watchrobot/modules/mavlink/pymavlink/generator/mavschema.xsd

<?xml version="1.0" encoding="ISO-8859-1" ?>
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">

<!-- definition of simple elements -->
<xs:element name="include" type="xs:anyURI"/>
<xs:element name="version" type="xs:unsignedByte"/>
<xs:element name="dialect" type="xs:unsignedByte"/>
<xs:element name="description" type="xs:string"/>


<!-- definition of attributes -->
<xs:attribute name="name"> <!-- used in enum,entry,message,field elements -->
</xs:attribute>
<xs:attribute name="id" type="xs:unsignedShort"/> <!-- used in message elements -->
<xs:attribute name="print_format" type="xs:string"/> <!-- used in field elements -->
<xs:attribute name="enum" type="xs:string"/> <!-- used in field,param elements -->
<xs:attribute name="display" type="xs:string"/> <!-- used in field elements -->
<xs:attribute name="units" type="SI_Unit"/> <!-- this will get changed on the fly to xs:string if no strict-units command line option is used -->
<xs:attribute name="value"> <!-- used in entry elements -->
  <xs:simpleType>
    <xs:restriction base="xs:string">
        <xs:pattern value="\d{1,10}"/> <!-- base 10 int -->
        <xs:pattern value="0[xX][0-9a-fA-F]{1,8}"/> <!-- base 16 -->
        <xs:pattern value="0[bB][0-1]{1,32}"/> <!-- base 1 -->
    </xs:restriction>
  </xs:simpleType>
</xs:attribute>
<xs:attribute name="default"> <!-- used in field elements -->
  <xs:simpleType>
    <xs:restriction base="xs:string">
        <xs:pattern value="\d{1,10}"/> <!-- base 10 int -->
        <xs:pattern value="0[xX][0-9a-fA-F]{1,8}"/> <!-- base 16 -->
        <xs:pattern value="0[bB][0-1]{1,32}"/> <!-- base 1 -->
        <xs:pattern value="NaN"/> <!-- Allow not-a-number as a default (for params) -->
    </xs:restriction>
  </xs:simpleType>
</xs:attribute>
<xs:attribute name="type"> <!-- used in field elements -->
  <xs:simpleType>
    <xs:restriction base="xs:string">
        <xs:pattern value="float(\[([0-9])+\])?"/>
        <xs:pattern value="double(\[([0-9])+\])?"/>
        <xs:pattern value="char(\[([0-9])+\])?"/>
        <xs:pattern value="int8_t(\[([0-9])+\])?"/>
        <xs:pattern value="uint8_t(\[([0-9])+\])?"/>
        <xs:pattern value="uint8_t_mavlink_version"/>
        <xs:pattern value="int16_t(\[([0-9])+\])?"/>
        <xs:pattern value="uint16_t(\[([0-9])+\])?"/>
        <xs:pattern value="int32_t(\[([0-9])+\])?"/>
        <xs:pattern value="uint32_t(\[([0-9])+\])?"/>
        <xs:pattern value="int64_t(\[([0-9])+\])?"/>
        <xs:pattern value="uint64_t(\[([0-9])+\])?"/>
        <xs:pattern value="array\[[0-9]+\]"/> <!-- 0.9 compatibility -->
    </xs:restriction>
  </xs:simpleType>
</xs:attribute>
<xs:attribute name="since"> <!-- used in deprecated elements -->
  <xs:simpleType>
    <xs:restriction base="xs:string">
      <xs:pattern value="(20)\d{2}-(0[1-9]|1[012])"/>  <!-- restrict dates to 20YY-MM format -->
    </xs:restriction>
  </xs:simpleType>
</xs:attribute>
<xs:attribute name="replaced_by" type="xs:string"/> <!-- used in deprecated elements -->

