Newer
Older
/*=====================================================================
======================================================================*/
/**
* @file
* @brief Implementation of class MAVLinkXMLParser
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#include <QFile>
#include <QDir>
#include <QPair>
#include <QList>
#include <QMap>
#include <QLocale>
#include "MAVLinkXMLParser.h"
#include <QDebug>
MAVLinkXMLParser::MAVLinkXMLParser(QDomDocument* document, QString outputDirectory, QObject* parent) : QObject(parent),
doc(document),
outputDirName(outputDirectory),
fileName("")
{
}
MAVLinkXMLParser::MAVLinkXMLParser(QString document, QString outputDirectory, QObject* parent) : QObject(parent)
{
doc = new QDomDocument();
QFile file(document);
if (file.open(QIODevice::ReadOnly | QIODevice::Text))
{
const QString instanceText(QString::fromUtf8(file.readAll()));
doc->setContent(instanceText);
}
fileName = document;
outputDirName = outputDirectory;
}
MAVLinkXMLParser::~MAVLinkXMLParser()
{
}
/**
* Generate C-code (C-89 compliant) out of the XML protocol specs.
*/
bool MAVLinkXMLParser::generate()
{
// Process result
bool success = true;
// Only generate if output dir is correctly set
if (outputDirName == "")
{
emit parseState(tr("<font color=\"red\">ERROR: No output directory given.\nAbort.</font>"));
return false;
}
QString topLevelOutputDirName = outputDirName;
// print out the element names of all elements that are direct children
// of the outermost element.
QDomElement docElem = doc->documentElement();
QDomNode n = docElem;//.firstChild();
QDomNode p = docElem;
// Sanity check variables
QList<int>* usedMessageIDs = new QList<int>();
QMap<QString, QString>* usedMessageNames = new QMap<QString, QString>();
QMap<QString, QString>* usedEnumNames = new QMap<QString, QString>();
QList< QPair<QString, QString> > cFiles;
QString lcmStructDefs = "";
QString pureIncludeFileName;
QFileInfo fInfo(this->fileName);
pureFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first();
// XML parsed and converted to C code. Now generating the files
outputDirName += QDir::separator() + pureFileName;
QDateTime now = QDateTime::currentDateTime().toUTC();
QLocale loc(QLocale::English);
QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
QString date = loc.toString(now, dateFormat);
QString includeLine = "#include \"%1\"\n";
QString mainHeaderName = pureFileName + ".h";
QString messagesDirName = ".";//"generated";
QDir dir(outputDirName + "/" + messagesDirName);
// Start main header
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
// Mark all code as C code
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
mainHeader += "\n#include \"../protocol.h\"\n";
mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
QString enums;
// Run through root children
while(!n.isNull())
{
// Each child is a message
QDomElement e = n.toElement(); // try to convert the node to an element.
if(!e.isNull())
{
if (e.tagName() == "mavlink")
p = n;
n = n.firstChild();
while (!n.isNull())
e = n.toElement();
if (!e.isNull())
// Handle all include tags
if (e.tagName() == "include")
QString incFileName = e.text();
// Load file
//QDomDocument includeDoc = QDomDocument();
// Prepend file path if it is a relative path and
// make it relative to opened file
QFileInfo fInfo(incFileName);
QString incFilePath;
if (fInfo.isRelative())
QFileInfo rInfo(this->fileName);
incFilePath = rInfo.absoluteDir().canonicalPath() + "/" + incFileName;
pureIncludeFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first();
QFile file(incFilePath);
if (file.open(QIODevice::ReadOnly | QIODevice::Text))
emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(incFileName));
// NEW MODE: CREATE INDIVIDUAL FOLDERS
// Create new output directory, parse included XML and generate C-code
MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this);
connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
// Generate and write
includeParser.generate();
mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
// OLD MODE: MERGE BOTH FILES
// const QString instanceText(QString::fromUtf8(file.readAll()));
// includeDoc.setContent(instanceText);
// // Get all messages
// QDomNode in = includeDoc.documentElement().firstChild();
// QDomElement ie = in.toElement();
// if (!ie.isNull())
// {
// if (ie.tagName() == "messages" || ie.tagName() == "include")
// {
// QDomNode ref = n.parentNode().insertAfter(in, n);
// if (ref.isNull())
// {
// emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
// return false;
// }
// }
// }
emit parseState(QString("<font color=\"green\">End of inclusion from file: %1</font>").arg(incFileName));
// Include file could not be opened
emit parseState(QString("<font color=\"red\">ERROR: Failed including file: %1, file is not readable. Wrong/misspelled filename?\nAbort.</font>").arg(fileName));
return false;
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
// Handle all enum tags
else if (e.tagName() == "enums")
{
// One down into the enums list
p = n;
n = n.firstChild();
while (!n.isNull())
{
e = n.toElement();
QString currEnum;
QString currEnumEnd;
// Comment
QString comment;
if(!e.isNull() && e.tagName() == "enum")
{
// Get enum name
QString enumName = e.attribute("name", "").toLower();
if (enumName.size() == 0)
{
