriteLine("");
GenerateEnums();
GenerateMessages();
GenerateCommands();
header.WriteLine("}");
header.WriteLine("");
header.WriteLine("#endif");
}
}
}
void Run()
{
//parse the XML
MavLink mavlink = MavlinkParser.Parse(xmlInput);
MavLinkGenerator gen = new MavLinkGenerator();
gen.Generate(mavlink, outputFolder);
}
public static MavLink Parse(string xmlFile)
{
using (var fs = new FileStream(xmlFile, FileMode.Open, FileAccess.Read))
{
XmlSerializer s = new XmlSerializer(typeof(MavLink));
MavLink mavlink = (MavLink)s.Deserialize(fs);
return(mavlink);
}
}
public void GenerateMessages(MavLink definitions, string outputDirectory)
{
this.definitions = definitions;
using (header = new StreamWriter(Path.Combine(outputDirectory, "MavLinkMessages.hpp")))
{
using (impl = new StreamWriter(Path.Combine(outputDirectory, "MavLinkMessages.cpp")))
{
header.WriteLine("// Copyright (c) Microsoft Corporation. All rights reserved.");
header.WriteLine("// Licensed under the MIT License.");
header.WriteLine("#ifndef MavLinkCom_MavLinkMessages_hpp");
header.WriteLine("#define MavLinkCom_MavLinkMessages_hpp");
header.WriteLine("");
header.WriteLine("#include <stdint.h>");
header.WriteLine("#include <string>");
header.WriteLine("#include \"MavLinkMessageBase.hpp\"");
header.WriteLine("");
header.WriteLine("namespace mavlinkcom");
header.WriteLine("{");
header.WriteLine("");
impl.WriteLine("// Copyright (c) Microsoft Corporation. All rights reserved.");
impl.WriteLine("// Licensed under the MIT License.");
impl.WriteLine("#include \"MavLinkMessages.hpp\"");;
impl.WriteLine("#include <sstream>");
impl.WriteLine("using namespace mavlinkcom;");
impl.WriteLine("");
GenerateEnums();
GenerateMessages();
GenerateCommands();
GenerateDecodeMethod();
header.WriteLine("}");
header.WriteLine("");
header.WriteLine("#endif");
}
}
}
