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Developer Guide

This guide is for developers who want to modify the code generator, extend the C++ bridge, or write custom MAVLink message templates.

Modifying Generator Templates

All Protocol Buffer files and C++ serialization codes are generated from Jinja2 templates located in the generator/templates/ folder:

  • dialect.proto.j2: Template for generating individual dialect proto files (defines messages and enums).
  • bridge_service.proto.j2: Template for the main MavlinkBridge service (defines the RPC calls and the main oneof payload wrapper).
  • message_converter.h.j2 / message_converter.cc.j2: Templates for the C++ class that handles conversion between libmav key-value pairs and compiled C++ Protobuf objects.

Adding Custom Dialects

If you are using a custom MAVLink XML dialect:

  1. Copy your custom dialect XML file to third_party/mavlink/message_definitions/v1.0/ (or specify the directory using the --xml-dir flag).
  2. Add your dialect name to choices inside generator/main.py.
  3. Configure CMake using your custom dialect: 
    cmake .. -DMAVLINK_DIALECT=my_custom_dialect
  4. Rebuild. CMake will run the python generator and rebuild the bridge supporting your custom messages.

Running Tests

Before committing any changes, ensure all tests pass.

1. Python Generator Tests

Performs dialect parsing, code generation, and runs protoc compiler validation across core dialects:

python3 generator/test/test_generator.py

2. C++ Bridge Unit Tests

Compiles and runs bridge unit tests (covering the lock-free message router and converter code):

cd build
make -j$(nproc) test_runner
ctest --output-on-failure

C++ API Documentation (Docstrings)

All core C++ source code is written with clean, standard Doxygen-style docstrings.

Documentation Conventions

Classes, structs, and public methods must contain Doxygen blocks:

/**
 * @brief Auto-generated converter for MAVLink messages.
 * 
 * Converts between libmav Message objects and Protocol Buffer messages.
 */
class MessageConverter {
public:
  /**
   * @brief Converts libmav Message to Protocol Buffer.
   * 
   * @param mavlink_msg Source libmav message
   * @param timestamp_usec Optional custom timestamp in microseconds
   * @return Populated MavlinkMessage wrapper, or nullopt if translation fails
   */
  static std::optional<mavlink2grpc::MavlinkMessage> 
  to_proto(const mav::Message& mavlink_msg,
           std::optional<uint64_t> timestamp_usec = std::nullopt);
};

These docstrings can be parsed using tools like Doxygen or Sphinx/Breathe to build static C++ API references if required.