public 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);
foreach (var mavMess in mavlink.messages)
{
// convert names to lower case.
mavMess.name = mavMess.name.ToLowerInvariant();
foreach (var field in mavMess.fields)
{
field.name = field.name.ToLowerInvariant();
}
//compute the correct types
ComputePtype(mavMess);
mavMess.fields = mavMess.fields.OrderByDescending(x => typeSize[x.type]).ToList();
//compute offset for all the fields
ComputeOffsetForFields(mavMess);
}
return(mavlink);
}
}
public void GeneratePTypes(MavLink mavlink, string outputFile)
{
using (StreamWriter sw = new StreamWriter(outputFile, false))
{
foreach (var message in mavlink.messages)
{
string fieldsStr = NewLine;
if (message.name == "setup_signing")
{
// something odd is going on with this one, the Python "C" generator is not generating it.
continue;
}
int count = 0;
while (count < message.fields.Count())
{
if (count < message.fields.Count() - 1)
{
var f = message.fields.ElementAt(count);
fieldsStr = fieldsStr + String.Format(AllTemplates.fieldTypeFormat, f.name, f.ptype, ", ", f.description) + NewLine;
}
else
{
var f = message.fields.ElementAt(count);
fieldsStr = fieldsStr + String.Format(AllTemplates.fieldTypeFormat, f.name, f.ptype, " ", f.description) + NewLine;
}
count++;
}
string messagePType = String.Format(AllTemplates.typeFormat, message.description, message.name, fieldsStr);
sw.Write(messagePType + NewLine);
}
}
}
public void GeneratePTypes(MavLink mavlink, string outputFile)
{
using (StreamWriter sw = new StreamWriter(outputFile, false))
{
foreach (var message in mavlink.messages)
{
string fieldsStr = NewLine;
if (message.name == "setup_signing")
{
// something odd is going on with this one, the Python "C" generator is not generating it.
continue;
}
int count = 0;
while (count < message.fields.Count())
{
if (count < message.fields.Count() - 1)
{
var f = message.fields.ElementAt(count);
fieldsStr = fieldsStr + String.Format(AllTemplates.fieldTypeFormat, f.name, f.ptype, ", ", f.description) + NewLine;
}
else
{
var f = message.fields.ElementAt(count);
fieldsStr = fieldsStr + String.Format(AllTemplates.fieldTypeFormat, f.name, f.ptype, " ", f.description) + NewLine;
}
count++;
}
string messagePType = String.Format(AllTemplates.typeFormat, message.description, message.name, fieldsStr);
sw.Write(messagePType + NewLine);
}
}
}
public void GeneratePEnums(MavLink mavlink, string outputFile, string tablesFile)
{
using (StreamWriter sw = new StreamWriter(outputFile, false))
{
sw.Write("// MAVLINK message ids");
sw.Write(NewLine);
sw.Write("enum mavlink_messages {");
sw.Write(NewLine);
bool first = true;
// generate enum for message ids.
foreach (var en in mavlink.messages)
{
if (!first)
{
sw.Write(',');
sw.Write(NewLine);
}
sw.Write(" msg_" + en.name.ToLowerInvariant() + " = " + en.id);
first = false;
}
sw.Write(NewLine);
sw.Write("}");
sw.Write(NewLine);
foreach (var en in mavlink.enums)
{
sw.Write(NewLine);
sw.Write("// " + ("" + en.description).Replace('\n', ' ').Replace("\r", ""));
sw.Write(NewLine);
sw.Write("enum {0} {{", en.name.ToLowerInvariant());
sw.Write(NewLine);
first = true;
bool hasZero = false;
bool allZero = true;
foreach (var e in en.entries)
{
if (e.value != 0)
{
allZero = false;
break;
}
else
{
hasZero = true;
}
}
if (!hasZero && !allZero)
{
// P enums require one item to be equal to zero
first = false;
sw.Write(" " + en.name.ToLowerInvariant() + "_none = 0");
}
foreach (var e in en.entries)
{
if (!first)
{
sw.Write(',');
sw.Write(NewLine);
}
first = false;
sw.Write(" " + e.name.ToLowerInvariant());
if (!allZero)
{
sw.Write(" = " + e.value);
}
}
sw.Write(NewLine);
sw.Write("}");
}
sw.Write(NewLine);
}
}
public void GeneratePEnums(MavLink mavlink, string outputFile, string tablesFile)
{
using (StreamWriter sw = new StreamWriter(outputFile, false))
{
sw.Write("// MAVLINK message ids");
sw.Write(NewLine);
sw.Write("enum mavlink_messages {");
sw.Write(NewLine);
bool first = true;
// generate enum for message ids.
