Re-enabled MAVLinkgen as included widget, but now cleanly separated codebase

.gitignore

@@ -19,7 +19,7 @@ tmp
 debug
 release
 qgroundcontrol
-mavlinkgen
+mavlinkgen-build-desktop
 *.wav
 qgroundcontrol.xcodeproj/**
 doc/html

src/apps/mavlinkgen/MAVLinkGen.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class MAVLinkGen
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+#include <QFile>
+#include <QFlags>
+#include <QThread>
+#include <QSplashScreen>
+#include <QPixmap>
+#include <QDesktopWidget>
+#include <QPainter>
+#include <QStyleFactory>
+#include <QAction>
+#include <QSettings>
+#include <QFontDatabase>
+#include <QMainWindow>
+
+#include "MAVLinkGen.h"
+#include "XMLCommProtocolWidget.h"
+
+
+/**
+ * @brief Constructor for the main application.
+ *
+ * This constructor initializes and starts the whole application. It takes standard
+ * command-line parameters
+ *
+ * @param argc The number of command-line parameters
+ * @param argv The string array of parameters
+ **/
+
+MAVLinkGen::MAVLinkGen(int &argc, char* argv[]) : QApplication(argc, argv)
+{
+    this->setApplicationName("MAVLink Generator");
+    this->setApplicationVersion("v. 1.0.0 (Beta)");
+    this->setOrganizationName(QLatin1String("MAVLink Consortium"));
+    this->setOrganizationDomain("http://qgroundcontrol.org/mavlink");
+
+    QSettings::setDefaultFormat(QSettings::IniFormat);
+    // Exit main application when last window is closed
+    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
+
+    // Create main window
+    window = new QMainWindow();
+    window->setCentralWidget(new XMLCommProtocolWidget(window));
+    window->setWindowTitle(applicationName() + " " + applicationVersion());
+    window->resize(qMax(950, static_cast<int>(QApplication::desktop()->width()*0.7f)), qMax(600, static_cast<int>(QApplication::desktop()->height()*0.8f)));
+    window->show();
+}
+
+/**
+ * @brief Destructor
+ *
+ **/
+MAVLinkGen::~MAVLinkGen()
+{
+    window->hide();
+    delete window;
+}
+

src/apps/mavlinkgen/MAVLinkGen.h

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkGen
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+#ifndef MAVLINKGEN_H
+#define MAVLINKGEN_H
+
+#include <QApplication>
+#include <QMainWindow>
+
+/**
+ * @brief The main application and management class.
+ *
+ * This class is started by the main method and provides
+ * the central management unit of the groundstation application.
+ *
+ **/
+class MAVLinkGen : public QApplication
+{
+    Q_OBJECT
+
+public:
+    MAVLinkGen(int &argc, char* argv[]);
+    ~MAVLinkGen();
+
+protected:
+    QMainWindow* window;
+
+private:
+};
+
+#endif /* MAVLINKGEN_H */

src/apps/mavlinkgen/README

+Code Generator for the MAVLink Micro Air Vehicle Message Marshalling Library
+
+This is a code generator for the library for lightweight communication between
+Micro Air Vehicles and/or ground control stations.
+It serializes C-structs for serial channels and can be used with
+any type of radio modem.
+
+**********
+*  NEWS  *
+**********
+
+MAVLink has been ported to Python and Java. MAVLinkGen will soon support the output of Python and Java code as well.
+
+
+
+For help, please visit the mailing list: http://groups.google.com/group/mavlink
+
+MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL).
+
+MAVLink's reference implementation is done in the QGroundControl operator control unit. MAVLink is however not tied in any way to QGroundControl nor does it depend on it. Many other groundstations (APM Planner, HK GCS, Copter-GCS) support it and might be better suited for your application than QGC - check them out.
