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651 lines
44 KiB
651 lines
44 KiB
/*===================================================================== |
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======================================================================*/ |
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/** |
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* @file |
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* @brief Implementation of class MAVLinkXMLParser |
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* @author Lorenz Meier <mail@qgroundcontrol.org> |
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*/ |
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#include <QFile> |
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#include <QDir> |
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#include <QPair> |
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#include <QList> |
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#include <QMap> |
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#include <QDateTime> |
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#include <QLocale> |
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#include "MAVLinkXMLParser.h" |
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#include <QDebug> |
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MAVLinkXMLParser::MAVLinkXMLParser(QDomDocument* document, QString outputDirectory, QObject* parent) : QObject(parent), |
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doc(document), |
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outputDirName(outputDirectory), |
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fileName("") |
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{ |
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} |
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MAVLinkXMLParser::MAVLinkXMLParser(QString document, QString outputDirectory, QObject* parent) : QObject(parent) |
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{ |
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doc = new QDomDocument(); |
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QFile file(document); |
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if (file.open(QIODevice::ReadOnly | QIODevice::Text)) |
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{ |
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const QString instanceText(QString::fromUtf8(file.readAll())); |
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doc->setContent(instanceText); |
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} |
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fileName = document; |
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outputDirName = outputDirectory; |
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} |
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MAVLinkXMLParser::~MAVLinkXMLParser() |
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{ |
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} |
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/** |
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* Generate C-code (C-89 compliant) out of the XML protocol specs. |
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*/ |
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bool MAVLinkXMLParser::generate() |
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{ |
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// Process result |
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bool success = true; |
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// Only generate if output dir is correctly set |
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if (outputDirName == "") |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: No output directory given.\nAbort.</font>")); |
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return false; |
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} |
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QString topLevelOutputDirName = outputDirName; |
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// print out the element names of all elements that are direct children |
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// of the outermost element. |
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QDomElement docElem = doc->documentElement(); |
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QDomNode n = docElem;//.firstChild(); |
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QDomNode p = docElem; |
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// Sanity check variables |
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QList<int>* usedMessageIDs = new QList<int>(); |
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QMap<QString, QString>* usedMessageNames = new QMap<QString, QString>(); |
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QMap<QString, QString>* usedEnumNames = new QMap<QString, QString>(); |
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QList< QPair<QString, QString> > cFiles; |
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QString lcmStructDefs = ""; |
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QString pureFileName; |
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QString pureIncludeFileName; |
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QFileInfo fInfo(this->fileName); |
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pureFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first(); |
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// XML parsed and converted to C code. Now generating the files |
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outputDirName += QDir::separator() + pureFileName; |
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QDateTime now = QDateTime::currentDateTime().toUTC(); |
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QLocale loc(QLocale::English); |
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QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC"; |
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QString date = loc.toString(now, dateFormat); |
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QString includeLine = "#include \"%1\"\n"; |
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QString mainHeaderName = pureFileName + ".h"; |
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QString messagesDirName = ".";//"generated"; |
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QDir dir(outputDirName + "/" + messagesDirName); |
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int mavlinkVersion = 0; |
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// Start main header |
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QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef " + pureFileName.toUpper() + "_H\n#define " + pureFileName.toUpper() + "_H\n\n").arg(date); // The main header includes all messages |
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// Mark all code as C code |
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mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n"; |
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mainHeader += "\n#include \"../protocol.h\"\n"; |
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mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n"; |
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QString enums; |
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// Run through root children |
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while(!n.isNull()) |
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{ |
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// Each child is a message |
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QDomElement e = n.toElement(); // try to convert the node to an element. |
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if(!e.isNull()) |
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{ |
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if (e.tagName() == "mavlink") |
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{ |
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p = n; |
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n = n.firstChild(); |
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while (!n.isNull()) |
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{ |
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e = n.toElement(); |
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if (!e.isNull()) |
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{ |
