Feature/add metadata to Java MAVLink message class fields

generator/java/lib/Messages/Description.java

@@ -0,0 +1,32 @@
+package com.MAVLink.Messages;
+
+import java.lang.annotation.Documented;
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+import java.lang.reflect.Field;
+
+@Documented
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+@SuppressWarnings("unchecked")
+/**
+ * Description annotation to provide programmatic access to the MAVLink description for each field
+ */
+public @interface Description {
+
+	String value();
+
+	class Test {
+
+		@Description("The speed of the drone")
+		public float speed;
+
+		public static void main(String[] args) throws Exception {
+			Field f = Test.class.getField("speed");
+			Description anno = (Description) f.getAnnotation(Description.class);
+			System.out.println(anno.value());
+		}
+	}
+}

generator/java/lib/Messages/Units.java

@@ -0,0 +1,42 @@
+package com.MAVLink.Messages;
+
+import java.lang.annotation.Documented;
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+import java.lang.reflect.Field;
+
+@Documented
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+@SuppressWarnings("unchecked")
+/**
+ * Units annotation to provide programmatic access to the MAVLink units for a given field.
+ *
+ * The standard list of units can be found in the MAVLink Schema.
+ *
+ * @see <a href="https://github.com/ArduPilot/pymavlink/blob/master/generator/mavschema.xsd#L81">MAVLink Schema</a>
+ *
+ * A snapshot of the allowable units is available in the UnitsEnum class to prevent typos
+ * @see {@link com.MAVLink.Messages.UnitsEnum}
+ * 
+ */
+public @interface Units {
+	/**
+	 * The string value of the units. A string was used to prevent brittleness as the list of valid units change  
+	 * @return 
+	 */
+	String value();
+
+	class Test {
+		@Units("m/s")
+		public float speed;
+
+		public static void main(String[] args) throws Exception {
+			Field field = Test.class.getField("speed");
+			Units annotation = (Units) field.getAnnotation(Units.class);
+			System.out.println(UnitsEnum.fromName(annotation.value()));
+		}
+	}
+}

generator/java/lib/Messages/UnitsEnum.java

@@ -0,0 +1,127 @@
+package com.MAVLink.Messages;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Units enumeration to be used to prevent typos.
+ *
+ * This enumerated list is a snapshot of the the standard list of units found in the MAVLink Schema.
+ *
+ * @see <a href="https://github.com/ArduPilot/pymavlink/blob/master/generator/mavschema.xsd#L81">MAVLink Schema</a>
+ *
+ */
+public enum UnitsEnum {
+// time
+	S("s"), // seconds 
+	DS("ds"),// deciseconds 
+	CS("cs"),// centiseconds 
+	MS("ms"),// milliseconds 
+	US("us"),// microseconds 
+	HZ("Hz"),// Herz 
+	MHZ("MHz"),// Mega-Herz 
+	// distance
+	KM("km"),// kilometres 
+	DAM("dam"),// decametres 
+	M("m"),// metres 
+	M_PER_SEC("m/s"),// metres per second 
+	M_PER_SEC_SEC("m/s/s"),// metres per second per second 
+	M_PER_SEC_5("m/s*5"),// metres per second * 5 required from dagar for HIGH_LATENCY2 message 
+	DM("dm"),// decimetres 
+	DM_PER_S("dm/s"),// decimetres per second 
+	CM("cm"),// centimetres 
+	CM2("cm^2"),// centimetres squared (typically used in variance) 
+	CM_PER_S("cm/s"),// centimetres per second 
+	MM("mm"),// millimetres 
+	MM_PER_S("mm/s"),// millimetres per second 
+	MM_PER_H("mm/h"),// millimetres per hour 
+	//temperature 
+	K("K"),// Kelvin 
+	DEG_C("degC"),// degrees Celsius 
+	CDEG_C("cdegC"),// centi degrees Celsius 
+	//angle
+	RAD("rad"),// radians 
+	RAD_PER_S("rad/s"),// radians per second 
+	MRAD_PER_S("mrad/s"),// milli-radians per second 
+	DEG("deg"),// degrees 
+	DEG_OVER_2("deg/2"),// degrees/2 required from dagar for HIGH_LATENCY2 message
+	DEG_PER_S("deg/s"),// degrees per second 
+	CDEG("cdeg"),// centidegrees 
+	CDEG_PER_S("cdeg/s"),// centidegrees per second 
+	DEGe5("degE5"),// degrees * 10E5 
+	DEGE7("degE7"),// degrees * 10E7 
+	RPM("rpm"),// rotations per minute 
+	//electricity
+	V("V"),// Volt 
+	CV("cV"),// centi-Volt 
+	MV("mV"),// milli-Volt 
+	A("A"),// Ampere 
+	CA("cA"),// centi-Ampere 
+	MA("mA"),// milli-Ampere 
+	MAH("mAh"),// milli-Ampere hour 
+	//magnetism
+	MT("mT"),// milli-Tesla 
+	GAUSS("gauss"),// Gauss 
+	MGAUSS("mgauss"),// milli-Gauss 
+	// energy 
+	HJ("hJ"),// hecto-Joule 
+	//power
+	W("W"),// Watt 
+	//force
+	MG("mG"),// milli-G 
+	//mass 
+	G("g"),// grams 
+	KG("kg"),// kilograms 
+	//pressure
+	PA("Pa"),// Pascal 
+	HPA("hPa"),// hecto-Pascal 
+	KPA("kPa"),// kilo-Pascal 
+	MBAR("mbar"),// millibar 
+	//ratio
+	PERCENT("%"),// percent 
+	DPERCENT("d%"),// decipercent 
+	CPERCENT("c%"),// centipercent 
+	DB("dB"),// Deci-Bell 
+	DBM("dBm"),// Deci-Bell-milliwatts
+	//digital
+	KIB("KiB"),// Kibibyte (1024 bytes) 
+	KIB_PER_S("KiB/s"),// Kibibyte (1024 bytes) per second 
+	MIB("MiB"),// Mebibyte (1024*1024 bytes) 
+	MIB_PER_S("MiB/s"),// Mebibyte (1024*1024 bytes) per second 
+	BYTES("bytes"),// bytes 
+	BYTES_PER_S("bytes/s"),// bytes per second
+	BITS_PER_S("bits/s"),// bits per second 
+	PIX("pix"),// pixels 
+	DPIX("dpix"),// decipixels 
+	//flow
+	G_PER_MIN("g/min"),// grams/minute 
+	CM3_PER_MIN("cm^3/min"),// cubic centimetres/minute 
+	//volume
+	CM3("cm^3"),// cubic centimetres 
+	L("l");// liters
+	private final String name;
+	private static final Map<String, UnitsEnum> toEnum = new HashMap<>();
+
+	static {
+		for (UnitsEnum ue : UnitsEnum.values()) {
+			toEnum.put(ue.getName(), ue);
+		}
+	}
+
+	UnitsEnum(String name) {
+		this.name = name;
+	}
+
+	public String getName() {
+		return name;
+	}
+
+	@Override
+	public String toString() {
+		return this.name;
+	}
+
+	public static UnitsEnum fromName(String name) {
+		return toEnum.get(name);
+	}
+}