+
+Project:
+http://qgroundcontrol.org/mavlink
+
+Files:
+http://github.com/pixhawk/mavlinkgen
+http://github.com/pixhawk/mavlink
+
+(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
\ No newline at end of file

src/apps/mavlinkgen/generator/MAVLinkXMLParser.cc

+/*=====================================================================
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class MAVLinkXMLParser
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#include <QFile>
+#include <QDir>
+#include <QPair>
+#include <QList>
+#include <QMap>
+#include <QDateTime>
+#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 pureFileName;
+    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);
+
+    int mavlinkVersion = 0;
+
+    // we need to gather the message lengths across multiple includes,
+    // which we can do via detecting recursion
+    static unsigned message_lengths[256];
+    static int highest_message_id;
+    static int recursion_level;
+
+    if (recursion_level == 0) {
+        highest_message_id = 0;
+        memset(message_lengths, 0, sizeof(message_lengths));
+    }
+
+
+    // 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
+                                recursion_level++;
+                                // Abort if inclusion fails
+                                if (!includeParser.generate()) return false;
+                                recursion_level--;
+                                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));
+                            } else {
+                                // 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;
+                            }
+
+                        }
+                        // Handle all enum tags
+                        else if (e.tagName() == "version") {
+                            //QString fieldType = e.attribute("type", "");
+                            //QString fieldName = e.attribute("name", "");
+                            QString fieldText = e.text();
+
+                            // Check if version has been previously set
+                            if (mavlinkVersion != 0) {
+                                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));
+                                return false;
+                            }
+
+                            bool ok;
+                            int version = fieldText.toInt(&ok);
+                            if (ok && (version > 0) && (version < 256)) {
+                                // Set MAVLink version
+                                mavlinkVersion = version;
+                            } else {
+                                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));
+                                return false;
+                            }
+                        }
+                        // 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 = QString("\t%1_ENUM_END\n};\n\n").arg(enumName.toUpper());
+
+                                        int nextEnumValue = 0;
+
+                                        // Get the enum 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)
+                                                {
+                                                    QString sep(" | ");
+                                                    QDomNode pp = e2.firstChild();
+                                                    while (!pp.isNull()) {
+                                                        QDomElement pp2 = pp.toElement();
+                                                        if (pp2.isText() || pp2.isCDATASection())
+                                                        {
+                                                            fieldComment +=  pp2.nodeValue() + sep;
+                                                        }
+                                                        else if (pp2.isElement())
+                                                        {
+                                                            fieldComment += pp2.text() + sep;
+                                                            pp = pp.nextSibling();
+                                                        }
+                                                    }
+                                                    fieldComment = fieldComment.replace("\n", " ");
+                                                    fieldComment = " /* " + fieldComment.simplified() + " */";
+                                                }
+                                                currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n";
+                                            }
+                                            else if(!e2.isNull() && e2.tagName() == "description")
+                                            {
+                                                comment = " " + e2.text().replace("\n", " ") + comment;
+                                            }
+                                            f = f.nextSibling();
+                                        }
+                                    }
+                                    // Add the last parsed enum
+                                    // Remove the last comma, as the last value has none
+                                    // ENUM END MARKER IS LAST ENTRY, COMMA REMOVAL NOT NEEDED
+                                    //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;
+                        }
+
+                        // 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 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");
+                                        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");
+                                        QString commentSendContainer("/**\n * @brief Send a %1 message\n * @param chan MAVLink channel to send the message\n *\n%2 */\n");
+                                        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");
+                                        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");
+                                        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 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");
+                                        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");
+                                        //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;
+                                        unsigned message_length = 0;
+
+
+                                        // 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 do not work for the version field
+                                                if (!fieldType.contains("uint8_t_mavlink_version")) {
+                                                    // Send arguments are the same for integral types and arrays
+                                                    sendArguments += ", " + fieldName;
+                                                    commentLines += commentEntry.arg(fieldName, fieldText.replace("\n", " "));
+                                                }
+
+                                                // MAVLink version field
+                                                // this is a special field always containing the version define
+                                                if (fieldType.contains("uint8_t_mavlink_version")) {
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2; ///< %3\n").arg("uint8_t", fieldName, fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_uint8_t_by_index(%1, i, msg->payload); // %2\n").arg(mavlinkVersion).arg(fieldText);
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
+                                                }
+
+                                                // Array handling is different from simple types
+                                                else 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((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);
+                                                }
+
+
+                                                // message length calculation
+                                                unsigned element_multiplier = 1;
+                                                unsigned element_length = 0;
+                                                const struct {
+                                                    const char *prefix;
+                                                    unsigned length;
+                                                } length_map[] = {
+                                                        { "array",  1 },
+                                                        { "char",   1 },
+                                                        { "uint8",  1 },
+                                                        { "int8",   1 },
+                                                        { "uint16", 2 },
+                                                        { "int16",  2 },
+                                                        { "uint32", 4 },
+                                                        { "int32",  4 },
+                                                        { "uint64", 8 },
+                                                        { "int64",  8 },
+                                                        { "float",  4 },
+                                                        { "double", 8 },
+                                                };
+                                                if (fieldType.contains("[")) {
+                                                    element_multiplier = fieldType.split("[").at(1).split("]").first().toInt();
+                                                }
+                                                for (unsigned i=0; i<sizeof(length_map)/sizeof(length_map[0]); i++) {
+                                                    if (fieldType.startsWith(length_map[i].prefix)) {
+                                                        element_length = length_map[i].length * element_multiplier;
+                                                        break;
+                                                    }
+                                                }
+                                                if (element_length == 0) {
+                                                    emit parseState(tr("<font color=\"red\">ERROR: Unable to calculate length for %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), fieldType));
+                                                }
+                                                message_length += element_length;
+
+                                                //
+                                                //                                                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();
+                                        }
+
+                                        if (messageId > highest_message_id) {
+                                            highest_message_id = messageId;
+                                        }
+                                        message_lengths[messageId] = message_length;
+
+                                        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 += "\n\n// MESSAGE LENGTHS\n\n";
+    mainHeader += "#undef MAVLINK_MESSAGE_LENGTHS\n";
+    mainHeader += "#define MAVLINK_MESSAGE_LENGTHS { ";
+    for (int i=0; i<highest_message_id; i++) {
+        mainHeader += QString::number(message_lengths[i]);
+        if (i < highest_message_id-1) mainHeader += ", ";
+    }
+    mainHeader += " }\n\n";
+
+    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;
+}

src/apps/mavlinkgen/generator/MAVLinkXMLParser.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkXMLParser
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef MAVLINKXMLPARSER_H
+#define MAVLINKXMLPARSER_H
+
+#include <QObject>
+#include <QDomDocument>
+#include <QString>
+
+/**
+ * @brief MAVLink micro air vehicle protocol generator
+ *
+ * MAVLink is a generic communication protocol for micro air vehicles.
