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modified mavlink xml parser to allow any array type 

I added the ability for the parser to pack an array of any mavlink standard type.  This will allow array types to be specified for mavlink messages without using the type="array" syntax.

I also changed how a bunch of the strings were constructed to more closely conform to the coding style guidelines by reducing the number of implicit copy constructor calls
QGC4.4
Bryan Godbolt 15 years ago
parent
aa35c64ae3
commit
0f2ef0c1bf
1 changed files with 55 additions and 22 deletions
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  1. 77
      src/comm/MAVLinkXMLParser.cc

77
src/comm/MAVLinkXMLParser.cc
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@ -204,31 +204,33 @@ bool MAVLinkXMLParser::generate() @@ -204,31 +204,33 @@ bool MAVLinkXMLParser::generate()
usedMessageNames->insert(messageName, QString::number(e.lineNumber()));
}
QString channelType = "mavlink_channel_t";
QString messageType = "mavlink_message_t";
QString channelType("mavlink_channel_t");
QString messageType("mavlink_message_t");
// Build up function call
QString commentContainer = "/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n";
QString commentEntry = " * @param %1 %2\n";
QString commentContainer("/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n");
QString commentEntry(" * @param %1 %2\n");
QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
QString arrayDefines = "";
QString arrayDefines;
QString cStructName = QString("mavlink_%1_t").arg(messageName);
QString cStruct = "typedef struct __%1 \n{\n%2\n} %1;";
QString cStructLines = "";
QString encode = "static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n";
QString cStruct("typedef struct __%1 \n{\n%2\n} %1;");
QString cStructLines;
QString encode("static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n");
QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n");
QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n");
QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif");
//QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
QString unpacking = "";
QString prepends = "";
QString packParameters = "";
QString packArguments = "system_id, component_id, msg";
QString packLines = "";
QString decodeLines = "";
QString sendArguments = "";
QString commentLines = "";
QString unpacking;
QString prepends;
QString packParameters;
QString packArguments("system_id, component_id, msg");
QString packLines;
QString decodeLines;
QString sendArguments;
QString commentLines;
// Get the message fields
QDomNode f = e.firstChild();
@ -241,6 +243,9 @@ bool MAVLinkXMLParser::generate() @@ -241,6 +243,9 @@ bool MAVLinkXMLParser::generate()
QString fieldName = e2.attribute("name", "");
QString fieldText = e2.text();
QString unpackingCode;
QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
// Send arguments are the same for integral types and arrays
sendArguments += ", " + fieldName;
@ -255,7 +260,7 @@ bool MAVLinkXMLParser::generate() @@ -255,7 +260,7 @@ bool MAVLinkXMLParser::generate()
// Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText);
// Add pack line to message_xx_pack function
packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
// Add decode function for this type
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
@ -275,6 +280,29 @@ bool MAVLinkXMLParser::generate() @@ -275,6 +280,29 @@ bool MAVLinkXMLParser::generate()
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
}
// Expand array handling to all valid mavlink data types
else if(fieldType.contains('[') && fieldType.contains(']'))
{
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
QString arrayType = fieldType.split("[").first();
packParameters += QString(", const ") + arrayType + "* " + fieldName;
packArguments += ", " + messageName + "->" + fieldName;
// Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
// Add pack line to message_xx_pack function
packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); //%4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
// Add decode function for this type
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, sizeof(%2)*%3);\n\treturn sizeof(%2)*%3;").arg(prepends, arrayType, QString::number(arrayLength));
unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode);
// decodeLines += "";
prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength));
}
else
// Handle simple types like integers and floats
{
@ -289,9 +317,9 @@ bool MAVLinkXMLParser::generate() @@ -289,9 +317,9 @@ bool MAVLinkXMLParser::generate()
decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
}
commentLines += commentEntry.arg(fieldName, fieldText);
QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
//
QString unpackingCode;
// QString unpackingCode;
if (fieldType == "uint8_t" || fieldType == "int8_t")
{
@ -322,6 +350,7 @@ bool MAVLinkXMLParser::generate() @@ -322,6 +350,7 @@ bool MAVLinkXMLParser::generate()
unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
}
// Generate the message decoding function
// Array handling is different from simple types
if (fieldType.startsWith("array"))
@ -338,6 +367,10 @@ bool MAVLinkXMLParser::generate() @@ -338,6 +367,10 @@ bool MAVLinkXMLParser::generate()
QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
prepends += "+" + arrayLength;
}
else if(fieldType.contains('[') && fieldType.contains(']'))
{
// prevent this case from being caught in the following else
}
else
{
unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode);

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