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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()
usedMessageNames->insert(messageName, QString::number(e.lineNumber())); usedMessageNames->insert(messageName, QString::number(e.lineNumber()));
} }
QString channelType = "mavlink_channel_t"; QString channelType("mavlink_channel_t");
QString messageType = "mavlink_message_t"; QString messageType("mavlink_message_t");
// Build up function call // 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 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 commentEntry(" * @param %1 %2\n");
QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId)); 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 cStructName = QString("mavlink_%1_t").arg(messageName);
QString cStruct = "typedef struct __%1 \n{\n%2\n} %1;"; QString cStruct("typedef struct __%1 \n{\n%2\n} %1;");
QString cStructLines = ""; 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 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 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 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 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 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 unpacking;
QString prepends = ""; QString prepends;
QString packParameters = ""; QString packParameters;
QString packArguments = "system_id, component_id, msg"; QString packArguments("system_id, component_id, msg");
QString packLines = ""; QString packLines;
QString decodeLines = ""; QString decodeLines;
QString sendArguments = ""; QString sendArguments;
QString commentLines = ""; QString commentLines;
// Get the message fields // Get the message fields
QDomNode f = e.firstChild(); QDomNode f = e.firstChild();
@ -241,6 +243,9 @@ bool MAVLinkXMLParser::generate()
QString fieldName = e2.attribute("name", ""); QString fieldName = e2.attribute("name", "");
QString fieldText = e2.text(); 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 // Send arguments are the same for integral types and arrays
sendArguments += ", " + fieldName; sendArguments += ", " + fieldName;
@ -255,7 +260,7 @@ bool MAVLinkXMLParser::generate()
// Add field to C structure // Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText); cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText);
// Add pack line to message_xx_pack function // 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 // Add decode function for this type
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); 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)); 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()
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); 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)); 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 else
// Handle simple types like integers and floats // Handle simple types like integers and floats
{ {
@ -289,9 +317,9 @@ bool MAVLinkXMLParser::generate()
decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName); decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
} }
commentLines += commentEntry.arg(fieldName, fieldText); 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") if (fieldType == "uint8_t" || fieldType == "int8_t")
{ {
@ -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()); 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 // Generate the message decoding function
// Array handling is different from simple types // Array handling is different from simple types
if (fieldType.startsWith("array")) if (fieldType.startsWith("array"))
@ -338,6 +367,10 @@ bool MAVLinkXMLParser::generate()
QString arrayLength = QString(fieldType.split("[").at(1).split("]").first()); QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
prepends += "+" + arrayLength; prepends += "+" + arrayLength;
} }
else if(fieldType.contains('[') && fieldType.contains(']'))
{
// prevent this case from being caught in the following else
}
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); 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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