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// Handle all include tags |
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if (e.tagName() == "include") |
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{ |
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QString incFileName = e.text(); |
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// Load file |
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//QDomDocument includeDoc = QDomDocument(); |
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// Prepend file path if it is a relative path and |
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// make it relative to opened file |
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QFileInfo fInfo(incFileName); |
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QString incFilePath; |
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if (fInfo.isRelative()) |
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{ |
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QFileInfo rInfo(this->fileName); |
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incFilePath = rInfo.absoluteDir().canonicalPath() + "/" + incFileName; |
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pureIncludeFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first(); |
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} |
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QFile file(incFilePath); |
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if (file.open(QIODevice::ReadOnly | QIODevice::Text)) |
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{ |
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emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(incFileName)); |
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// NEW MODE: CREATE INDIVIDUAL FOLDERS |
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// Create new output directory, parse included XML and generate C-code |
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MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this); |
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connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString))); |
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// Generate and write |
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includeParser.generate(); |
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mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n"; |
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// OLD MODE: MERGE BOTH FILES |
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// const QString instanceText(QString::fromUtf8(file.readAll())); |
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// includeDoc.setContent(instanceText); |
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// // Get all messages |
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// QDomNode in = includeDoc.documentElement().firstChild(); |
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// QDomElement ie = in.toElement(); |
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// if (!ie.isNull()) |
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// { |
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// if (ie.tagName() == "messages" || ie.tagName() == "include") |
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// { |
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// QDomNode ref = n.parentNode().insertAfter(in, n); |
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// if (ref.isNull()) |
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// { |
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// emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName)); |
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// return false; |
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// } |
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// } |
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// } |
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emit parseState(QString("<font color=\"green\">End of inclusion from file: %1</font>").arg(incFileName)); |
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} |
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else |
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{ |
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// Include file could not be opened |
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emit parseState(QString("<font color=\"red\">ERROR: Failed including file: %1, file is not readable. Wrong/misspelled filename?\nAbort.</font>").arg(fileName)); |
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return false; |
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} |
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} |
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// Handle all enum tags |
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else if (e.tagName() == "version") |
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{ |
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//QString fieldType = e.attribute("type", ""); |
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//QString fieldName = e.attribute("name", ""); |
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QString fieldText = e.text(); |
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// Check if version has been previously set |
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if (mavlinkVersion != 0) |
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{ |
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emit parseState(QString("<font color=\"red\">ERROR: Protocol version tag set twice, please use it only once. First version was %1, second version is %2.\nAbort.</font>").arg(mavlinkVersion).arg(fieldText)); |
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return false; |
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} |
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bool ok; |
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int version = fieldText.toInt(&ok); |
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if (ok && (version > 0) && (version < 256)) |
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{ |
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// Set MAVLink version |
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mavlinkVersion = version; |
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} |
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else |
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{ |
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emit parseState(QString("<font color=\"red\">ERROR: Reading version string failed: %1, string is not an integer number between 1 and 255.\nAbort.</font>").arg(fieldText)); |
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return false; |
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} |
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} |
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// Handle all enum tags |
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else if (e.tagName() == "enums") |
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{ |
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// One down into the enums list |
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p = n; |
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n = n.firstChild(); |
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while (!n.isNull()) |
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{ |
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e = n.toElement(); |
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QString currEnum; |
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QString currEnumEnd; |
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// Comment |
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QString comment; |
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if(!e.isNull() && e.tagName() == "enum") |
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{ |
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// Get enum name |
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QString enumName = e.attribute("name", "").toLower(); |
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if (enumName.size() == 0) |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), e.tagName())); |
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return false; |
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} |
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else |
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{ |
