Simple WP Menu

wp_get_nav_menu_items exemple

function mg_clean_custom_menu( $theme_location ) {
	if ( ( $theme_location )
		&& ( $locations = get_nav_menu_locations() )
		&& isset($locations[$theme_location]) ) {

		$menu = get_term( $locations[$theme_location], 'nav_menu' );
		$menu_items = wp_get_nav_menu_items($menu->term_id);

		// $menu_list  = '<nav>' ."\n";
		$menu_list .= '<ul class="nav nav-pills">' ."\n";

		$count = 0;
		$submenu = false;

		foreach( $menu_items as $menu_item ) {

			$link = $menu_item->url;
			$title = $menu_item->title;

			if ( !$menu_item->menu_item_parent ) {
				$parent_id = $menu_item->ID;

				$menu_list .= '<li class="item">' ."\n";
				$menu_list .= '<a href="'.$link.'" class="title">'.$title.'</a>' ."\n";
			}

			if ( $parent_id == $menu_item->menu_item_parent ) {

				if ( !$submenu ) {
					$submenu = true;
					$menu_list .= '<ul class="sub-menu">' ."\n";
				}

				$menu_list .= '<li class="item">' ."\n";
				$menu_list .= '<a href="'.$link.'" class="title">'.$title.'</a>' ."\n";
				$menu_list .= '</li>' ."\n";


				if ( $menu_items[ $count + 1 ]->menu_item_parent != $parent_id && $submenu ){
					$menu_list .= '</ul>' ."\n";
					$submenu = false;
				}

			}

			if ( $menu_items[ $count + 1 ]->menu_item_parent != $parent_id ) {
				$menu_list .= '</li>' ."\n";
				$submenu = false;
			}

			$count++;
		}

		$menu_list .= '</ul>' ."\n";
		$menu_list .= '</nav>' ."\n";

	} else {
		$menu_list = '<!-- no menu defined in location "'.$theme_location.'" -->';
	}
	echo $menu_list;
}