mavgen_cs.py
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00001 #!/usr/bin/env python
00002 '''
00003 parse a MAVLink protocol XML file and generate a CSharp implementation
00004 
00005 
00006 '''
00007 import sys, textwrap, os, time, platform
00008 from . import mavparse, mavtemplate
00009 
00010 t = mavtemplate.MAVTemplate()
00011 
00012 # todo - refactor this in to the other array
00013 map = {
00014         'float'    : 'float',
00015         'double'   : 'double',
00016         'char'     : 'byte',
00017         'int8_t'   : 'sbyte',
00018         'uint8_t'  : 'byte',
00019         'uint8_t_mavlink_version'  : 'B',
00020         'int16_t'  : 'Int16',
00021         'uint16_t' : 'UInt16',
00022         'int32_t'  : 'Int32',
00023         'uint32_t' : 'UInt32',
00024         'int64_t'  : 'Int64',
00025         'uint64_t' : 'UInt64',
00026         }
00027 
00028 # Map of field type to bitconverter bytedecoding function, and number of bytes used for the encoding
00029 mapType = {
00030         'float'    : ('ToSingle', 4),
00031         'double'   : ('ToDouble', 8),
00032         'int8_t'   : ('ToInt8', 1),
00033         'uint8_t'   : ('ToUInt8', 1),
00034         'char'   :   ('ToChar', 1),
00035         'int16_t'  : ('ToInt16', 2),
00036         'uint16_t' : ('ToUInt16', 2),
00037         'int32_t'  : ('ToInt32', 4),
00038         'uint32_t' : ('ToUInt32', 4),
00039         'int64_t'  : ('ToInt64', 8),
00040         'uint64_t' : ('ToUInt64', 8),
00041         }        
00042 
00043 # Map of field names to names that are C# compatible and not illegal class field names
00044 mapFieldName = {
00045         'fixed'    : '@fixed'
00046         }                
00047         
00048 def generate_preamble(outf, msgs, args, xml):
00049     print("Generating preamble")
00050     t.write(outf, """
00051 /*
00052 MAVLink protocol implementation (auto-generated by mavgen.py)
00053 
00054 Generated from: ${FILELIST}
00055 
00056 Note: this file has been auto-generated. DO NOT EDIT
00057 */
00058 
00059 using System;
00060 """, {'FILELIST' : ",".join(args)})
00061 
00062 def generate_xmlDocSummary(outf, summaryText, tabDepth):
00063     indent = '\t' * tabDepth
00064     escapedText = summaryText.replace("\n","\n%s///" % indent)
00065     outf.write("\n%s/// <summary>\n" % indent)
00066     outf.write("%s/// %s\n" % (indent, escapedText))
00067     outf.write("%s/// </summary>\n" % indent)
00068     
00069     
00070 def generate_enums(outf, enums):
00071     print("Generating enums")
00072     outf.write("namespace MavLink\n{\n")
00073     for e in enums:
00074             #if len(e.description) > 0:
00075         generate_xmlDocSummary(outf, e.description, 1)
00076         outf.write("\tpublic enum %s : ushort\n\t{\n" % e.name)
00077 
00078         for entry in e.entry:
00079             if len(entry.description) > 0:
00080                 generate_xmlDocSummary(outf, entry.description, 2)
00081             outf.write("\t\t%s = %u,\n" % (entry.name, entry.value))
00082 
00083         outf.write("\n\t}\n\n")
00084     outf.write("\n}\n")
00085         
00086 def generate_classes(outf, msgs):
00087     print("Generating class definitions")
00088 
00089     outf.write("""
00090     
00091    
00092 namespace MavLink\n{
00093 
00094     public abstract class MavlinkMessage
00095     {
00096         public abstract int Serialize(byte[] bytes, ref int offset);
00097     }
00098 """)
00099 
00100     for m in msgs:
00101         if (len(m.description) >0):
00102             generate_xmlDocSummary(outf, m.description, 1)
00103         outf.write("""\tpublic class Msg_%s : MavlinkMessage
00104     {
00105 """ % m.name.lower())
00106     
00107         for f in m.fields:
00108             if (f.description.upper() != f.name.upper()):
00109                 generate_xmlDocSummary(outf, f.description, 2)
00110             if (f.array_length):
00111                 outf.write("\t\tpublic %s[] %s; // Array size %s\n" % (map[f.type], mapFieldName.get(f.name, f.name), f.array_length))
00112             else:
00113                 outf.write("\t\tpublic %s %s;\n" % (map[f.type], mapFieldName.get(f.name, f.name)))
00114         
00115         outf.write("""
00116         public override int Serialize(byte[] bytes, ref int offset)
00117             {
00118                 return MavLinkSerializer.Serialize_%s(this, bytes, ref offset);
00119             }        
00120 """ % m.name.upper())
00121 
00122         outf.write("\t}\n\n")    
00123     outf.write("}\n\n")
00124 
00125     
00126    
00127 def generate_Deserialization(outf, messages):
00128     
00129     # Create the deserialization funcs 
00130     for m in messages:
