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generator: add support for relative path to lua mavlink module #806

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merged 1 commit into from
May 3, 2023
Merged

generator: add support for relative path to lua mavlink module #806

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28 changes: 20 additions & 8 deletions generator/mavgen_lua.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,19 @@ def generate(basename, xml):


print("Generating %s/mavlink_msgs.lua" % basename)
# create the output directory if needed
if not os.path.exists(basename):
os.makedirs(basename)
outf = open("%s/mavlink_msgs.lua" % basename, "w")
if 'modules' not in basename:
print("ERROR: mavlink_msgs.lua must be generated in the modules directory or subdirectory")
return
# find the path relative to module directory
module_root_rel = basename.split('modules')[1]
module_root_rel = module_root_rel.strip('/')
if module_root_rel != '':
module_root_rel += '/'

# dump the actual symbol table
outf.write("local mavlink_msgs = {}\n")
for m in msgs:
Expand All @@ -55,10 +67,10 @@ def generate(basename, xml):
mavlink_msg_file.close()
outf.write(
"""
local mavlink_msgs = {}
local mavlink_msgs = {{}}

function mavlink_msgs.get_msgid(msgname)
local message_map = require("mavlink_msg_" .. msgname)
local message_map = require("{module_root_rel}mavlink_msg_" .. msgname)
if not message_map then
error("Unknown MAVLink message " .. msgname)
end
Expand All @@ -67,7 +79,7 @@ def generate(basename, xml):

function mavlink_msgs.decode_header(message)
-- build up a map of the result
local result = {}
local result = {{}}

local read_marker = 3

Expand Down Expand Up @@ -97,7 +109,7 @@ def generate(basename, xml):

function mavlink_msgs.decode(message, msg_map)
local result, offset = mavlink_msgs.decode_header(message)
local message_map = require("mavlink_msg_" .. msg_map[result.msgid])
local message_map = require("{module_root_rel}mavlink_msg_" .. msg_map[result.msgid])
if not message_map then
-- we don't know how to decode this message, bail on it
return nil
Expand All @@ -106,7 +118,7 @@ def generate(basename, xml):
-- map all the fields out
for i,v in ipairs(message_map.fields) do
if v[3] then
result[v[1]] = {}
result[v[1]] = {{}}
for j=1,v[3] do
result[v[1]][j], offset = string.unpack(v[2], message, offset)
end
Expand All @@ -121,14 +133,14 @@ def generate(basename, xml):
end

function mavlink_msgs.encode(msgname, message)
local message_map = require("mavlink_msg_" .. msgname)
local message_map = require("{module_root_rel}mavlink_msg_" .. msgname)
if not message_map then
-- we don't know how to encode this message, bail on it
error("Unknown MAVLink message " .. msgname)
end

local packString = "<"
local packedTable = {}
local packedTable = {{}}
local packedIndex = 1
for i,v in ipairs(message_map.fields) do
if v[3] then
Expand All @@ -150,7 +162,7 @@ def generate(basename, xml):
end

return mavlink_msgs
""")
""".format(module_root_rel=module_root_rel))
outf.close()
print("Generated %s OK" % basename)