+ * for more information, please see the official website.
+ * @ref http://pixhawk.ethz.ch/software/mavlink/
+ **/
+class MAVLinkXMLParser : public QObject
+{
+    Q_OBJECT
+public:
+    MAVLinkXMLParser(QDomDocument* document, QString outputDirectory, QObject* parent=0);
+    MAVLinkXMLParser(QString document, QString outputDirectory, QObject* parent=0);
+    ~MAVLinkXMLParser();
+
+public slots:
+    /** @brief Parse XML and generate C files */
+    bool generate();
+
+signals:
+    /** @brief Status message on the parsing */
+    void parseState(QString message);
+
+protected:
+    QDomDocument* doc;
+    QString outputDirName;
+    QString fileName;
+};
+
+#endif // MAVLINKXMLPARSER_H

src/apps/mavlinkgen/images/categories/applications-system.svg

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="48.000000px"
+   height="48.000000px"
+   id="svg53383"
+   sodipodi:version="0.32"
+   inkscape:version="0.46"
+   sodipodi:docbase="/home/jimmac/src/cvs/tango-icon-theme/scalable/categories"
+   sodipodi:docname="applications-system.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape">
+  <defs
+     id="defs3">
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 24 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="48 : 24 : 1"
+       inkscape:persp3d-origin="24 : 16 : 1"
+       id="perspective31" />
+    <linearGradient
+       id="linearGradient3264">
+      <stop
+         style="stop-color:#c9c9c9;stop-opacity:1;"
+         offset="0"
+         id="stop3266" />
+      <stop
+         id="stop3276"
+         offset="0.25"
+         style="stop-color:#f8f8f8;stop-opacity:1;" />
+      <stop
+         id="stop3272"
+         offset="0.5"
+         style="stop-color:#e2e2e2;stop-opacity:1;" />
+      <stop
+         style="stop-color:#b0b0b0;stop-opacity:1;"
+         offset="0.75"
+         id="stop3274" />
+      <stop
+         style="stop-color:#c9c9c9;stop-opacity:1;"
+         offset="1"
+         id="stop3268" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3264"
+       id="linearGradient3281"
+       gradientUnits="userSpaceOnUse"
+       x1="14.462892"
+       y1="12.284524"
+       x2="34.534348"
+       y2="39.684914"
+       gradientTransform="matrix(1.241935,0,0,1.241935,-5.027508,-7.208988)" />
+    <linearGradient
+       id="linearGradient2300">
+      <stop
+         id="stop2302"
+         offset="0.0000000"
+         style="stop-color:#000000;stop-opacity:0.32673267;" />
+      <stop
+         id="stop2304"
+         offset="1"
+         style="stop-color:#000000;stop-opacity:0;" />
+    </linearGradient>
+    <linearGradient
+       id="aigrd1"
+       gradientUnits="userSpaceOnUse"
+       x1="99.7773"
+       y1="15.4238"
+       x2="153.0005"
+       y2="248.6311">
+      <stop
+         offset="0"
+         style="stop-color:#184375"
+         id="stop53300" />
+      <stop
+         offset="1"
+         style="stop-color:#C8BDDC"
+         id="stop53302" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#aigrd1"
+       id="linearGradient53551"
+       gradientUnits="userSpaceOnUse"
+       x1="99.7773"
+       y1="15.4238"
+       x2="153.0005"
+       y2="248.6311"
+       gradientTransform="matrix(0.200685,0.000000,0.000000,0.200685,-0.585758,-1.050787)" />
+    <radialGradient
+       gradientUnits="userSpaceOnUse"
+       r="11.689870"
+       fy="72.568001"
+       fx="14.287618"
+       cy="68.872971"
+       cx="14.287618"
+       gradientTransform="matrix(1.399258,-2.234445e-7,8.196178e-8,0.513264,4.365074,4.839285)"
+       id="radialGradient2308"
+       xlink:href="#linearGradient2300"
+       inkscape:collect="always" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient3264"
+       id="linearGradient3760"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.241935,0,0,1.241935,-5.027508,-7.208988)"
+       x1="14.462892"
+       y1="12.284524"
+       x2="34.534348"
+       y2="39.684914" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#aigrd1"
+       id="linearGradient3773"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.200685,0,0,0.200685,-54.33576,-1.050787)"
+       x1="99.7773"
+       y1="15.4238"
+       x2="153.0005"
+       y2="248.6311" />
+  </defs>
+  <sodipodi:namedview
+     inkscape:showpageshadow="false"
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="0.11764706"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="5.6568542"
