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93 lines
3.4 KiB
93 lines
3.4 KiB
#!/usr/bin/env python |
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''' |
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Use mavgen.py matrixpilot.xml definitions to generate |
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C and Python MAVLink routines for sending and parsing the protocol |
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This python script is soley for MatrixPilot MAVLink impoementation |
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Copyright Pete Hollands 2011 |
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Released under GNU GPL version 3 or later |
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''' |
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import os, sys, glob, re |
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from shutil import copy |
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from mavgen import mavgen |
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# allow import from the parent directory, where mavutil.py is |
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# Under Windows, this script must be run from a DOS command window |
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) |
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class options: |
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""" a class to simulate the options of mavgen OptionsParser""" |
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def __init__(self, lang, output, wire_protocol): |
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self.language = lang |
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self.wire_protocol = wire_protocol |
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self.output = output |
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def remove_include_files(target_directory): |
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search_pattern = target_directory+'/*.h' |
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print "search pattern is", search_pattern |
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files_to_remove = glob.glob(search_pattern) |
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for afile in files_to_remove : |
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try: |
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print "removing", afile |
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os.remove(afile) |
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except: |
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print "error while trying to remove", afile |
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def copy_include_files(source_directory,target_directory): |
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search_pattern = source_directory+'/*.h' |
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files_to_copy = glob.glob(search_pattern) |
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for afile in files_to_copy: |
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basename = os.path.basename(afile) |
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print "Copying ...", basename |
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copy(afile, target_directory) |
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protocol = "1.0" |
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xml_directory = './message_definitions/v'+protocol |
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print "xml_directory is", xml_directory |
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xml_file_names = [] |
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xml_file_names.append(xml_directory+"/"+"matrixpilot.xml") |
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for xml_file in xml_file_names: |
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print "xml file is ", xml_file |
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opts = options(lang = "C", output = "C/include_v"+protocol, \ |
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wire_protocol=protocol) |
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args = [] |
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args.append(xml_file) |
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mavgen(opts, args) |
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xml_file_base = os.path.basename(xml_file) |
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xml_file_base = re.sub("\.xml","", xml_file_base) |
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print "xml_file_base is", xml_file_base |
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opts = options(lang = "python", \ |
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output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \ |
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wire_protocol=protocol) |
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mavgen(opts,args) |
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mavlink_directory_list = ["common","matrixpilot"] |
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for mavlink_directory in mavlink_directory_list : |
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# Look specifically for MatrixPilot directory structure |
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target_directory = "../../../../MAVLink/include/"+mavlink_directory |
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source_directory = "C/include_v"+protocol+"/"+mavlink_directory |
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if os.access(source_directory, os.R_OK): |
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if os.access(target_directory, os.W_OK): |
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print "Preparing to copy over files..." |
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print "About to remove all files in",target_directory |
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print "OK to continue ?[Yes / No]: ", |
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line = sys.stdin.readline() |
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if line == "Yes\n" or line == "yes\n" \ |
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or line == "Y\n" or line == "y\n": |
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print "passed" |
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remove_include_files(target_directory) |
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copy_include_files(source_directory,target_directory) |
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print "Finished copying over include files" |
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else : |
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print "Your answer is No. Exiting Program" |
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sys.exit() |
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else : |
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print "Cannot find " + target_directory + "in MatrixPilot" |
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sys.exit() |
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else: |
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print "Could not find files to copy at", source_directory |
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print "Exiting Program." |
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sys.exit()
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