00131         classname="Msg_%s" % m.name.lower()
00132         outf.write("\n\t\tinternal static MavlinkMessage Deserialize_%s(byte[] bytes, int offset)\n\t\t{\n" % (m.name))
00133         offset = 0
00134     
00135         outf.write("\t\t\treturn new %s\n" % classname)
00136         outf.write("\t\t\t{\n")
00137                 
00138         for f in m.ordered_fields:
00139             if (f.array_length):
00140                 outf.write("\t\t\t\t%s =  ByteArrayUtil.%s(bytes, offset + %s, %s),\n" % (mapFieldName.get(f.name, f.name), mapType[f.type][0], offset, f.array_length))
00141                 offset += f.array_length
00142                 continue
00143           
00144             # mapping 'char' to byte here since there is no real equivalent in the CLR
00145             if (f.type == 'uint8_t' or f.type == 'char' ):
00146                     outf.write("\t\t\t\t%s = bytes[offset + %s],\n" % (mapFieldName.get(f.name, f.name),offset))
00147                     offset+=1          
00148             else:             
00149                 outf.write("\t\t\t\t%s = bitconverter.%s(bytes, offset + %s),\n" % (mapFieldName.get(f.name, f.name), mapType[f.type][0] ,  offset))
00150                 offset += mapType[f.type][1]
00151                                 
00152         outf.write("\t\t\t};\n")
00153         outf.write("\t\t}\n") 
00154 
00155     
00156 def generate_Serialization(outf, messages):
00157     
00158     # Create the table of serialization delegates
00159     for m in messages:
00160         classname="Msg_%s" % m.name.lower()
00161 
00162         outf.write("\n\t\tinternal static int Serialize_%s(this %s msg, byte[] bytes, ref int offset)\n\t\t{\n" % (m.name, classname))
00163         offset=0
00164         
00165                 # Now (since Mavlink 1.0) we need to deal with ordering of fields
00166         for f in m.ordered_fields:
00167         
00168             if (f.array_length):
00169                 outf.write("\t\t\tByteArrayUtil.ToByteArray(msg.%s, bytes, offset + %s, %s);\n" % (f.name, offset, f.array_length))
00170                 offset += f.array_length * mapType[f.type][1]
00171                 continue
00172 
00173             if (f.type == 'uint8_t'):
00174                 outf.write("\t\t\tbytes[offset + %s] = msg.%s;\n" % (offset,mapFieldName.get(f.name, f.name)))
00175                 offset+=1
00176             elif (f.type == 'int8_t'):
00177                 outf.write("\t\t\tbytes[offset + %s] = unchecked((byte)msg.%s);\n" % (offset,mapFieldName.get(f.name, f.name)))
00178                 offset+=1
00179             elif (f.type == 'char'):
00180                 outf.write("\t\t\tbytes[offset + %s] = msg.%s; // todo: check int8_t and char are compatible\n" % (offset,mapFieldName.get(f.name, f.name)))
00181                 offset+=1
00182             else:
00183                 outf.write("\t\t\tbitconverter.GetBytes(msg.%s, bytes, offset + %s);\n" % (mapFieldName.get(f.name, f.name),offset))
00184                 offset += mapType[f.type][1]
00185           
00186         outf.write("\t\t\toffset += %s;\n" % offset)
00187         outf.write("\t\t\treturn %s;\n" % m.id)
00188         outf.write("\t\t}\n") 
00189 
00190 
00191 def generate_CodecIndex(outf, messages, xml):
00192     
00193     outf.write("""
00194 
00195 /*
00196 MAVLink protocol implementation (auto-generated by mavgen.py)
00197 
00198 Note: this file has been auto-generated. DO NOT EDIT
00199 */
00200 
00201 using System;
00202 using System.Collections;
00203 using System.Collections.Generic;
00204     
00205 namespace MavLink
00206 {
00207     public static class MavlinkSettings
00208     {
00209 """)
00210     outf.write('\t\tpublic const string WireProtocolVersion = "%s";' % xml[0].wire_protocol_version)
00211     outf.write('\n\t\tpublic const byte ProtocolMarker = 0x%x;' % xml[0].protocol_marker)
00212     outf.write('\n\t\tpublic const bool CrcExtra = %s;' % str(xml[0].crc_extra).lower())
00213     outf.write('\n\t\tpublic const bool IsLittleEndian = %s;' % str(xml[0].little_endian).lower())
00214     
00215     outf.write("""
00216     }
00217     
00218     public delegate MavlinkMessage MavlinkPacketDeserializeFunc(byte[] bytes, int offset);
00219 
00220     //returns the message ID, offset is advanced by the number of bytes used to serialize
00221     public delegate int MavlinkPacketSerializeFunc(byte[] bytes, ref int offset, object mavlinkPacket);
00222  
00223     public class MavPacketInfo
00224     {
00225         public MavlinkPacketDeserializeFunc Deserializer;
00226         public int [] OrderMap;
00227         public byte CrcExtra;
00228 
