mirror of
https://bitbucket.org/librepilot/librepilot.git
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f6805de71e
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2616 ebee16cc-31ac-478f-84a7-5cbb03baadba
236 lines
8.2 KiB
C++
236 lines
8.2 KiB
C++
/**
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******************************************************************************
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*
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* @file main.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief UAVObjectGenerator main.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <QtCore/QCoreApplication>
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#include <QFile>
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#include <QString>
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#include <QStringList>
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#include <iostream>
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#include "generators/java/uavobjectgeneratorjava.h"
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#include "generators/flight/uavobjectgeneratorflight.h"
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#include "generators/gcs/uavobjectgeneratorgcs.h"
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#include "generators/matlab/uavobjectgeneratormatlab.h"
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#include "generators/python/uavobjectgeneratorpython.h"
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#define RETURN_ERR_USAGE 1
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#define RETURN_ERR_XML 2
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#define RETURN_OK 0
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using namespace std;
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/**
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* print usage info
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*/
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void usage() {
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cout << "Usage: uavobjectgenerator [-gcs] [-flight] [-java] [-python] [-matlab] [-none] [-v] xml_path template_base [UAVObj1] ... [UAVObjN]" << endl;
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cout << "Languages: "<< endl;
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cout << "\t-gcs build groundstation code" << endl;
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cout << "\t-flight build flight code" << endl;
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cout << "\t-java build java code" << endl;
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cout << "\t-python build python code" << endl;
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cout << "\t-matlab build matlab code" << endl;
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cout << "\tIf no language is specified ( and not -none ) -> all are built." << endl;
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cout << "Misc: "<< endl;
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cout << "\t-none build no language - just parse xml's" << endl;
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cout << "\t-h this help" << endl;
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cout << "\t-v verbose" << endl;
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cout << "\tinput_path path to UAVObject definition (.xml) files." << endl;
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cout << "\ttemplate_path path to the root of the OpenPilot source tree." << endl;
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cout << "\tUAVObjXY name of a specific UAVObject to be built." << endl;
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cout << "\tIf any specific UAVObjects are given only these will be built." << endl;
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cout << "\tIf no UAVObject is specified -> all are built." << endl;
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}
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/**
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* inform user of invalid usage
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*/
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int usage_err() {
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cout << "Invalid usage!" << endl;
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usage();
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return RETURN_ERR_USAGE;
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}
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/**
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* entrance
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*/
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int main(int argc, char *argv[])
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{
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QCoreApplication a(argc, argv);
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cout << "- OpenPilot UAVObject Generator -" << endl;
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QString inputpath;
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QString templatepath;
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QString outputpath;
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QStringList arguments_stringlist;
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QStringList objects_stringlist;
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// process arguments
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for (int argi=1;argi<argc;argi++)
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arguments_stringlist << argv[argi];
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if ((arguments_stringlist.removeAll("-h")>0)||(arguments_stringlist.removeAll("-h")>0)) {
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usage();
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return RETURN_OK;
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}
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bool verbose=(arguments_stringlist.removeAll("-v")>0);
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bool do_gcs=(arguments_stringlist.removeAll("-gcs")>0);
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bool do_flight=(arguments_stringlist.removeAll("-flight")>0);
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bool do_java=(arguments_stringlist.removeAll("-java")>0);
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bool do_python=(arguments_stringlist.removeAll("-python")>0);
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bool do_matlab=(arguments_stringlist.removeAll("-matlab")>0);
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bool do_none=(arguments_stringlist.removeAll("-none")>0); //
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bool do_all=((do_gcs||do_flight||do_java||do_python||do_matlab)==false);
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bool do_allObjects=true;
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if (arguments_stringlist.length() >= 2) {
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inputpath = arguments_stringlist.at(0);
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templatepath = arguments_stringlist.at(1);
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} else {
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// wrong number of arguments
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return usage_err();
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}
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if (arguments_stringlist.length() >2) {
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do_allObjects=false;
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for (int argi=2;argi<arguments_stringlist.length();argi++) {
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objects_stringlist << ( arguments_stringlist.at(argi).toLower() + ".xml" );
