Generate C headers using the command-line tool

This example assumes that the public regulated namespace directories uavcan reside under public_regulated_data_types/. Nunavut is invoked to generate code for the former.

nnvg --target-language c --enable-serialization-asserts public_regulated_data_types/reg --lookup-dir public_regulated_data_types/uavcan

Generate HTML documentation pages using the command-line tool

See above assumptions. The below commands generate documentation for the reg namespace.

as well, because there are types in reg that will link to uavcan documentation sections.

nnvg --experimental-languages --target-language html public_regulated_data_types/reg --lookup-dir public_regulated_data_types/uavcan

Note that using the --lookup-dir option will only generate types under uavcan that are referenced by types in reg. To generate all types in both directories simply target each namespace.

nnvg --experimental-languages --target-language html public_regulated_data_types/reg public_regulated_data_types/uavcan

Generate Python packages using the command-line tool

This example assumes that the public regulated namespace directories reg and uavcan reside under public_regulated_data_types/. Nunavut is invoked to generate code for the former.

nnvg --target-language py public_regulated_data_types/reg --lookup-dir public_regulated_data_types/uavcan

Use custom templates

Partial example: generating a C struct

   /*
    * Cyphal data structure definition
    *
    * Auto-generated, do not edit.
    *
    * Source file: {{T.source_file_path.as_posix()}}
    */

    #ifndef {{T.full_name | ln.c.macrofy}}
    #define {{T.full_name | ln.c.macrofy}}

    {%- for constant in T.constants %}
    #define {{ T | ln.c.macrofy }}_{{ constant.name | ln.c.macrofy }} {{ constant | constant_value }}
    {%- endfor %}

    typedef struct
    {
        /*
            Note that we're not handling union types properly in this simplified example.
            Unions take a bit more logic to generate correctly.
        */
        {%- for field in T.fields_except_padding %}
            {{ field.data_type | declaration }} {{ field | id }}
            {%- if field.data_type is ArrayType -%}
                [{{ field.data_type.capacity }}]
            {%- endif -%};
        {%- if field is VariableLengthArrayType %}
            {{ typename_unsigned_length }} {{ field | id }}_length;
        {%- endif -%}
        {%- endfor %}
...

    } {{ T | full_reference_name }};

    #endif // {{T.full_name | ln.c.macrofy}}

More examples

Where to find more examples to get started:

1. See built-in templates under nunavut.lang.LANGUAGE.templates.

2. API usage examples can be found in the Pycyphal library.

Extras

Support for shell autocomplete (see argcomplete docs for full details)

pip install "nunavut[shell]"

# if you haven't setup argcomplete ever...
activate-global-python-argcomplete
source ~/.my_shell_rc_thingy_see_argcomplete_docs

# now register nnvg with argcomplete
eval "$(register-python-argcomplete nnvg)"