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Update supported libraries with WLua, JavaScript stable/nextgen (#309)
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Hamish Willee
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@@ -26,39 +26,41 @@ MAVLink was first released early 2009 by Lorenz Meier and has now a [significant
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- Very efficient. MAVLink 1 has just 8 bytes overhead per packet, including start sign and packet drop detection. MAVLink 2 has just 14 bytes of overhead (but is a much more secure and extensible protocol).
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Because MAVLink doesn't require any additional framing it is very well suited for applications with very limited communication bandwidth.
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- Very reliable. MAVLink has been used since 2009 to communicate between many different vehicles, ground stations (and other nodes) over varied and challenging communication channels (high latency/noise). It provides methods for detecting packet drops, corruption, and for packet authentication.
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- Supports [many programming languages](#supported_languages), running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
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- [Many different programming languages](#supported_languages) can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
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- Allows up to 255 concurrent systems on the network (vehicles, ground stations, etc.)
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- Enables both offboard and onboard communications (e.g. between a GCS and drone, and between drone autopilot and MAVLink enabled drone camera).
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## Supported Languages {#supported_languages}
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## Language/Generator List {#supported_languages}
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The MAVLink project includes the [mavgen](getting_started/generate_libraries.md#mavgen) and [mavgenerate](getting_started/generate_libraries.md#mavgenerate) tools that can be used to create MAVLink libraries for a number of programming languages.
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Additional generators have been provided by other projects.
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The MAVLink project includes the [mavgen](getting_started/generate_libraries.md#mavgen) and [mavgenerate](getting_started/generate_libraries.md#mavgenerate) tools that can be used to create MAVLink libraries for a number of programming languages.
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The organisation also includes [rust-mavlink](https://github.com/mavlink/rust-mavlink) for generating Rust MAVLink libraries.
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Additional generators are delivered by a number of other (independent) projects.
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> **Note** The MAVLink project has not validated and does not provide technical support for generators other than *mavgen* and *mavgenerate*.
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> **Note** The MAVLink project has not validated and does not provide technical support for generators other than *mavgen*, *mavgenerate*, and *rust-mavlink*.
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The table below shows the available languages/generators, along with their support for MAVLink v1, [MAVLink 2](guide/mavlink_2.md) and [Message Signing](guide/message_signing.md).
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Language | Generator | MAVLink v1 | MAVLink v2 | Signing | Notes
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:--- | :--- | :---:| :---: | :---: | :---
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C | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | Y | Y | This is the MAVLink project reference implementation. [Generated libraries](#prebuilt_libraries) are also published for both protocol versions.
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C++11 | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | Y | Y |
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Python (2.7+, 3.3+) | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | Y | Y |
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C# | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | | |
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Objective C | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | | |
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Java | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | | |
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Java | [dronefleet/mavlink](https://github.com/dronefleet/mavlink) | Y | Y | Y | *Idiomatic* Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
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JavaScript | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | Y | N |
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TypeScript/JavaScript | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | Y | N | TypeScript classes which can be used with [node-mavlink](https://github.com/ifrunistuttgart/node-mavlink)
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Lua | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | Y | |
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Swift | [mavgen](getting_started/generate_libraries.md#mavgen) | Y | | |
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Clojure | [clj-mavlink](https://github.com/WickedShell/clj-mavlink) | Y | Y | Y | Clojure MAVLink Bindings.
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Go | [gomavlib](https://github.com/gswly/gomavlib) | Y | Y | Y |
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Go | [go-mavlink1](https://github.com/mgr9525/go-mavlink1) | Y | N | N | Golang MAVLink v1
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Haskell | [HaskMavlink](https://github.com/SweeWarman/HaskMavlink)| N | Y | N |
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Rust | [rust-mavlink](https://github.com/mavlink/rust-mavlink)| Y | Y | | Rust MAVLink generated code
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:--- | :--- | :---:| :---: | :---
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C | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✓ | This is the MAVLink project reference implementation. [Generated libraries](#prebuilt_libraries) are also published for both protocol versions.
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C++11 | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✓ | |
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Python (2.7+, 3.3+) | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✓ | Python bindings. Library also available on PyPi: [pymavlink](https://pypi.org/project/pymavlink/).
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C# | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | | | |
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Objective C | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | | |
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Java | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | | | |
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Java | [dronefleet/mavlink](https://github.com/dronefleet/mavlink) | ✓ | ✓ | ✓ | *Idiomatic* Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
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JavaScript (Stable) | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✗ | Old mavgen JavaScript binding (has known bugs and no test suite).
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JavaScript (NextGen) | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✓ | New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
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TypeScript/JavaScript | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✗ | TypeScript classes which can be used with [node-mavlink](https://github.com/ifrunistuttgart/node-mavlink).
