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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/ardupilotwaf/mavgen.py
Views: 1798
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# encoding: utf-8

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# (c) Siddharth Bharat Purohit, 3DRobotics Inc.

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"""

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The **mavgen.py** program is a code generator which creates mavlink header files.

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"""

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from waflib import Logs, Task, Utils, Node

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from waflib.TaskGen import feature, before_method, extension

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import os, sys

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import os.path

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from xml.etree import ElementTree as et

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class mavgen(Task.Task):

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    """generate mavlink header files"""

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    color   = 'BLUE'

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    before  = 'cxx c'

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    def scan(self):

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        nodes = []

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        names = []

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        entry_point = self.inputs[0]

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        queue = [entry_point]

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        head = 0

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        while head < len(queue):

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            node = queue[head]

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            head += 1

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            tree = et.parse(node.abspath())

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            root = tree.getroot()

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            includes = root.findall('include')

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            for i in includes:

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                path = i.text.strip()

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                n = node.parent.find_node(path)

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                if n:

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                    nodes.append(n)

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                    if n not in queue:

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                        queue.append(n)

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                    continue

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                path = os.path.join(

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                    node.parent.path_from(entry_point.parent),

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                    path

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                )

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                if path not in names:

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                    names.append(path)

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        return nodes, names

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    def run(self):

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        sys.path.insert(0,self.env.get_flat('MAVLINK_DIR'))

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        from pymavlink.generator import mavgen

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        class mavgen_options:

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            language = 'C'

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            wire_protocol = '2.0'

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            validate = False

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            output = self.env.get_flat('OUTPUT_DIR')

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        xml = self.inputs[0].abspath()

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        if mavgen.mavgen(mavgen_options(), [xml]):

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            return 0

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        return 1

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    def post_run(self):

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        super(mavgen, self).post_run()

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        for header in self.generator.output_dir.ant_glob("*.h **/*.h", remove=False):

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            header.sig = header.cache_sig = self.cache_sig

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def options(opt):

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    opt.load('python')

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@feature('mavgen')

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@before_method('process_source')

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def process_mavgen(self):

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    if not hasattr(self, 'output_dir'):

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        self.bld.fatal('mavgen: missing option output_dir')

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    inputs = self.to_nodes(self.bld.srcnode.find_node(self.source))

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    outputs = []

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    self.source = []

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    if not isinstance(self.output_dir, Node.Node):

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        self.output_dir = self.bld.bldnode.find_or_declare(self.output_dir)

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    task = self.create_task('mavgen', inputs, outputs)

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    task.env['OUTPUT_DIR'] = self.output_dir.abspath()

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    task.env.env = dict(os.environ)

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    task.env.env['PYTHONPATH'] = task.env.MAVLINK_DIR

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def configure(cfg):

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    """

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    setup environment for mavlink header generator

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    """

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    env = cfg.env

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    env.MAVLINK_DIR = cfg.srcnode.make_node('modules/mavlink/').abspath()

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