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}
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}
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if (!inputpath.endsWith("/"))
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inputpath.append("/"); // append a slash if it is not there
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if (!templatepath.endsWith("/"))
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templatepath.append("/"); // append a slash if it is not there
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// put all output files in the current directory
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outputpath = QString("./");
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QDir xmlPath = QDir(inputpath);
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UAVObjectParser* parser = new UAVObjectParser();
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QStringList filters=QStringList("*.xml");
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xmlPath.setNameFilters(filters);
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QFileInfoList xmlList = xmlPath.entryInfoList();
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// Read in each XML file and parse object(s) in them
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for (int n = 0; n < xmlList.length(); ++n) {
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QFileInfo fileinfo = xmlList[n];
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if (!do_allObjects) {
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if (!objects_stringlist.removeAll(fileinfo.fileName().toLower())) {
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if (verbose)
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cout << "Skipping XML file: " << fileinfo.fileName().toStdString() << endl;
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continue;
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}
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}
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if (verbose)
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cout << "Parsing XML file: " << fileinfo.fileName().toStdString() << endl;
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QString filename = fileinfo.fileName();
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QString xmlstr = readFile(fileinfo.absoluteFilePath());
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QString res = parser->parseXML(xmlstr, filename);
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if (!res.isNull()) {
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cout << "Error parsing " << res.toStdString() << endl;
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return RETURN_ERR_XML;
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}
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}
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if (objects_stringlist.length() > 0) {
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cout << "required UAVObject definitions not found! " << objects_stringlist.join(",").toStdString() << endl;
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return RETURN_ERR_XML;
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}
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// check for duplicate object ID's
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QList<quint32> objIDList;
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int numBytesTotal=0;
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for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
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quint32 id = parser->getObjectID(objidx);
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numBytesTotal+=parser->getNumBytes(objidx);
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if (verbose)
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cout << "Checking object " << parser->getObjectName(objidx).toStdString() << " (" << parser->getNumBytes(objidx) << " bytes)" << endl;
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if ( objIDList.contains(id) || id == 0 ) {
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cout << "Error: Object ID collision found in object " << parser->getObjectName(objidx).toStdString() << ", modify object name" << endl;
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return RETURN_ERR_XML;
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}
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objIDList.append(id);
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}
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// done parsing and checking
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cout << "Done: processed " << xmlList.length() << " XML files and generated "
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<< objIDList.length() << " objects with no ID collisions. Total size of the data fields is " << numBytesTotal << " bytes." << endl;
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if (verbose)
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cout << "used units: " << parser->all_units.join(",").toStdString() << endl;
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if (do_none)
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return RETURN_OK;
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// generate flight code if wanted
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if (do_flight|do_all) {
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cout << "generating flight code" << endl ;
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UAVObjectGeneratorFlight flightgen;
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flightgen.generate(parser,templatepath,outputpath);
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}
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// generate gcs code if wanted
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if (do_gcs|do_all) {
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cout << "generating gcs code" << endl ;
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UAVObjectGeneratorGCS gcsgen;
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gcsgen.generate(parser,templatepath,outputpath);
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}
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// generate java code if wanted
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if (do_java|do_all) {
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cout << "generating java code" << endl ;
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UAVObjectGeneratorJava javagen;
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javagen.generate(parser,templatepath,outputpath);
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}
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// generate python code if wanted
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if (do_python|do_all) {
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cout << "generating python code" << endl ;
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UAVObjectGeneratorPython pygen;
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pygen.generate(parser,templatepath,outputpath);
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}
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// generate matlab code if wanted
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if (do_matlab|do_all) {
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cout << "generating matlab code" << endl ;
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UAVObjectGeneratorMatlab matlabgen;
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matlabgen.generate(parser,templatepath,outputpath);
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}
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return RETURN_OK;
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}
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