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Lua | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | ✗ | Lua library. Does not support zero trimming of MAVLink 2 messages.
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WLua (Wireshark Lua bindings)| [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | ✓ | NA | Allow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. **wireshark/plugins/mavlink.lua**).
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Swift | [mavgen](getting_started/generate_libraries.md#mavgen) | ✓ | | |
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Clojure | [clj-mavlink](https://github.com/WickedShell/clj-mavlink) | ✓ | ✓ | ✓ | Clojure MAVLink Bindings.
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Go | [gomavlib](https://github.com/gswly/gomavlib) | ✓ | ✓ | ✓ | Go library with support for MAVLink 1, 2 and signing, test suite, and [documentation](https://pkg.go.dev/github.com/aler9/gomavlib)
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Go | [go-mavlink1](https://github.com/mgr9525/go-mavlink1) | ✓ | ✗| ✗ | Golang MAVLink v1
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Haskell | [HaskMavlink](https://github.com/SweeWarman/HaskMavlink)| ✗ | ✓ | ✗ |
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Rust | [rust-mavlink](https://github.com/mavlink/rust-mavlink)| ✓ | ✓ | | Rust MAVLink generated code. Has tests and minimal docs.
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## Prebuilt MAVLink C Libraries {#prebuilt_libraries}
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@@ -96,5 +98,3 @@ The MAVLink protocol is hosted under the governance of the [Dronecode Project](h
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<a href="https://www.dronecode.org/" style="padding:20px" ><img src="../assets/site/logo_dronecode.png" alt="Dronecode Logo" width="110px"/></a>
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<a href="https://www.linuxfoundation.org/projects" style="padding:20px;"><img src="../assets/site/logo_linux_foundation.png" alt="Linux Foundation Logo" width="80px" /></a>
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<div style="padding:10px"> </div>
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@@ -38,6 +38,13 @@ Generator Steps:
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> **Note** If using a custom dialect, first copy it into the above directory (if the dialect is dependent on **common.xml** it must be located in the same directory).
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1. Choose an output directory (e.g. **mavlink/include**).
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1. Select the target output programming language.
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> **Note** There are three JavaScript options:
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- `JavaScript_Stable` is an older version that only supports MAVLink 1.0,
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- `JavaScript_NextGen` is a more recent version that supports MAVLink 1 and 2 along with signing.
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- `JavaScript` is a "proxy" for the recommended version. Currently this is `JavaScript_Stable`.
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1. Select the target MAVLink protocol version (ideally 2.0)
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> **Caution** Generation will fail if the protocol is not [supported](../README.md#supported_languages) by the selected programming language.
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1. Optionally check *Validate* and/or *Validate Units* (if checked validates XML specifications).
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@@ -46,8 +53,8 @@ Generator Steps:
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## Mavgen (Command Line) {#mavgen}
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**mavgen.py** is a command-line tool for generating MAVLink libraries for different programming languages.
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After the `mavlink` directory has been added to the `PYTHONPATH`, it can be run by executing from the command line.
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**mavgen.py** is a command-line tool for generating MAVLink libraries for different programming languages.
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After the `mavlink` directory has been added to the `PYTHONPATH`, it can be run by executing from the command line.
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> **Tip** This is the backend used by [mavgenerate](#mavgenerate). The documentation below explains all the options for both tools.
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@@ -63,7 +70,7 @@ python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=generate
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The full syntax and options can be output by running *mavgen* with the `-h` flag (reproduced below):
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```
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usage: mavgen.py [-h] [-o OUTPUT]
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[--lang {C,CS,JavaScript,TypeScript,Python,WLua,ObjC,Swift,Java,C++11}]
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[--lang {C,CS,JavaScript,JavaScript_Stable,JavaScript_NextGen,TypeScript,Python,Lua,WLua,ObjC,Swift,Java,C++11}]
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[--wire-protocol {0.9,1.0,2.0}] [--no-validate]
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[--error-limit ERROR_LIMIT] [--strict-units]
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XML [XML ...]
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@@ -77,7 +84,7 @@ optional arguments:
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-h, --help show this help message and exit
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-o OUTPUT, --output OUTPUT
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output directory.
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--lang {C,CS,JavaScript,TypeScript,Python,WLua,ObjC,Swift,Java,C++11}
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--lang {C,CS,JavaScript,JavaScript_Stable,JavaScript_NextGen,TypeScript,Python,Lua,WLua,ObjC,Swift,Java,C++11}
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language of generated code [default: Python]
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--wire-protocol {0.9,1.0,2.0}
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MAVLink protocol version. [default: 1.0]
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