Message generator for C and python with serialization/deserialization. The messages are defined in a yaml file, and allows the user to define messages, enumeration, bitfields, reusable types in messages.
The generated C header contains the structure for each message, defines for message ids and bitfields.
The generated python files contains classes for each message with serialization/deserialization methods, many dunder methods to facilitate manipulation of the messages such as:
__str____repr____hash____eq__- ...
Many assertions are generated to check input is correct.
Download genmsg.py and give it execution rights, or clone this repository.
This script uses python3 and yaml processing. On Ubuntu the following package are required:
- python3
- python3-ruamel.yaml
sudo apt-get install python3 python3-ruamel.yaml
./genmsg.py <yaml file> --h-gen --py-gen
This command will generate C header and python classes for handling the messages
Use --help to get additionnal help for the various options.
Keep the names and id unique.
A types entry allows to define a composite type. Each entry must have a name, a desc and a fields list.
A messages entry defines the list of available messages. Each entry must have a name, a numeric id, a desc and a fields list.
A fields entry in a messages or types entry defines the various fields of a message or a type. Each field must have a name, a description and a type.
A type in a fields list can be one of:
int8_tuint8_tint16_tuint16_tint32_tuint32_t
When defining the type of a field's message, it can be a previously defined type's name in addition to one of the types mentionned above.
A bitfields entry defines a list of bitfield, each entry must have a name, a desc and a list of bits
A bits entry defines a list of fields in a bitfield, each entry must have a name, a desc, a position and a width (if greater than one).
enums are used to define enumerations, each entry must have a name, a desc and a list of entries for each enum.
Each entry of the enumeration must have a name, a value and a desc
An enum can be added to a bits entry, or a fields entry.
test/example.yaml uses all the features supported by genmsg