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// Sanity check: Accept only enum names not used previously |
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if (usedEnumNames->contains(enumName)) |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: Enum name %1 used twice, second occurence near line %2 of file %3\nAbort.</font>").arg(enumName, QString::number(e.lineNumber()), fileName)); |
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return false; |
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} |
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else |
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{ |
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usedEnumNames->insert(enumName, QString::number(e.lineNumber())); |
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} |
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// Everything sane, starting with enum content |
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currEnum = "enum " + enumName.toUpper() + "\n{\n"; |
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currEnumEnd = QString("\t%1_ENUM_END\n};\n\n").arg(enumName.toUpper()); |
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int nextEnumValue = 0; |
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// Get the enum fields |
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QDomNode f = e.firstChild(); |
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while (!f.isNull()) |
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{ |
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QDomElement e2 = f.toElement(); |
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if (!e2.isNull() && e2.tagName() == "entry") |
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{ |
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QString fieldValue = e2.attribute("value", ""); |
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// If value was given, use it, if not, use the enum iterator |
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// value. The iterator value gets reset by manual values |
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QString fieldName = e2.attribute("name", ""); |
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if (fieldValue.length() == 0) |
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{ |
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fieldValue = QString::number(nextEnumValue); |
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nextEnumValue++; |
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} |
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else |
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{ |
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bool ok; |
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nextEnumValue = fieldValue.toInt(&ok) + 1; |
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if (!ok) |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: Enum entry %1 has not a valid number (%2) in the value field.\nAbort.</font>").arg(fieldName, fieldValue)); |
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return false; |
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} |
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} |
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// Add comment of field if there is one |
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QString fieldComment; |
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if (e2.text().length() > 0) |
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{ |
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fieldComment = " /* " + e2.text() + "*/"; |
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fieldComment = fieldComment.replace("\n", " "); |
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} |
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currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n"; |
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} |
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else if(!e2.isNull() && e2.tagName() == "description") |
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{ |
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comment = e2.text().replace("\n", " ") + comment; |
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} |
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f = f.nextSibling(); |
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} |
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} |
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// Add the last parsed enum |
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// Remove the last comma, as the last value has none |
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// ENUM END MARKER IS LAST ENTRY, COMMA REMOVAL NOT NEEDED |
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//int commaPosition = currEnum.lastIndexOf(","); |
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//currEnum.remove(commaPosition, 1); |
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enums += "/** @brief " + comment + " */\n" + currEnum + currEnumEnd; |
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} // Element is non-zero and element name is <enum> |
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n = n.nextSibling(); |
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} // While through <enums> |
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// One up, back into the <mavlink> structure |
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n = p; |
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} |
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// Handle all message tags |
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else if (e.tagName() == "messages") |
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{ |
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p = n; |
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n = n.firstChild(); |
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while (!n.isNull()) |
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{ |
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e = n.toElement(); |
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if(!e.isNull()) |
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{ |
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//if (e.isNull()) continue; |
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// Get message name |
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QString messageName = e.attribute("name", "").toLower(); |
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if (messageName.size() == 0) |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), e.tagName())); |
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return false; |
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} |
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else |
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{ |
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// Get message id |
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bool ok; |
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int messageId = e.attribute("id", "-1").toInt(&ok, 10); |
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emit parseState(tr("Compiling message <strong>%1 \t(#%3)</strong> \tnear line %2").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId))); |
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// Sanity check: Accept only message IDs not used previously |
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if (usedMessageIDs->contains(messageId)) |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: Message ID %1 used twice, second occurence near line %2 of file %3\nAbort.</font>").arg(QString::number(messageId), QString::number(e.lineNumber()), fileName)); |
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return false; |
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} |
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else |
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{ |
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usedMessageIDs->append(messageId); |
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} |
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// Sanity check: Accept only message names not used previously |
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if (usedMessageNames->contains(messageName)) |
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{ |