<xs:simpleType name="SI_Unit">
  <xs:restriction base="xs:string">
    <!-- time -->
    <xs:enumeration value="s"/>        <!-- seconds -->
    <xs:enumeration value="ds"/>       <!-- deciseconds -->
    <xs:enumeration value="cs"/>       <!-- centiseconds -->
    <xs:enumeration value="ms"/>       <!-- milliseconds -->
    <xs:enumeration value="us"/>       <!-- microseconds -->
    <xs:enumeration value="Hz"/>       <!-- Herz -->
    <xs:enumeration value="MHz"/>      <!-- Mega-Herz -->
    <!-- distance -->
    <xs:enumeration value="km"/>       <!-- kilometres -->
    <xs:enumeration value="dam"/>      <!-- decametres -->
    <xs:enumeration value="m"/>        <!-- metres -->
    <xs:enumeration value="m/s"/>      <!-- metres per second -->
    <xs:enumeration value="m/s/s"/>    <!-- metres per second per second -->
    <xs:enumeration value="m/s*5"/>    <!-- metres per second * 5 required from dagar for HIGH_LATENCY2 message -->
    <xs:enumeration value="dm"/>       <!-- decimetres -->
    <xs:enumeration value="dm/s"/>     <!-- decimetres per second -->
    <xs:enumeration value="cm"/>       <!-- centimetres -->
    <xs:enumeration value="cm^2"/>     <!-- centimetres squared (typically used in variance) -->
    <xs:enumeration value="cm/s"/>     <!-- centimetres per second -->
    <xs:enumeration value="mm"/>       <!-- millimetres -->
    <xs:enumeration value="mm/s"/>     <!-- millimetres per second -->
    <xs:enumeration value="mm/h"/>     <!-- millimetres per hour -->
    <!-- temperature -->
    <xs:enumeration value="K"/>        <!-- Kelvin -->
    <xs:enumeration value="degC"/>     <!-- degrees Celsius -->
    <xs:enumeration value="cdegC"/>    <!-- centi degrees Celsius -->
    <!-- angle -->
    <xs:enumeration value="rad"/>      <!-- radians -->
    <xs:enumeration value="rad/s"/>    <!-- radians per second -->
    <xs:enumeration value="mrad/s"/>   <!-- milli-radians per second -->
    <xs:enumeration value="deg"/>      <!-- degrees -->
    <xs:enumeration value="deg/2"/>    <!-- degrees/2 required from dagar for HIGH_LATENCY2 message-->
    <xs:enumeration value="deg/s"/>    <!-- degrees per second -->
    <xs:enumeration value="cdeg"/>     <!-- centidegrees -->
    <xs:enumeration value="degE5"/>    <!-- degrees * 10E5 -->
    <xs:enumeration value="degE7"/>    <!-- degrees * 10E7 -->
    <xs:enumeration value="rpm"/>      <!-- rotations per second -->
    <!-- electricity -->
    <xs:enumeration value="V"/>        <!-- Volt -->
    <xs:enumeration value="cV"/>       <!-- centi-Volt -->
    <xs:enumeration value="mV"/>       <!-- milli-Volt -->
    <xs:enumeration value="A"/>        <!-- Ampere -->
    <xs:enumeration value="cA"/>       <!-- centi-Ampere -->
    <xs:enumeration value="mA"/>       <!-- milli-Ampere -->
    <xs:enumeration value="mAh"/>      <!-- milli-Ampere hour -->
    <!-- magnetism -->
    <xs:enumeration value="mT"/>       <!-- milli-Tesla -->
    <xs:enumeration value="gauss"/>    <!-- Gauss -->
    <xs:enumeration value="mgauss"/>   <!-- milli-Gauss -->
    <!-- energy -->
    <xs:enumeration value="hJ"/>       <!-- hecto-Joule -->
    <!-- force -->
    <xs:enumeration value="mG"/>       <!-- milli-G -->
    <!-- mass -->
    <xs:enumeration value="g"/>       <!-- grams -->
    <!-- pressure -->
    <xs:enumeration value="Pa"/>       <!-- Pascal -->
    <xs:enumeration value="hPa"/>      <!-- hecto-Pascal -->
    <xs:enumeration value="mbar"/>     <!-- millibar -->
    <!-- ratio -->
    <xs:enumeration value="%"/>        <!-- percent -->
    <xs:enumeration value="d%"/>       <!-- decipercent -->
    <xs:enumeration value="c%"/>       <!-- centipercent -->
    <xs:enumeration value="dB"/>       <!-- Deci-Bell -->
    <xs:enumeration value="dBm"/>      <!-- Deci-Bell-milliwatts-->
    <!-- digital -->
    <xs:enumeration value="KiB"/>      <!-- Kibibyte (1024 bytes) -->
    <xs:enumeration value="KiB/s"/>    <!-- Kibibyte (1024 bytes) per second -->
    <xs:enumeration value="MiB"/>      <!-- Mebibyte (1024*1024 bytes) -->
    <xs:enumeration value="MiB/s"/>    <!-- Mebibyte (1024*1024 bytes) per second -->
    <xs:enumeration value="bytes"/>    <!-- bytes -->
    <xs:enumeration value="bytes/s"/>  <!-- bytes per second-->
    <xs:enumeration value="bits/s"/>   <!-- bits per second -->
    <xs:enumeration value="pix"/>      <!-- pixels -->
    <xs:enumeration value="dpix"/>     <!-- decipixels -->
  </xs:restriction>
</xs:simpleType>

<!-- definition param elements attributes (like the ones used on MAV_CMD for example) -->
<xs:attribute name="index" type="xs:unsignedByte"/>                    <!-- parameter index -->
<xs:attribute name="label" type="xs:string"/>                          <!-- parameter label (name) -->
<xs:attribute name="decimalPlaces" type="xs:unsignedByte"/>            <!-- parameter number of decimal places to be displayed in the GUI -->
<xs:attribute name="increment" type="xs:float"/>                       <!-- parameter increment -->
<xs:attribute name="minValue" type="xs:float"/>                        <!-- parameter minimum value -->
<xs:attribute name="maxValue" type="xs:float"/>                        <!-- parameter maximum value -->
<xs:attribute name="reserved" type="xs:boolean" default="false"/>      <!-- parameter is reserved -->

