For anyone who tackles something similar here's my solution:
Quick code example on a gist
Here's the code on a github gist for anyone who wants to get in on the copy paste action.
TL;DR
TL;DR Loop over list, drill down if there's a sub menu, close if we reach the end of the sub menu and menu.
Complete Code explanation
Firstly get the menu items as a flat array:
<?php
$menu_name = 'main_nav';
$locations = get_nav_menu_locations();
$menu = wp_get_nav_menu_object( $locations[ $menu_name ] );
$menuitems = wp_get_nav_menu_items( $menu->term_id, array( 'order' => 'DESC' ) );
?>
Then iterate over the array of the menu items:
<nav>
<ul class="main-nav">
<?php
$count = 0;
$submenu = false;
foreach( $menuitems as $item ):
// set up title and url
$title = $item->title;
$link = $item->url;
// item does not have a parent so menu_item_parent equals 0 (false)
if ( !$item->menu_item_parent ):
// save this id for later comparison with sub-menu items
$parent_id = $item->ID;
?>
Write the first parent item <li>
:
<li class="item">
<a href="<?php echo $link; ?>" class="title">
<?php echo $title; ?>
</a>
<?php endif; ?>
Check that this items' parent id matches the stored parent id:
<?php if ( $parent_id == $item->menu_item_parent ): ?>
Start sub-menu <ul>
and set $submenu
flag to true for later referance:
<?php if ( !$submenu ): $submenu = true; ?>
<ul class="sub-menu">
<?php endif; ?>
Write the sub-menu item:
<li class="item">
<a href="<?php echo $link; ?>" class="title"><?php echo $title; ?></a>
</li>
If the next item does not have the same parent id and we have a sub-menu declared then close the sub-menu <ul>
<?php if ( $menuitems[ $count + 1 ]->menu_item_parent != $parent_id && $submenu ): ?>
</ul>
<?php $submenu = false; endif; ?>
<?php endif; ?>
Again, if the next item in the array does not have the same parent id close the <li>
<?php if ( $menuitems[ $count + 1 ]->menu_item_parent != $parent_id ): ?>
</li>
<?php $submenu = false; endif; ?>
<?php $count++; endforeach; ?>
</ul>
</nav>
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