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emit parseState(tr("<font color=\"red\">ERROR: Message name %1 used twice, second occurence near line %2 of file %3\nAbort.</font>").arg(messageName, QString::number(e.lineNumber()), fileName)); |
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return false; |
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} |
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else |
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{ |
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usedMessageNames->insert(messageName, QString::number(e.lineNumber())); |
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} |
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QString channelType("mavlink_channel_t"); |
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QString messageType("mavlink_message_t"); |
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// Build up function call |
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QString commentContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n"); |
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QString commentPackChanContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param chan The MAVLink channel this message was sent over\n * @param msg The MAVLink message to compress the data into\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n"); |
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QString commentSendContainer("/**\n * @brief Send a %1 message\n * @param chan MAVLink channel to send the message\n *\n%2 */\n"); |
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QString commentEncodeContainer("/**\n * @brief Encode a %1 struct into a message\n *\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n * @param %1 C-struct to read the message contents from\n */\n"); |
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QString commentDecodeContainer("/**\n * @brief Decode a %1 message into a struct\n *\n * @param msg The message to decode\n * @param %1 C-struct to decode the message contents into\n */\n"); |
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QString commentEntry(" * @param %1 %2\n"); |
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QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId)); |
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QString arrayDefines; |
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QString cStructName = QString("mavlink_%1_t").arg(messageName); |
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QString cStruct("typedef struct __%1 \n{\n%2\n} %1;"); |
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QString cStructLines; |
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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"); |
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QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n"); |
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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"); |
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QString packChan("static inline uint16_t mavlink_msg_%1_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, 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_chan(msg, system_id, component_id, chan, i);\n}\n\n"); |
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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_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif"); |
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//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"; |
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QString unpacking; |
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QString prepends; |
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QString packParameters; |
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QString packArguments("system_id, component_id, msg"); |
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QString packLines; |
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QString decodeLines; |
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QString sendArguments; |
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QString commentLines; |
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// Get the message fields |
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QDomNode f = e.firstChild(); |
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while (!f.isNull()) |
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{ |
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QDomElement e2 = f.toElement(); |
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if (!e2.isNull() && e2.tagName() == "field") |
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{ |
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QString fieldType = e2.attribute("type", ""); |
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QString fieldName = e2.attribute("name", ""); |
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QString fieldText = e2.text(); |
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QString unpackingCode; |
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QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText); |
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// Send arguments do not work for the version field |
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if (!fieldType.contains("uint8_t_mavlink_version")) |
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{ |
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// Send arguments are the same for integral types and arrays |
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sendArguments += ", " + fieldName; |
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commentLines += commentEntry.arg(fieldName, fieldText.replace("\n", " ")); |
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} |
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// MAVLink version field |
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// this is a special field always containing the version define |
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if (fieldType.contains("uint8_t_mavlink_version")) |
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{ |
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// Add field to C structure |
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cStructLines += QString("\t%1 %2; ///< %3\n").arg("uint8_t", fieldName, fieldText); |
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// Add pack line to message_xx_pack function |
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packLines += QString("\ti += put_uint8_t_by_index(%1, i, msg->payload); // %2\n").arg(mavlinkVersion).arg(fieldText); |
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// Add decode function for this type |
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decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName); |
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} |
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// Array handling is different from simple types |
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else if (fieldType.startsWith("array")) |
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{ |
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int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); |
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QString arrayType = fieldType.split("[").first(); |
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packParameters += QString(", const ") + QString("int8_t*") + " " + fieldName; |
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packArguments += ", " + messageName + "->" + fieldName; |
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// Add field to C structure |
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cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText); |
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// Add pack line to message_xx_pack function |
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packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText); |
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// Add decode function for this type |
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decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); |
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arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); |
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} |
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else if (fieldType.startsWith("string")) |
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{ |
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int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); |