<!-- definition entry elements attributes (like the ones used on MAV_CMD for example) -->
<xs:attribute name="hasLocation" type="xs:boolean" default="true"/>    <!-- entry has lat/lon/alt location -->
<xs:attribute name="isDestination" type="xs:boolean" default="true"/>  <!-- entry is a destination -->

<!-- definition of complex elements -->
<xs:element name="param">
    <xs:complexType mixed="true">
        <xs:attribute ref="index" use="required"/>
        <xs:attribute ref="label"/>
        <xs:attribute ref="units"/>
        <xs:attribute ref="enum" />
        <xs:attribute ref="decimalPlaces"/>
        <xs:attribute ref="increment"/>
        <xs:attribute ref="minValue"/>
        <xs:attribute ref="maxValue"/>
        <xs:attribute ref="reserved"/>
        <xs:attribute ref="default"/>
    </xs:complexType>
</xs:element>

<xs:element name="deprecated">
    <xs:complexType mixed="true">
        <xs:sequence>
            <xs:element ref="description" minOccurs="0"/>
        </xs:sequence>
        <xs:attribute ref="since" use="required"/>
        <xs:attribute ref="replaced_by" use="required"/>
    </xs:complexType>
</xs:element>

<xs:element name="wip">
    <xs:complexType mixed="true">
        <xs:sequence>
            <xs:element ref="description" minOccurs="0"/>
        </xs:sequence>
    </xs:complexType>
</xs:element>

<xs:element name="field">
    <xs:complexType mixed="true">
        <xs:sequence>
            <xs:element ref="description" minOccurs="0"/>
        </xs:sequence>
        <xs:attribute ref="type" use="required"/>
        <xs:attribute ref="name" use="required"/>
        <xs:attribute ref="print_format" />
        <xs:attribute ref="enum" />
        <xs:attribute ref="display" />
        <xs:attribute ref="units" />
        <xs:attribute ref="default" />
    </xs:complexType>
</xs:element>

<xs:element name="extensions">
</xs:element>

<xs:element name="entry">
    <xs:complexType>
        <xs:sequence>
            <xs:choice minOccurs="0" maxOccurs="1">
                <xs:element ref="deprecated"/>
                <xs:element ref="wip"/>
            </xs:choice>
            <xs:element ref="description" minOccurs="0"/>
            <xs:element ref="param" minOccurs="0" maxOccurs="unbounded" />
        </xs:sequence>
        <xs:attribute ref="value" />
        <xs:attribute ref="name" use="required"/>
        <xs:attribute ref="hasLocation"/>
        <xs:attribute ref="isDestination"/>
    </xs:complexType>
</xs:element>

<xs:element name="enum">
    <xs:complexType>
        <xs:sequence>
            <xs:element ref="deprecated" minOccurs="0" maxOccurs="1"/>
            <xs:element ref="description" minOccurs="0"/>
            <xs:element ref="entry" maxOccurs="unbounded"/>
        </xs:sequence>
        <xs:attribute ref="name" use="required"/>
    </xs:complexType>
</xs:element>

<xs:element name="message">
    <xs:complexType>
        <xs:sequence>
            <xs:sequence minOccurs="1" maxOccurs="1">
                <xs:choice minOccurs="0" maxOccurs="1">
                    <xs:element ref="deprecated"/>
                    <xs:element ref="wip"/>
                </xs:choice>
                <xs:element ref="description" minOccurs="1" maxOccurs="1"/>
                <xs:element ref="field" minOccurs="0" maxOccurs="unbounded"/>
            </xs:sequence>
            <!-- MavLink 2.0 extensions are optional hence minOccurs="0" -->
            <xs:sequence minOccurs="0" maxOccurs="1">
                <xs:element ref="extensions" minOccurs="1" maxOccurs="1"/>
                <xs:element ref="field" minOccurs="1" maxOccurs="unbounded"/>
            </xs:sequence>
        </xs:sequence>
        <xs:attribute ref="id" use="required"/>
        <xs:attribute ref="name" use="required"/>
    </xs:complexType>
</xs:element>

<xs:element name="enums">
    <xs:complexType>
        <xs:sequence>
            <xs:element ref="enum" maxOccurs="unbounded" minOccurs="0"/>
        </xs:sequence>
    </xs:complexType>
</xs:element>

<xs:element name="messages">
    <xs:complexType>
        <xs:sequence>
            <xs:element ref="message" maxOccurs="unbounded" minOccurs="0"/>
        </xs:sequence>
    </xs:complexType>
</xs:element>

<xs:element name="mavlink">
    <xs:complexType>
        <xs:sequence>
            <xs:element ref="include" minOccurs="0" maxOccurs="unbounded"/>
            <xs:element ref="version" minOccurs="0"/>
            <xs:element ref="dialect" minOccurs="0"/>
            <xs:element ref="enums" minOccurs="0"/>
            <xs:element ref="messages"/>
        </xs:sequence>
        <xs:attribute name="file" type="xs:anyURI"/>
    </xs:complexType>
</xs:element>

</xs:schema>