+     inkscape:cx="43.652227"
+     inkscape:cy="21.164787"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:grid-bbox="true"
+     inkscape:document-units="px"
+     inkscape:window-width="872"
+     inkscape:window-height="697"
+     inkscape:window-x="562"
+     inkscape:window-y="151" />
+  <metadata
+     id="metadata4">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title>System Applications</dc:title>
+        <dc:creator>
+          <cc:Agent>
+            <dc:title>Jakub Steiner</dc:title>
+          </cc:Agent>
+        </dc:creator>
+        <dc:source>http://jimmac.musichall.cz/</dc:source>
+        <dc:subject>
+          <rdf:Bag>
+            <rdf:li>system</rdf:li>
+            <rdf:li>applications</rdf:li>
+            <rdf:li>group</rdf:li>
+            <rdf:li>category</rdf:li>
+            <rdf:li>admin</rdf:li>
+            <rdf:li>root</rdf:li>
+          </rdf:Bag>
+        </dc:subject>
+        <cc:license
+           rdf:resource="http://creativecommons.org/licenses/publicdomain/" />
+      </cc:Work>
+      <cc:License
+         rdf:about="http://creativecommons.org/licenses/publicdomain/">
+        <cc:permits
+           rdf:resource="http://creativecommons.org/ns#Reproduction" />
+        <cc:permits
+           rdf:resource="http://creativecommons.org/ns#Distribution" />
+        <cc:permits
+           rdf:resource="http://creativecommons.org/ns#DerivativeWorks" />
+      </cc:License>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="shadow"
+     id="layer2"
+     inkscape:groupmode="layer">
+    <path
+       transform="matrix(1.186380,0.000000,0.000000,1.186380,-4.539687,-7.794678)"
+       d="M 44.285715 38.714287 A 19.928572 9.8372450 0 1 1  4.4285717,38.714287 A 19.928572 9.8372450 0 1 1  44.285715 38.714287 z"
+       sodipodi:ry="9.8372450"
+       sodipodi:rx="19.928572"
+       sodipodi:cy="38.714287"
+       sodipodi:cx="24.357143"
+       id="path1538"
+       style="color:#000000;fill:url(#radialGradient2308);fill-opacity:1.0000000;fill-rule:evenodd;stroke:none;stroke-width:0.50000042;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4.0000000;stroke-dashoffset:0.0000000;stroke-opacity:1.0000000;marker:none;marker-start:none;marker-mid:none;marker-end:none;visibility:visible;display:inline;overflow:visible"
+       sodipodi:type="arc" />
+  </g>
+  <g
+     id="layer1"
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer">
+    <path
+       inkscape:r_cy="true"
+       inkscape:r_cx="true"
+       style="opacity:1;color:#000000;fill:url(#linearGradient3773);fill-opacity:1;fill-rule:nonzero;stroke:#3f4561;stroke-width:1;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 22.699525,0.94746963 C 22.22635,0.97984519 21.766437,1.0531317 21.301673,1.1063165 L 21.269903,1.1063165 L 20.157975,7.1742671 C 18.345621,7.5870046 16.640562,8.2874574 15.106644,9.2392765 L 10.118853,5.6493371 C 8.770521,6.6961412 7.543552,7.9170049 6.465374,9.2392765 L 9.928236,14.290607 C 8.876814,15.89739 8.086153,17.732094 7.640841,19.659632 C 7.640765,19.668743 7.640779,19.689813 7.640841,19.691401 L 1.60466,20.644482 C 1.494303,21.545851 1.445813,22.477386 1.445813,23.408418 C 1.445813,24.170171 1.466846,24.921747 1.541121,25.664043 L 7.577303,26.744202 C 8.0066,28.840363 8.822112,30.797987 9.960006,32.526228 L 6.370066,37.450482 C 7.398201,38.726866 8.585171,39.888962 9.864698,40.913343 L 14.947798,37.418712 C 16.724273,38.551956 18.707343,39.346604 20.856901,39.737877 L 21.809983,45.742288 C 22.487237,45.803935 23.181758,45.805827 23.874992,45.805827 C 24.853677,45.805826 25.788512,45.768738 26.734236,45.64698 L 27.877933,39.515491 C 29.91886,39.007587 31.836112,38.126493 33.501113,36.942172 L 38.393596,40.500342 C 39.662366,39.420897 40.822583,38.180154 41.824689,36.846863 L 38.266519,31.700225 C 39.230125,30.036028 39.897817,28.199859 40.23622,26.235892 L 46.240632,25.282811 C 46.29329,24.656221 46.30417,24.048546 46.30417,23.408418 C 46.30417,22.296018 46.174875,21.205317 46.018246,20.136172 L 39.918526,19.024244 C 39.440518,17.259164 38.656214,15.612364 37.662901,14.13176 L 41.25284,9.2075071 C 40.140075,7.8466524 38.870718,6.5895264 37.472284,5.5222596 L 32.293876,9.0804296 C 30.805549,8.200202 29.203897,7.5248159 27.464931,7.1424978 L 26.51185,1.1063165 C 25.644369,1.0042729 24.769749,0.94746963 23.874992,0.94746963 C 23.633166,0.94746964 23.384286,0.93986063 23.144296,0.94746963 C 23.027301,0.95117908 22.911525,0.94066346 22.794833,0.94746963 C 22.763228,0.94931296 22.73107,0.94531125 22.699525,0.94746963 z M 23.525529,16.387386 C 23.641592,16.381497 23.757473,16.387386 23.874992,16.387386 C 27.635598,16.387386 30.705408,19.457196 30.705408,23.217802 C 30.705409,26.978407 27.635597,30.016448 23.874992,30.016448 C 20.114387,30.016449 17.076346,26.978407 17.076346,23.217802 C 17.076347,19.574716 19.927558,16.569963 23.525529,16.387386 z "