generator/mavgen_java.py

@@ -34,7 +34,7 @@ def generate_enums(basename, xml):
  * ${description}
  */
 public class ${name} {
-${{entry:   public static final long ${name} = ${value}L; /* ${description} |${{param:${description}| }} */
+${{entry:   public static final int ${name} = ${value}; /* ${description} |${{param:${description}| }} */
 }}
 }
             ''', en)
@@ -151,6 +151,8 @@ def generate_message_h(directory, m):
 import com.MAVLink.MAVLinkPacket;
 import com.MAVLink.Messages.MAVLinkMessage;
 import com.MAVLink.Messages.MAVLinkPayload;
+import com.MAVLink.Messages.Units;
+import com.MAVLink.Messages.Description;
 
 /**
  * ${description}
@@ -165,6 +167,8 @@ def generate_message_h(directory, m):
     /**
      * ${description}
      */
+    @Description("${description}")
+    @Units("${units}")
     public ${type} ${name}${array_suffix};
     }}
 
@@ -573,7 +577,8 @@ def generate_MAVLinkMessage(directory, xml_list):
 def copy_fixed_headers(directory, xml):
     '''copy the fixed protocol headers to the target directory'''
     import shutil
-    hlist = [ 'Parser.java', 'Messages/MAVLinkMessage.java', 'Messages/MAVLinkPayload.java', 'Messages/MAVLinkStats.java' ]
+    hlist = [ 'Parser.java', 'Messages/MAVLinkMessage.java', 'Messages/MAVLinkPayload.java', 'Messages/MAVLinkStats.java',
+              'Messages/Description.java', 'Messages/Units.java', 'Messages/UnitsEnum.java']
     basepath = os.path.dirname(os.path.realpath(__file__))
     srcpath = os.path.join(basepath, 'java/lib')
     print("Copying fixed headers")
@@ -777,10 +782,14 @@ def generate_one(basename, xml):
             else:
                 f.putname = f.const_value
 
-    # fix types to java
     for m in xml.message:
         for f in m.ordered_fields:
+            # fix types to java
             f.type = mavfmt(f)
+            # remove brackets in units
+            f.units = removeBrackets(f.units)
+            # Escape quotes in description
+            f.description = cleanText(f.description);
 
     # separate base fields from MAVLink 2 extended fields
     for m in xml.message:
@@ -794,6 +803,13 @@ def generate_one(basename, xml):
     for m in xml.message:
         generate_message_h(directory, m)
 
+def removeBrackets(text):
+    return text.replace("[","").replace("]","")
+
+def cleanText(text):
+    text = text.replace("\n"," ")
+    text = text.replace("\r"," ")
+    return text.replace("\"","'")
 
 def generate(basename, xml_list):
     '''generate complete MAVLink Java implemenation'''

generator/mavgen_wlua.py

@@ -313,14 +313,7 @@ def generate_field_dissector(outf, msg, field, offset, cmd=None, param=None):
         t.write(outf,
 """
     field_offset = offset + ${foffset}
-    value = padded(field_offset, ${fbytes}):${ftvbfunc}()
-    if (field_offset + ${fbytes} <= limit) then
-        subtree = tree:add_le(f.${fvar}, buffer(field_offset, ${fbytes}), value)
-    elseif (field_offset < limit) then
-        subtree = tree:add_le(f.${fvar}, buffer(field_offset, limit - offset - ${foffset}), value)
-    else
-        subtree = tree:add_le(f.${fvar}, value)
-    end
+    subtree, value = tree:add_le(f.${fvar}, padded(field_offset, ${fbytes}))
 """, {'foffset': offset + i * size, 'fbytes': size, 'ftvbfunc': tvb_func, 'fvar': field_var})
 
         if flag_enum is not None: