Generate mavlink message formatters and parsers (C and Python ) using options
    and args where args are a list of xml files. This function allows python
    scripts under Windows to control mavgen using the same interface as
    shell scripts under Unix

def mavgen(opts, args):
    """Generate mavlink message formatters and parsers (C and Python ) using options
    and args where args are a list of xml files. This function allows python
    scripts under Windows to control mavgen using the same interface as
    shell scripts under Unix"""

    xml = []

    # Enable validation by default, disabling it if explicitly requested
    if opts.validate:
        try:
            from lxml import etree
            with open(schemaFile, 'r') as f:
                xmlschema_root = etree.parse(f)
                xmlschema = etree.XMLSchema(xmlschema_root)
        except:
            print("WARNING: Unable to load XML validator libraries. XML validation will not be performed", file=sys.stderr)
            opts.validate = False

    def mavgen_validate(xmlfile):
        """Uses lxml to validate an XML file. We define mavgen_validate
           here because it relies on the XML libs that were loaded in mavgen(), so it can't be called standalone"""
        xmlvalid = True
        try:
            with open(xmlfile, 'r') as f:
                xmldocument = etree.parse(f)
                xmlschema.assertValid(xmldocument)
                forbidden_names_re = re.compile("^(break$|case$|class$|catch$|const$|continue$|debugger$|default$|delete$|do$|else$|\
                                    export$|extends$|finally$|for$|function$|if$|import$|in$|instanceof$|let$|new$|\
                                    return$|super$|switch$|this$|throw$|try$|typeof$|var$|void$|while$|with$|yield$|\
                                    enum$|await$|implements$|package$|protected$|static$|interface$|private$|public$|\
                                    abstract$|boolean$|byte$|char$|double$|final$|float$|goto$|int$|long$|native$|\
                                    short$|synchronized$|transient$|volatile$).*", re.IGNORECASE)
                for element in xmldocument.iter('enum', 'entry', 'message', 'field'):
                    if forbidden_names_re.search(element.get('name')):
                        print("Validation error:", file=sys.stderr)
                        print("Element : %s at line : %s contains forbidden word" % (element.tag, element.sourceline), file=sys.stderr)
                        xmlvalid = False

            return xmlvalid
        except etree.XMLSchemaError:
            return False

    # Process all XML files, validating them as necessary.
    for fname in args:
        if opts.validate:
            print("Validating %s" % fname)
            if not mavgen_validate(fname):
                return False
        else:
            print("Validation skipped for %s." % fname)

        print("Parsing %s" % fname)
        xml.append(mavparse.MAVXML(fname, opts.wire_protocol))

    # expand includes
    for x in xml[:]:
        for i in x.include:
            fname = os.path.join(os.path.dirname(x.filename), i)

            # Validate XML file with XSD file if possible.
            if opts.validate:
                print("Validating %s" % fname)
                if not mavgen_validate(fname):
                    return False
            else:
                print("Validation skipped for %s." % fname)

            # Parsing
            print("Parsing %s" % fname)
            xml.append(mavparse.MAVXML(fname, opts.wire_protocol))

            # include message lengths and CRCs too
            x.message_crcs.update(xml[-1].message_crcs)
            x.message_lengths.update(xml[-1].message_lengths)
            x.message_min_lengths.update(xml[-1].message_min_lengths)
            x.message_flags.update(xml[-1].message_flags)
            x.message_target_system_ofs.update(xml[-1].message_target_system_ofs)
            x.message_target_component_ofs.update(xml[-1].message_target_component_ofs)
            x.message_names.update(xml[-1].message_names)
            x.largest_payload = max(x.largest_payload, xml[-1].largest_payload)

    # work out max payload size across all includes
    largest_payload = 0
    for x in xml:
        if x.largest_payload > largest_payload:
            largest_payload = x.largest_payload
    for x in xml:
        x.largest_payload = largest_payload

    if mavparse.check_duplicates(xml):
        sys.exit(1)

    print("Found %u MAVLink message types in %u XML files" % (
        mavparse.total_msgs(xml), len(xml)))

    # Convert language option to lowercase and validate
    opts.language = opts.language.lower()
    if opts.language == 'python':
        from . import mavgen_python
        mavgen_python.generate(opts.output, xml)
    elif opts.language == 'c':
        from . import mavgen_c
        mavgen_c.generate(opts.output, xml)
    elif opts.language == 'wlua':
        from . import mavgen_wlua
        mavgen_wlua.generate(opts.output, xml)
    elif opts.language == 'cs':
        from . import mavgen_cs
        mavgen_cs.generate(opts.output, xml)
    elif opts.language == 'javascript':
        from . import mavgen_javascript
        mavgen_javascript.generate(opts.output, xml)
    elif opts.language == 'objc':
        from . import mavgen_objc
        mavgen_objc.generate(opts.output, xml)
    elif opts.language == 'swift':
        from . import mavgen_swift
        mavgen_swift.generate(opts.output, xml)
    elif opts.language == 'java':
        from . import mavgen_java
        mavgen_java.generate(opts.output, xml)
    else:
        print("Unsupported language %s" % opts.language)

    return True