+       id="path3243" />
+    <path
+       inkscape:r_cy="true"
+       inkscape:r_cx="true"
+       sodipodi:type="arc"
+       style="opacity:0.64772728;color:#000000;fill:none;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:1.62180054;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       id="path3283"
+       sodipodi:cx="23.511301"
+       sodipodi:cy="23.781593"
+       sodipodi:rx="12.727922"
+       sodipodi:ry="12.727922"
+       d="M 36.239223 23.781593 A 12.727922 12.727922 0 1 1  10.783379,23.781593 A 12.727922 12.727922 0 1 1  36.239223 23.781593 z"
+       transform="matrix(0.616598,0,0,0.616598,9.38202,8.539674)" />
+    <path
+       inkscape:r_cy="true"
+       inkscape:r_cx="true"
+       id="path3285"
+       d="M 21.995808,2.1484671 L 21.103024,8.0235243 C 19.404254,8.4103946 16.279442,9.5936035 14.841657,10.485771 L 10.091975,6.9406268 C 8.828145,7.9218257 8.741474,7.9883656 7.730867,9.2277688 L 11.165063,14.320988 C 10.179537,15.827071 8.995796,18.510982 8.570778,20.42893 C 8.570778,20.42893 2.552988,21.443355 2.552988,21.443355 C 2.449547,22.288234 2.49926,24.096528 2.56888,24.792303 L 8.317097,25.82782 C 8.71949,27.79261 10.225324,30.955232 11.291904,32.575161 L 7.656902,37.377719 C 8.620601,38.57411 8.813474,38.683589 10.01281,39.64377 L 14.873441,36.082733 C 16.538581,37.144954 19.84373,38.437109 21.858571,38.80386 L 22.656299,44.604952 C 23.291109,44.662736 25.044829,44.824827 25.931283,44.710701 L 26.824066,38.671821 C 28.737084,38.195749 32.042539,36.838896 33.603191,35.728798 L 38.458624,39.236958 C 39.647878,38.225166 39.658533,38.072709 40.597835,36.822978 L 36.999815,31.708667 C 37.90303,30.148767 39.070902,27.098068 39.388097,25.257187 L 45.279046,24.279744 C 45.328399,23.692424 45.330802,22.054578 45.18399,21.052439 L 39.182092,20.016922 C 38.73404,18.362463 37.196418,15.381153 36.265359,13.993342 L 40.080075,9.1907857 C 39.037052,7.915218 38.64924,7.7402002 37.338448,6.7398212 L 32.313994,10.337839 C 30.918941,9.5127782 28.137095,8.2550417 26.507114,7.8966842 L 25.619528,2.1484671 C 24.806414,2.0528187 22.460488,2.0952921 21.995808,2.1484671 z "
+       style="opacity:0.34659089;color:#000000;fill:none;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:0.99999923;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       sodipodi:nodetypes="ccccccccccccccccccccccccccccccccc" />
+    <path
+       style="opacity:0.5;color:#000000;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 10.102903,6.2970655 C 8.7545689,7.3438694 8.1656464,7.9719226 7.0874684,9.2941942 L 10.489927,14.259153 C 9.4385072,15.857755 8.3316275,18.426114 8.1423859,19.987706 C 8.1423859,19.987706 2.0798859,21.0319 2.0798859,21.0319 C 2.0109129,21.595256 1.90625,22.884803 1.90625,22.884803 L 2.0830267,24.447303 C 2.5107567,24.535638 2.9231817,24.617818 3.3642767,24.666053 L 3.8642767,23.134803 C 4.2083177,23.163279 4.5439297,23.197303 4.8955267,23.197303 C 5.2467347,23.197303 5.6139847,23.163473 5.9580267,23.134803 L 6.4267767,24.666053 C 6.8680647,24.617818 7.3115487,24.535638 7.7392767,24.447303 L 7.7392767,22.884803 C 8.4250337,22.72518 9.0712777,22.497045 9.7080267,22.228553 L 10.645527,23.509803 C 11.047878,23.327709 11.421123,23.133984 11.801777,22.916053 L 11.301777,21.416053 C 11.89901,21.053803 12.463529,20.620706 12.989277,20.166053 L 14.270527,21.103553 C 14.596162,20.806973 14.91164,20.491691 15.208027,20.166053 L 14.270527,18.916053 C 14.725373,18.390305 15.127027,17.826171 15.489277,17.228553 L 16.989277,17.697303 C 17.207208,17.316456 17.432571,16.943209 17.614277,16.541053 L 16.333027,15.603553 C 16.601517,14.966804 16.798016,14.320561 16.958027,13.634803 L 18.551777,13.634803 C 18.640112,13.207076 18.691236,12.763591 18.739277,12.322303 L 17.239277,11.853553 C 17.268139,11.509705 17.301777,11.142456 17.301777,10.791053 C 17.301776,10.43965 17.267753,10.104039 17.239277,9.7598034 L 18.739277,9.2910534 C 18.69373,8.8711662 18.633686,8.4490548 18.551777,8.0410534 C 17.404349,8.4403544 15.999117,9.1941729 14.983265,9.8245243 L 10.102903,6.2970655 z "
