/**
* Parse a MAVLink xml messages descriptor file.
*
* @param mavlink MAVLink data used and to fill
* @param file Parsed file
* @param path Path to file
* @param target Path for generation
* @param inInclude True if we are in an include file
* @return implementation code for readers and writers.
* @throws ParserConfigurationException
* @throws SAXException
* @throws IOException
*/
public Map<String, String> parseFile(
MAVLinkData mavlink, String file, String path, String target, boolean inInclude)
throws ParserConfigurationException, SAXException, IOException {
Map<String, String> implementations = new HashMap<String, String>();
SAXParserFactory fabrique = SAXParserFactory.newInstance();
SAXParser parseur = fabrique.newSAXParser();
if (!inInclude) {
mavlink.setFile(file.substring(0, file.indexOf('.')));
System.out.println("MAVLinkData : " + mavlink.getFile());
} else {
System.out.println("MAVLinkData INCLUDE : " + file.substring(0, file.indexOf('.')));
}
MAVLinkHandler gestionnaire = new MAVLinkHandler(this, mavlink, path, target);
parseur.parse(new File(path + File.separator + file), gestionnaire);
mavlink = gestionnaire.getMavlink();
generateMessageClass(mavlink, target);
mavlink.getEnums().putAll(mavlink.getEnums());
mavlink.getMessages().putAll(mavlink.getMessages());
generateEnumClass(mavlink, target, implementations);
return implementations;
}
/**
* Generate MAVLink Java Enum classes
*
* @param mavlink
* @param targetPath
* @param implementations
*/
protected void generateEnumClass(
MAVLinkData mavlink, String targetPath, Map<String, String> implementations) {
String packageRootName = "org.mavlink.messages";
String packageName = packageRootName;
String directory = targetPath + "/org/mavlink/messages/";
OutputStream output = null;
PrintWriter writer = null;
for (MAVLinkEnum message : mavlink.getEnums().values()) {
try {
String className = message.getName();
String filename = directory + className + ".java";
output = new FileOutputStream(filename, false);
writer = new PrintWriter(output);
writer.print("/**\n * Generated class : " + className + "\n * DO NOT MODIFY!\n **/\n");
writer.print("package " + packageName + ";\n");
String description = message.getDescription();
writer.print(
"/**\n * Interface "
+ className
+ "\n * "
+ (description == null ? "" : message.getDescription().trim())
+ "\n **/\n");
writer.print("public interface " + className + " {\n");
implementations.put(className.trim(), className.trim());
for (int j = 0; j < message.getEntries().size(); j++) {
MAVLinkEntry entry = message.getEntries().get(j);
writer.print(" /**\n * " + entry.getDescription() + "\n");
for (int k = 0; k < entry.getParams().size(); k++) {
MAVLinkParam param = entry.getParams().get(k);
writer.print(" * PARAM " + param.getIndex() + " : " + param.getComment() + "\n");
}
writer.print(" */\n");
writer.print(
" public final static int " + entry.getName() + " = " + entry.getValue() + ";\n");
}
writer.print("}\n");
} catch (Exception e) {
System.err.println("ERROR : " + e);
e.printStackTrace();
} finally {
try {
writer.close();
output.close();
} catch (Exception ex) {
System.err.println("ERROR : " + ex);
ex.printStackTrace();
}
}
}
}
