Index: lib/MsgUtils/cmake/MsgUtils.cmake
===================================================================
diff -u -rcfc0df719cb5033078d0cac45ce0f6243810f2e7 -rfa691c15183dfe8596de699ef8c3a7fcdb90edab
--- lib/MsgUtils/cmake/MsgUtils.cmake	(.../MsgUtils.cmake)	(revision cfc0df719cb5033078d0cac45ce0f6243810f2e7)
+++ lib/MsgUtils/cmake/MsgUtils.cmake	(.../MsgUtils.cmake)	(revision fa691c15183dfe8596de699ef8c3a7fcdb90edab)
@@ -1,10 +1,101 @@
+#   \brief  This function adds a custom command to generate message defintions from inputted message conf files
+#   \param[in]  _input_confs         list of message conf files to use to generate the header
+#   \param[in]  _device_name        name of device these files are being generated for
+#   \param[in]  _header_dir         directory where the header file will be outputted
+#   \param[in]  _source_dir         directory where the source file will be outputted
+#   \param[in]  _namespace          C++ namespace for the outputted message definitions
+function(generate_msg_defs_cpp _input_confs _device_name _header_dir _source_dir _namespace)
+    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+
+    # create a variable with the full path output header file
+    get_filename_component(_header_dir ${_header_dir} ABSOLUTE) # cmake < 3.20
+    # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _header_path)
+    string(JOIN "/" _header_path ${_header_dir} ${_device_name}MsgDefs.h)
+
+    # create a variable with the full path output header file
+    get_filename_component(_source_dir ${_source_dir} ABSOLUTE) # cmake < 3.20
+    # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _source_path)
+    string(JOIN "/" _source_path ${_source_dir} ${_device_name}MsgDefs.cpp)
+
+    # generate a pretty string containing a list of the relative paths of all csv files
+    foreach(_path ${${_input_confs}})
+        # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _path)
+        get_filename_component(_path ${_path} ABSOLUTE)
+        list(APPEND _files ${_path})
+    endforeach()
+    list(JOIN _files ", " _file_list)
+
+    add_custom_command(
+        DEPENDS
+            ${MSGUTILS_SCRIPTS_DIR}/MsgData.py
+            ${MSGUTILS_SCRIPTS_DIR}/MsgCpp.py
+            ${MSGUTILS_SCRIPTS_DIR}/GenerateMsgDefsCpp.py
+            ${MSGUTILS_SCRIPTS_DIR}/templates/MsgDefs_h.jinja
+            ${MSGUTILS_SCRIPTS_DIR}/templates/MsgDefs_cpp.jinja
+            ${${_input_confs}}
+        OUTPUT
+            ${_header_path}
+            ${_source_path}
+        COMMAND
+            ${Python3_EXECUTABLE} ${MSGUTILS_SCRIPTS_DIR}/GenerateMsgDefsCpp.py
+                --namespace ${_namespace}
+                --header_dir ${_header_dir}
+                --source_dir ${_source_dir}
+                ${${_input_confs}}
+                ${_device_name}
+        COMMENT "Generating MsgDefs C++ header ${_header_path} and source ${_source_path} from input ${_file_list}"
+        VERBATIM
+    )
+endfunction()
+
+#   \brief  This function adds a custom command to generate a Protobuf file from inputted message conf files
+#   \param[in]  _input_confs         list of message conf files to use to generate the header
+#   \param[in]  _protobuf_filename  name of the generated protobuf file
+#   \param[in]  _output_path        directory where the header file will be outputted
+#   \param[in]  _namespace          C++ namespace for the outputted message definitions
+function(generate_protobuf _input_confs _protobuf_filename _output_path _namespace)
+    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+
+    # create a variable with the full path output header file
+    string(JOIN "/" _protobuf_abs_filename ${_output_path} ${_protobuf_filename})
+    # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _protobuf_abs_filename)
+    get_filename_component(_protobuf_abs_filename ${_protobuf_abs_filename} ABSOLUTE) # cmake < 3.20
+
+    # generate a pretty string containing a list of the relative paths of all csv files
+    foreach(_path ${${_input_confs}})
+        # cmake >= 3.20: cmake_path(ABSOLUTE_PATH _path)
+        get_filename_component(_path ${_path} ABSOLUTE) # cmake < 3.20
+        list(APPEND _files ${_path})
+    endforeach()
+    list(JOIN _files ", " _file_list)
+
+    add_custom_command(
+        DEPENDS
+            ${MSGUTILS_SCRIPTS_DIR}/MsgData.py
+            ${MSGUTILS_SCRIPTS_DIR}/MsgProtobuf.py
+            ${MSGUTILS_SCRIPTS_DIR}/GenerateProtobuf.py
+            ${MSGUTILS_SCRIPTS_DIR}/templates/MsgDefs_proto.jinja
+            ${${_input_confs}}
+        OUTPUT
+            ${_protobuf_abs_filename}
+        COMMAND
+            ${Python3_EXECUTABLE} ${MSGUTILS_SCRIPTS_DIR}/GenerateProtobuf.py
+                --namespace ${_namespace}
+                --output_dir ${_output_path}
+                ${${_input_confs}}
+                ${_protobuf_filename}
+        COMMENT "Generating Protobuf definitions ${_protobuf_abs_filename} from input ${_file_list}"
+        VERBATIM
+    )
+endfunction()
+
 #   \brief  This function adds a custom command to generate message defintions from inputted CSV files
 #   \param[in]  _input_csvs         list of CSV files to use to generate the header
 #   \param[in]  _device_name        name of device these files are being generated for
 #   \param[in]  _header_dir         directory where the header file will be outputted
 #   \param[in]  _source_dir         directory where the source file will be outputted
 #   \param[in]  _namespace          C++ namespace for the outputted message definitions
-function(generate_msg_defs_cpp _input_csvs _device_name _header_dir _source_dir _namespace)
+function(generate_msg_defs_cpp_csvs _input_csvs _device_name _header_dir _source_dir _namespace)
     find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
 
     # create a variable with the full path output header file
@@ -53,7 +144,7 @@
 #   \param[in]  _protobuf_filename  name of the generated protobuf file
 #   \param[in]  _output_path        directory where the header file will be outputted
 #   \param[in]  _namespace          C++ namespace for the outputted message definitions
-function(generate_protobuf _input_csvs _protobuf_filename _output_path _namespace)
+function(generate_protobuf_csvs _input_csvs _protobuf_filename _output_path _namespace)
     find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
 
     # create a variable with the full path output header file