+       id="path3767"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true"
+       sodipodi:nodetypes="cccccccccsccccccccccccccccccccsccccc" />
+    <path
+       style="opacity:0.5;color:#000000;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 37.236641,17.217754 C 36.85286,17.39913 36.490003,17.603509 36.123236,17.813295 L 36.692886,19.548136 C 35.995792,19.970436 35.338156,20.467825 34.725008,20.998151 L 33.249099,19.910639 C 32.869013,20.256538 32.507327,20.618223 32.161588,20.998151 L 33.249099,22.474059 C 32.718773,23.087371 32.221547,23.745002 31.799084,24.441937 L 31.255328,24.260685 C 31.207646,24.960968 31.018949,25.62217 30.737466,26.228563 L 30.841038,26.306242 C 30.527881,27.048922 30.27649,27.83664 30.090137,28.636624 L 28.614229,28.636624 C 28.477946,28.722076 28.343676,28.821684 28.199938,28.895555 C 28.121568,29.310822 28.065026,29.712881 28.018687,30.138426 L 29.77942,30.708074 C 29.746033,31.10935 29.727633,31.515269 29.727633,31.925052 C 29.727631,32.334993 29.746034,32.740753 29.77942,33.142029 L 28.018687,33.711677 C 28.074705,34.226432 28.148678,34.740347 28.251725,35.239372 L 30.090137,35.213479 C 30.218255,35.763466 30.393202,36.320918 30.582107,36.844746 C 31.327023,36.557466 32.05594,36.214561 32.731236,35.809021 C 32.319649,34.59298 32.083908,33.279913 32.083908,31.925052 C 32.083909,26.727119 35.376289,22.288397 39.981313,20.583861 L 38.893802,20.402608 C 38.671014,19.579946 38.382478,18.774017 38.013435,18.020441 C 38.002581,17.998277 37.99851,17.96486 37.987542,17.942761 L 37.935756,17.890975 L 37.236641,17.217754 z "
+       id="path3770"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true" />
+  </g>
+</svg>

src/apps/mavlinkgen/images/status/folder-open.svg

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="48.000000px"
+   height="48.000000px"
+   id="svg97"
+   sodipodi:version="0.32"
+   inkscape:version="0.46"
+   sodipodi:docbase="/home/jimmac/src/cvs/tango-icon-theme/scalable/status"
+   sodipodi:docname="folder-open.svg"
+   inkscape:export-filename="/home/jimmac/ximian_art/icons/nautilus/snowdunes/gnome-fs-directory-accept.png"
+   inkscape:export-xdpi="90.000000"
+   inkscape:export-ydpi="90.000000"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape">
+  <defs
+     id="defs3">
+    <inkscape:perspective
+       sodipodi:type="inkscape:persp3d"
+       inkscape:vp_x="0 : 24 : 1"
+       inkscape:vp_y="0 : 1000 : 0"
+       inkscape:vp_z="48 : 24 : 1"
+       inkscape:persp3d-origin="24 : 16 : 1"
+       id="perspective75" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5060"
+       id="radialGradient6719"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(-2.774389,0,0,1.969706,112.7623,-872.8854)"
+       cx="605.71429"
+       cy="486.64789"
+       fx="605.71429"
+       fy="486.64789"
+       r="117.14286" />
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient5060">
+      <stop
+         style="stop-color:black;stop-opacity:1;"
+         offset="0"
+         id="stop5062" />
+      <stop
+         style="stop-color:black;stop-opacity:0;"
+         offset="1"
+         id="stop5064" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5060"
+       id="radialGradient6717"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(2.774389,0,0,1.969706,-1891.633,-872.8854)"
+       cx="605.71429"
+       cy="486.64789"
+       fx="605.71429"
+       fy="486.64789"
+       r="117.14286" />
+    <linearGradient
+       id="linearGradient5048">
+      <stop
+         style="stop-color:black;stop-opacity:0;"
+         offset="0"
+         id="stop5050" />
+      <stop
+         id="stop5056"
+         offset="0.5"
+         style="stop-color:black;stop-opacity:1;" />
+      <stop
+         style="stop-color:black;stop-opacity:0;"
+         offset="1"
+         id="stop5052" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient5048"
+       id="linearGradient6715"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(2.774389,0,0,1.969706,-1892.179,-872.8854)"
+       x1="302.85715"
+       y1="366.64789"
+       x2="302.85715"
+       y2="609.50507" />
