private static void ParseMessage(XmlReader rdr, MavlinkMessageModel messageItem)
{
var depth = rdr.Depth + 1;
var extendedFields = false;
do
{
rdr.Read();
switch (rdr.Name)
{
case "description":
messageItem.Desc = ConvertDesc(rdr.ReadElementContentAsString());
break;
case "field":
ParseMessageFields(rdr, messageItem, extendedFields);
break;
case "extensions":
extendedFields = true;
break;
}
} while (rdr.Depth >= depth);
messageItem.ReorderFieldsAndClacCrc();
messageItem.CalculateLargestArray();
}
/// <summary>
/// It's for Variable Length Arrays calculation
/// </summary>
/// <param name="src"></param>
public static void CalculateLargestArray(this MavlinkMessageModel src)
{
var largestArray = src.Fields.Where(_ => _.IsArray).OrderByDescending(_ => _.FieldByteSize).FirstOrDefault();
if (largestArray != null)
{
largestArray.IsTheLargestArrayInMessage = true;
}
}
public static void ReorderFieldsAndClacCrc(this MavlinkMessageModel src)
{
src.Fields = src.Fields.OrderByDescending(_ => _.FieldTypeByteSize).ToList();
var crc = X25Crc.Accumulate($"{src.Name} ", X25Crc.CrcSeed);
crc = src.Fields.Aggregate(crc, (acc, field) => field.CalculateCrc(acc));
src.CrcExtra = (byte)((crc & 0xFF) ^ (crc >> 8));
}
private static void ParseMessagesSection(XmlReader rdr, IList <MavlinkMessageModel> protocolEnums)
{
var depth = rdr.Depth + 1;
do
{
rdr.Read();
if (rdr.Name == "message")
{
var messageItem = new MavlinkMessageModel
{
Id = int.Parse(rdr.GetAttribute("id")),
Name = rdr.GetAttribute("name"),
};
protocolEnums.Add(messageItem);
ParseMessage(rdr, messageItem);
}
} while (rdr.Depth >= depth);
}
private static void ParseMessageFields(XmlReader rdr, MavlinkMessageModel msg, bool extendedFields)
{
bool isArray;
byte arrayLength;
string baseTypeName;
var type = ParseFieldType(rdr.GetAttribute("type"), out baseTypeName, out isArray, out arrayLength);
var fields = extendedFields ? msg.ExtendedFields : msg.Fields;
fields.Add(new MessageFieldModel
{
IsExtended = extendedFields,
Type = type,
TypeName = FieldTypeToString(type),
FieldTypeByteSize = type.GetFieldTypeByteSize(),
IsArray = isArray,
ArrayLength = arrayLength,
Name = rdr.GetAttribute("name"),
Units = rdr.GetAttribute("units"),
Enum = rdr.GetAttribute("enum"),
Desc = ConvertDesc(rdr.ReadElementContentAsString()),
});
}
public static IEnumerable <MessageFieldModel> GetAllFields(this MavlinkMessageModel src)
{
return(src.Fields.Concat(src.ExtendedFields));
}