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QString arrayType = fieldType.split("[").first(); |
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packParameters += QString(", const ") + QString("char*") + " " + fieldName; |
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packArguments += ", " + messageName + "->" + fieldName; |
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// Add field to C structure |
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cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("char", fieldName, QString::number(arrayLength), fieldText); |
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// Add pack line to message_xx_pack function |
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packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text()); |
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// Add decode function for this type |
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decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); |
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arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength)); |
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} |
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// Expand array handling to all valid mavlink data types |
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else if(fieldType.contains('[') && fieldType.contains(']')) |
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{ |
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int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); |
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QString arrayType = fieldType.split("[").first(); |
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packParameters += QString(", const ") + arrayType + "* " + fieldName; |
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packArguments += ", " + messageName + "->" + fieldName; |
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|
// 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((const 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 |
|
{ |
|
packParameters += ", " + fieldType + " " + fieldName; |
|
packArguments += ", " + messageName + "->" + fieldName; |
|
|
|
// Add field to C structure |
|
cStructLines += QString("\t%1 %2; ///< %3\n").arg(fieldType, fieldName, fieldText); |
|
// Add pack line to message_xx_pack function |
|
packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); // %3\n").arg(fieldType, fieldName, e2.text()); |
|
// Add decode function for this type |
|
decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName); |
|
} |
|
|
|
|
|
// |
|
// QString unpackingCode; |
|
|
|
if (fieldType == "uint8_t_mavlink_version") |
|
{ |
|
unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg("uint8_t", prepends); |
|
} |
|
else if (fieldType == "uint8_t" || fieldType == "int8_t") |
|
{ |
|
unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends); |
|
} |
|
else if (fieldType == "uint16_t" || fieldType == "int16_t") |
|
{ |
|
unpackingCode = QString("\tgeneric_16bit r;\n\tr.b[1] = (msg->payload%1)[0];\n\tr.b[0] = (msg->payload%1)[1];\n\treturn (%2)r.s;").arg(prepends).arg(fieldType); |
|
} |
|
else if (fieldType == "uint32_t" || fieldType == "int32_t") |
|
{ |
|
unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.i;").arg(prepends).arg(fieldType); |
|
} |
|
else if (fieldType == "float") |
|
{ |
|
unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.f;").arg(prepends).arg(fieldType); |
|
} |
|
else if (fieldType == "uint64_t" || fieldType == "int64_t") |
|
{ |
|
unpackingCode = QString("\tgeneric_64bit r;\n\tr.b[7] = (msg->payload%1)[0];\n\tr.b[6] = (msg->payload%1)[1];\n\tr.b[5] = (msg->payload%1)[2];\n\tr.b[4] = (msg->payload%1)[3];\n\tr.b[3] = (msg->payload%1)[4];\n\tr.b[2] = (msg->payload%1)[5];\n\tr.b[1] = (msg->payload%1)[6];\n\tr.b[0] = (msg->payload%1)[7];\n\treturn (%2)r.ll;").arg(prepends).arg(fieldType); |
|
} |
|
else if (fieldType.startsWith("array")) |
|
{ // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string |
|
unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first()); |
|
} |
|
else if (fieldType.startsWith("string")) |
|
{ // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string |
|
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 |
|
if (fieldType.contains("uint8_t_mavlink_version")) |
|
{ |
|
unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg("uint8_t", messageName, fieldName, unpackingCode); |
|
decodeLines += ""; |
|
prepends += "+sizeof(uint8_t)"; |
|
} |
|
// Array handling is different from simple types |
|
else if (fieldType.startsWith("array")) |
|
{ |
|
unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode); |
|
decodeLines += ""; |
|
QString arrayLength = QString(fieldType.split("[").at(1).split("]").first()); |
|
prepends += "+" + arrayLength; |
|
} |
|
else if (fieldType.startsWith("string")) |
|
{ |
|
unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode); |
|
decodeLines += ""; |
|
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); |
|
decodeLines += ""; |
|
prepends += "+sizeof(" + e2.attribute("type", "void") + ")"; |
|
} |
|
} |
|
f = f.nextSibling(); |
|
} |
|
|
|
cStruct = cStruct.arg(cStructName, cStructLines); |
|
lcmStructDefs.append("\n").append(cStruct).append("\n"); |
|
pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines); |
|
packChan = packChan.arg(messageName, packParameters, messageName.toUpper(), packLines); |
|
encode = encode.arg(messageName).arg(cStructName).arg(packArguments); |
|
decode = decode.arg(messageName).arg(cStructName).arg(decodeLines); |
|
compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters); |
|
QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + commentPackChanContainer.arg(messageName.toLower(), commentLines) + packChan + commentEncodeContainer.arg(messageName.toLower()) + encode + "\n" + commentSendContainer.arg(messageName.toLower(), commentLines) + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode; |
|
cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile)); |
|
} // Check if tag = message |
|
} // Check if e = NULL |
|
n = n.nextSibling(); |
|
} // While through <message> |
|
n = p; |
|
|
|
} // Check if tag = messages |
|
} // Check if e = NULL |
|
n = n.nextSibling(); |
|
} // While through include and messages |
|
// One up - current node = parent |
|
n = p; |
|
|
|
} // Check if tag = mavlink |
|
} // Check if e = NULL |
|
n = n.nextSibling(); |
|
} // While through root children |
|
|
|
// Add version to main header |
|
|
|
mainHeader += "// MAVLINK VERSION\n\n"; |
|
mainHeader += QString("#ifndef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion); |
|
mainHeader += QString("#if (MAVLINK_VERSION == 0)\n#undef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion); |
|
|
|
// Add enums to main header |
|
|
|
mainHeader += "// ENUM DEFINITIONS\n\n"; |
|
mainHeader += enums; |
|
mainHeader += "\n"; |
|
|
|
mainHeader += "// MESSAGE DEFINITIONS\n\n"; |
|
// Create directory if it doesn't exist, report result in success |
|
if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName); |
|
for (int i = 0; i < cFiles.size(); i++) |
|
{ |
|
QFile rawFile(dir.filePath(cFiles.at(i).first)); |
|
bool ok = rawFile.open(QIODevice::WriteOnly | QIODevice::Text); |
|
success = success && ok; |
|
rawFile.write(cFiles.at(i).second.toLatin1()); |
|
rawFile.close(); |
|
mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first); |
|
} |
|
|
|
mainHeader += "#ifdef __cplusplus\n}\n#endif\n"; |
|
mainHeader += "#endif"; |
|
// Newline to make compiler happy |
|
mainHeader += "\n"; |
|
|
|
// Write main header |
|
QFile rawHeader(outputDirName + "/" + mainHeaderName); |
|
bool ok = rawHeader.open(QIODevice::WriteOnly | QIODevice::Text); |
|
success = success && ok; |
|
rawHeader.write(mainHeader.toLatin1()); |
|
rawHeader.close(); |
|
|
|
// Write alias mavlink header |
|
QFile mavlinkHeader(outputDirName + "/mavlink.h"); |
|
ok = mavlinkHeader.open(QIODevice::WriteOnly | QIODevice::Text); |
|
success = success && ok; |
|
QString mHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages |
|
// Mark all code as C code |
|
mHeader += "#include \"" + mainHeaderName + "\"\n\n"; |
|
mHeader += "#endif\n"; |
|
mavlinkHeader.write(mHeader.toLatin1()); |
|
mavlinkHeader.close(); |
|
|
|
// Write C structs / lcm definitions |
|
// QFile lcmStructs(outputDirName + "/mavlink.lcm"); |
|
// ok = lcmStructs.open(QIODevice::WriteOnly | QIODevice::Text); |
|
// success = success && ok; |
|
// lcmStructs.write(lcmStructDefs.toLatin1()); |
|
|
|
return success; |
|
}
|
|
|