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient13842">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop13844" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop13846" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient9766">
+      <stop
+         style="stop-color:#6194cb;stop-opacity:1;"
+         offset="0"
+         id="stop9768" />
+      <stop
+         style="stop-color:#729fcf;stop-opacity:1;"
+         offset="1"
+         id="stop9770" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       id="linearGradient9806">
+      <stop
+         style="stop-color:#000000;stop-opacity:1;"
+         offset="0"
+         id="stop9808" />
+      <stop
+         style="stop-color:#000000;stop-opacity:0;"
+         offset="1"
+         id="stop9810" />
+    </linearGradient>
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient9806"
+       id="radialGradient9812"
+       cx="24.35099"
+       cy="41.591846"
+       fx="24.35099"
+       fy="41.591846"
+       r="19.136078"
+       gradientTransform="matrix(1.000000,0.000000,0.000000,0.242494,1.565588e-16,31.50606)"
+       gradientUnits="userSpaceOnUse" />
+    <linearGradient
+       id="linearGradient148">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.13402061;"
+         offset="0.0000000"
+         id="stop149" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.051546391;"
+         offset="1.0000000"
+         id="stop150" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient335">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:1.0000000;"
+         offset="0.0000000"
+         id="stop336" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.0000000;"
+         offset="1.0000000"
+         id="stop337" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient1789">
+      <stop
+         style="stop-color:#a0a0a0;stop-opacity:1;"
+         offset="0"
+         id="stop1790" />
+      <stop
+         style="stop-color:#a8a8a8;stop-opacity:1;"
+         offset="1"
+         id="stop1791" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient137">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.70059878;"
+         offset="0.0000000"
+         id="stop138" />
+      <stop
+         style="stop-color:#ffffff;stop-opacity:0.0000000;"
+         offset="1.0000000"
+         id="stop139" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient335"
+       id="linearGradient155"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="scale(1.421537,0.703464)"
+       x1="19.116116"
+       y1="28.946041"
+       x2="19.426924"
+       y2="51.912693" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient148"
+       id="linearGradient156"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.535299,0,0,0.651339,3.451418,2.448)"
+       x1="14.899379"
+       y1="27.059643"
+       x2="22.715446"
+       y2="41.836895" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient137"
+       id="linearGradient158"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.462696,0,6.907908e-2,0.683669,-8.7075e-19,0)"
+       x1="5.2657914"
+       y1="18.725863"
+       x2="8.2122240"
+       y2="52.625851" />
+    <radialGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient1789"
+       id="radialGradient159"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1.015635,0,0.103105,1.000512,-6.73857e-18,-8.369458e-2)"
+       cx="26.106777"
+       cy="38.195114"
+       fx="26.106777"
+       fy="38.195114"
+       r="32.259769" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient9766"
+       id="linearGradient13162"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(1,0,0,1.022118,52.05694,-1.323026)"
+       x1="22.175976"
+       y1="36.987999"
+       x2="22.065331"
+       y2="32.050499" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient13842"
+       id="linearGradient13848"
+       x1="22.25"
+       y1="37.625"
+       x2="19.75"
+       y2="14.875"
+       gradientUnits="userSpaceOnUse" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="10.54135"
+     inkscape:cx="8.8898314"
+     inkscape:cy="26.16018"
+     inkscape:current-layer="layer3"
+     showgrid="true"
+     inkscape:grid-bbox="true"
+     inkscape:document-units="px"
+     inkscape:window-width="1027"
+     inkscape:window-height="818"
+     inkscape:window-x="271"
+     inkscape:window-y="30"
+     inkscape:showpageshadow="false" />