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()));
return false;
}
else
{
// Sanity check: Accept only enum names not used previously
if (usedEnumNames->contains(enumName))
{
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));
return false;
}
else
{
usedEnumNames->insert(enumName, QString::number(e.lineNumber()));
}
// Everything sane, starting with enum content
currEnum = "enum " + enumName.toUpper() + "\n{\n";
currEnumEnd = "};\n\n";
int nextEnumValue = 0;
// Get the message fields
QDomNode f = e.firstChild();
while (!f.isNull())
{
QDomElement e2 = f.toElement();
if (!e2.isNull() && e2.tagName() == "entry")
{
QString fieldValue = e2.attribute("value", "");
// If value was given, use it, if not, use the enum iterator
// value. The iterator value gets reset by manual values
QString fieldName = e2.attribute("name", "");
if (fieldValue.length() == 0)
{
fieldValue = QString::number(nextEnumValue);
nextEnumValue++;
}
else
{
bool ok;
nextEnumValue = fieldValue.toInt(&ok) + 1;
if (!ok)
{
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));
return false;
}
}
// Add comment of field if there is one
QString fieldComment;
if (e2.text().length() > 0)
{
fieldComment = " /* " + e2.text() + "*/";
}
currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n";
}
else if(!e2.isNull() && e2.tagName() == "description")
}
f = f.nextSibling();
}
}
// Add the last parsed enum
// Remove the last comma, as the last value has none
int commaPosition = currEnum.lastIndexOf(",");
currEnum.remove(commaPosition, 1);
enums += "/** @brief " + comment + " */\n" + currEnum + currEnumEnd;
} // Element is non-zero and element name is <enum>
n = n.nextSibling();
} // While through <enums>
// One up, back into the <mavlink> structure
n = p;
}
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
// Handle all message tags
else if (e.tagName() == "messages")
{
p = n;
n = n.firstChild();
while (!n.isNull())
{
e = n.toElement();
if(!e.isNull())
{
//if (e.isNull()) continue;
// Get message name
QString messageName = e.attribute("name", "").toLower();
if (messageName.size() == 0)
{
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()));
return false;
}
else
{
// Get message id
bool ok;
int messageId = e.attribute("id", "-1").toInt(&ok, 10);
emit parseState(tr("Compiling message <strong>%1 \t(#%3)</strong> \tnear line %2").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId)));
// Sanity check: Accept only message IDs not used previously
if (usedMessageIDs->contains(messageId))
{
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));
return false;
}
else
{
usedMessageIDs->append(messageId);
}
// Sanity check: Accept only message names not used previously
if (usedMessageNames->contains(messageName))
{
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));
return false;
}
else
{
usedMessageNames->insert(messageName, QString::number(e.lineNumber()));
}
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 idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
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 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;
// Get the message fields
QDomNode f = e.firstChild();
while (!f.isNull())
{
QDomElement e2 = f.toElement();
if (!e2.isNull() && e2.tagName() == "field")
{
QString fieldType = e2.attribute("type", "");
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;
// Array handling is different from simple types
if (fieldType.startsWith("array"))
{
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
QString arrayType = fieldType.split("[").first();
packParameters += QString(", const ") + QString("int8_t*") + " " + fieldName;
packArguments += ", " + messageName + "->" + fieldName;
// 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), 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));
}
else if (fieldType.startsWith("string"))
{
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
QString arrayType = fieldType.split("[").first();
packParameters += QString(", const ") + QString("char*") + " " + fieldName;
packArguments += ", " + messageName + "->" + fieldName;
// Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("char", 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());
// 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));
// 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
{
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);
}
commentLines += commentEntry.arg(fieldName, fieldText);
// QString unpackingCode;
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
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
// Array handling is different from simple types
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
}
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
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);
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 + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + 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
} // While through root children
// 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";
// 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();
// QFile lcmStructs(outputDirName + "/mavlink.lcm");
// ok = lcmStructs.open(QIODevice::WriteOnly | QIODevice::Text);
// success = success && ok;
// lcmStructs.write(lcmStructDefs.toLatin1());