00229          public MavPacketInfo(MavlinkPacketDeserializeFunc deserializer, byte crcExtra)
00230          {
00231              this.Deserializer = deserializer;
00232              this.CrcExtra = crcExtra;
00233          }
00234     }
00235  
00236     public static class MavLinkSerializer
00237     {
00238         public static void SetDataIsLittleEndian(bool isLittle)
00239         {
00240             bitconverter.SetDataIsLittleEndian(isLittle);
00241         }
00242     
00243         private static readonly FrameworkBitConverter bitconverter = new FrameworkBitConverter(); 
00244     
00245         public static Dictionary<int, MavPacketInfo> Lookup = new Dictionary<int, MavPacketInfo>
00246         {""")
00247 
00248     for m in messages:
00249         classname="Msg_%s" % m.name.lower()
00250         outf.write("\n\t\t\t{%s, new MavPacketInfo(Deserialize_%s, %s)}," % (m.id, m.name, m.crc_extra))
00251     outf.write("\n\t\t};\n")
00252    
00253 
00254 def generate(basename, xml):
00255     '''generate complete MAVLink CSharp implemenation'''
00256     structsfilename = basename + '.generated.cs'
00257 
00258      # Some build commands depend on the platform - eg MS .NET Windows Vs Mono on Linux
00259     if platform.system() == "Windows":
00260         winpath=os.environ['WinDir']
00261         cscCommand = winpath + "\\Microsoft.NET\\Framework\\v4.0.30319\\csc.exe"
00262         
00263         if (os.path.exists(cscCommand)==False):
00264             print("\nError: CS compiler not found. .Net Assembly generation skipped")
00265             return   
00266     else:
00267         print("Error:.Net Assembly generation not yet supported on non Windows platforms")
00268         return
00269         cscCommand = "csc"
00270     
00271     
00272     
00273     
00274     msgs = []
00275     enums = []
00276     filelist = []
00277     for x in xml:
00278         msgs.extend(x.message)
00279         enums.extend(x.enum)
00280         filelist.append(os.path.basename(x.filename))
00281 
00282     for m in msgs:
00283         m.order_map = [ 0 ] * len(m.fieldnames)
00284         for i in range(0, len(m.fieldnames)):
00285             m.order_map[i] = m.ordered_fieldnames.index(m.fieldnames[i])
00286         
00287         m.fields_in_order = []
00288         for i in range(0, len(m.fieldnames)):
00289             m.order_map[i] = m.ordered_fieldnames.index(m.fieldnames[i])
00290         
00291     print("Generating messages file: %s" % structsfilename)
00292     dir = os.path.dirname(structsfilename)
00293     if not os.path.exists(dir):
00294         os.makedirs(dir)
00295     outf = open(structsfilename, "w")
00296     generate_preamble(outf, msgs, filelist, xml[0])
00297     
00298     outf.write("""
00299     
00300 using System.Reflection;    
00301     
00302 [assembly: AssemblyTitle("Mavlink Classes")]
00303 [assembly: AssemblyDescription("Generated Message Classes for Mavlink. See http://qgroundcontrol.org/mavlink/start")]
00304 [assembly: AssemblyProduct("Mavlink")]
00305 [assembly: AssemblyVersion("1.0.0.0")]
00306 [assembly: AssemblyFileVersion("1.0.0.0")]
00307 
00308     """)
00309     
00310     generate_enums(outf, enums)
00311     generate_classes(outf, msgs)
00312     outf.close()
00313     
00314     print("Generating the (De)Serializer classes")
00315     serfilename = basename + '_codec.generated.cs'
00316     outf = open(serfilename, "w")
00317     generate_CodecIndex(outf, msgs, xml)
00318     generate_Deserialization(outf, msgs)
00319     generate_Serialization(outf, msgs)
00320     
00321     outf.write("\t}\n\n")
00322     outf.write("}\n\n")
00323     
00324     outf.close()
00325     
00326    
00327 
00328     print("Compiling Assembly for .Net Framework 4.0")
00329     
00330     generatedCsFiles = [ serfilename, structsfilename]
00331     
00332     includedCsFiles =  [ 'CS/common/ByteArrayUtil.cs', 'CS/common/FrameworkBitConverter.cs', 'CS/common/Mavlink.cs'  ]
00333     
00334     outputLibraryPath = os.path.normpath(dir + "/mavlink.dll")
00335     
00336     compileCommand = "%s %s" % (cscCommand, "/target:library /debug /out:" + outputLibraryPath)
00337     compileCommand = compileCommand + " /doc:" + os.path.normpath(dir + "/mavlink.xml")  
00338     
00339     
00340     for csFile in generatedCsFiles + includedCsFiles:
00341         compileCommand = compileCommand + " " + os.path.normpath(csFile)
00342     
00343     #print("Cmd:" + compileCommand)
00344     res = os.system (compileCommand)
00345     
00346     if res == '0':
00347         print("Generated %s OK" % filename)
00348     else:
00349         print("Error")


mavlink
Author(s): Lorenz Meier
autogenerated on Thu Jun 6 2019 19:01:57