foreach (var en in mavlink.messages)
{
if (!first)
{
sw.Write(',');
sw.Write(NewLine);
}
sw.Write(" msg_" + en.name.ToLowerInvariant() + " = " + en.id);
first = false;
}
sw.Write(NewLine);
sw.Write("}");
sw.Write(NewLine);
foreach (var en in mavlink.enums)
{
sw.Write(NewLine);
sw.Write("// " + ("" + en.description).Replace('\n', ' ').Replace("\r", ""));
sw.Write(NewLine);
sw.Write("enum {0} {{", en.name.ToLowerInvariant());
sw.Write(NewLine);
first = true;
bool hasZero = false;
bool allZero = true;
foreach (var e in en.entries)
{
if (e.value != 0)
{
allZero = false;
break;
}
else
{
hasZero = true;
}
}
if (!hasZero && !allZero)
{
// P enums require one item to be equal to zero
first = false;
sw.Write(" " + en.name.ToLowerInvariant() + "_none = 0");
}
foreach (var e in en.entries)
{
if (!first)
{
sw.Write(',');
sw.Write(NewLine);
}
first = false;
sw.Write(" " + e.name.ToLowerInvariant());
if (!allZero)
{
sw.Write(" = " + e.value);
}
}
sw.Write(NewLine);
sw.Write("}");
}
sw.Write(NewLine);
}
}
static void Main(string[] args)
{
string xmlInput = null;
string outputFolder = null;
if (args.Length == 0)
{
Console.WriteLine("USAGE: -xml:<pathToXML> -out:<pathToOutDir>");
return;
}
for (int i = 0; i < args.Length; i++)
{
string arg = args[i];
string colonArg = null;
if (arg.StartsWith("/") || arg.StartsWith("-"))
{
var colonIndex = arg.IndexOf(':');
if (colonIndex >= 0)
{
arg = args[i].Substring(1, colonIndex - 1);
colonArg = args[i].Substring(colonIndex + 1);
}
switch (arg)
{
case "xml":
xmlInput = colonArg;
break;
case "out":
outputFolder = colonArg;
break;
default:
Console.WriteLine("USAGE: -xml:<pathToXML> -out:<pathToOutDir>");
return;
}
}
}
if (!File.Exists(xmlInput))
{
Console.WriteLine("File not found: {0}", xmlInput);
return;
}
if (!Directory.Exists(outputFolder))
{
Console.WriteLine("Output directory not found: {0}", outputFolder);
return;
}
string pTypeFileName = String.Format("\\P_{0}_MessageTypes.p", Path.GetFileNameWithoutExtension(xmlInput));
string pTypeFunctionsFileName = String.Format("\\P_{0}_MessageTypeFunctions.h", Path.GetFileNameWithoutExtension(xmlInput));
string pEnumsFileName = String.Format("\\P_{0}_Enums.p", Path.GetFileNameWithoutExtension(xmlInput));
//parse the XML
var parser = new MavXMLParser();
MavLink mavlink = parser.Parse(xmlInput);
//generate the P type for each message
var generator = new PCodeGenerator();
generator.GeneratePTypes(mavlink, outputFolder + pTypeFileName);
generator.GeneratePEnums(mavlink, outputFolder + pEnumsFileName, outputFolder);
//generate the two functions for encoding and decoding P Message types
generator.GeneratePTypeHelperFun(mavlink.messages, outputFolder + pTypeFunctionsFileName);
}
