text: #!/usr/bin/env python
  ############################################################################
  #
  #   Copyright (C) 2017 PX4 Development Team. All rights reserved.
  #
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions
  # are met:
  #
  # 1. Redistributions of source code must retain the above copyright
  #    notice, this list of conditions and the following disclaimer.
  # 2. Redistributions in binary form must reproduce the above copyright
  #    notice, this list of conditions and the following disclaimer in
  #    the documentation and/or other materials provided with the
  #    distribution.
  # 3. Neither the name PX4 nor the names of its contributors may be
  #    used to endorse or promote products derived from this software
  #    without specific prior written permission.
  #
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
  # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
  # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  # POSSIBILITY OF SUCH DAMAGE.
  #
  ############################################################################
  
  #
  # PX4 module documentation processor (main executable file)
  #
  # This tool scans the PX4 source code for declarations of module documentations
  # in the form PRINT_MODULE_* and converts them into Mardown output
  #
  
  from __future__ import print_function
  import sys
  import os
  import argparse
  from px4moduledoc import srcscanner, srcparser, markdownout
  
  import re
  import json
  import codecs
  
  def main():
      # Parse command line arguments
      parser = argparse.ArgumentParser(description="Process module documentation.")
      parser.add_argument("-s", "--src-path",
                          default=["../src"],
                          metavar="PATH",
                          nargs='*',
                          help="one or more paths to source files to scan for parameters")
      parser.add_argument("-m", "--markdown",
                          nargs='?',
                          const=".",
                          metavar="DIRECTORY",
                          help="Markdown output directory"
                               " (default DIRECTORY: .)")
      parser.add_argument('--no-validation', action='store_true', help="do not fail if consistency checks fail")
      parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
  
      args = parser.parse_args()
  
      # Check for valid command
      if not (args.markdown):
          print("Error: You need to specify at least one output method!")
          parser.print_usage()
          sys.exit(1)
  
      # Initialize source scanner and parser
      scanner = srcscanner.SourceScanner()
      parser = srcparser.SourceParser()
  
      # Scan directories, and parse the files
      if (args.verbose): print("Scanning source path " + str(args.src_path))
  
      if not scanner.ScanDir(args.src_path, parser):
          sys.exit(1)
  
      if not args.no_validation and parser.HasValidationFailure():
          print("Error: validation failed")
          sys.exit(1)
  
      module_groups = parser.GetModuleGroups()
  
  
      # Output to Markdown/HTML tables
      if args.markdown:
          if (args.verbose): print("Creating markdown output to directory " + str(args.markdown))
          if not os.path.exists(args.markdown):
              os.makedirs(args.markdown)
          out = markdownout.MarkdownOutput(module_groups)
          out.Save(args.markdown)
  
  
  if __name__ == "__main__":
      main()
  