+  <metadata
+     id="metadata4">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title>Folder Icon Accept</dc:title>
+        <dc:date>2005-01-31</dc:date>
+        <dc:creator>
+          <cc:Agent>
+            <dc:title>Jakub Steiner</dc:title>
+          </cc:Agent>
+        </dc:creator>
+        <cc:license
+           rdf:resource="http://creativecommons.org/licenses/publicdomain/" />
+        <dc:source>http://jimmac.musichall.cz</dc:source>
+        <dc:description>Active state - when files are being dragged to.</dc:description>
+        <dc:publisher>
+          <cc:Agent>
+            <dc:title>Novell, Inc.</dc:title>
+          </cc:Agent>
+        </dc:publisher>
+        <dc:contributor>
+          <cc:Agent>
+            <dc:title>Garrett LeSage</dc:title>
+          </cc:Agent>
+        </dc:contributor>
+      </cc:Work>
+      <cc:License
+         rdf:about="http://creativecommons.org/licenses/publicdomain/">
+        <cc:permits
+           rdf:resource="http://creativecommons.org/ns#Reproduction" />
+        <cc:permits
+           rdf:resource="http://creativecommons.org/ns#Distribution" />
+        <cc:permits
+           rdf:resource="http://creativecommons.org/ns#DerivativeWorks" />
+      </cc:License>
+    </rdf:RDF>
+  </metadata>
+  <g
+     id="layer1"
+     inkscape:label="Folder"
+     inkscape:groupmode="layer" />
+  <g
+     inkscape:label="Open"
+     id="layer3"
+     inkscape:groupmode="layer">
+    <g
+       style="display:inline"
+       transform="matrix(2.262383e-2,0,0,2.086758e-2,43.38343,36.36962)"
+       id="g6707">
+      <rect
+         style="opacity:0.40206185;color:black;fill:url(#linearGradient6715);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+         id="rect6709"
+         width="1339.6335"
+         height="478.35718"
+         x="-1559.2523"
+         y="-150.69685" />
+      <path
+         style="opacity:0.40206185;color:black;fill:url(#radialGradient6717);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+         d="M -219.61876,-150.68038 C -219.61876,-150.68038 -219.61876,327.65041 -219.61876,327.65041 C -76.744594,328.55086 125.78146,220.48075 125.78138,88.454235 C 125.78138,-43.572302 -33.655436,-150.68036 -219.61876,-150.68038 z "
+         id="path6711"
+         sodipodi:nodetypes="cccc" />
+      <path
+         sodipodi:nodetypes="cccc"
+         id="path6713"
+         d="M -1559.2523,-150.68038 C -1559.2523,-150.68038 -1559.2523,327.65041 -1559.2523,327.65041 C -1702.1265,328.55086 -1904.6525,220.48075 -1904.6525,88.454235 C -1904.6525,-43.572302 -1745.2157,-150.68036 -1559.2523,-150.68038 z "
+         style="opacity:0.40206185;color:black;fill:url(#radialGradient6719);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    </g>
+    <path
+       sodipodi:nodetypes="ccccccssssccc"
+       style="color:#000000;fill:url(#radialGradient159);fill-opacity:1;fill-rule:nonzero;stroke:#5a5a5a;stroke-width:0.99487108;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       id="path2375"
+       d="M 4.6200285,38.651015 C 4.6618365,39.07147 5.1174141,39.491924 5.5311838,39.491924 L 36.667346,39.491924 C 37.081116,39.491924 37.453078,39.07147 37.41127,38.651015 L 34.714653,11.531728 C 34.672845,11.111274 34.217267,10.69082 33.803498,10.69082 L 21.080082,10.69082 C 20.489536,10.69082 19.870999,10.311268 19.677221,9.7304849 L 18.574219,6.4246085 C 18.404967,5.9173308 18.027069,5.6888138 17.259746,5.6888138 L 2.3224188,5.6888138 C 1.9086492,5.6888138 1.5366876,6.109268 1.5784956,6.529722 L 4.6200285,38.651015 z "
+       transform="matrix(1.004486,0,0,1.005825,-8.234449e-2,-0.221964)"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000024;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 5.3301525,37.533487 L 35.317907,37.533487"
+       id="path13160"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13139"
+       d="M 5.3301525,35.533487 L 35.317907,35.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000024;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       sodipodi:nodetypes="ccccccsscsscccc"
+       id="path2380"
+       d="M 6.1717518,38.418674 C 6.2031078,38.729001 6.017127,38.935886 5.6963478,38.832443 L 5.6963478,38.832443 C 5.3755686,38.729001 5.1477798,38.522116 5.1164238,38.211789 L 2.0868572,6.8445942 C 2.0555012,6.534267 2.2434512,6.3468711 2.5537784,6.3468711 L 17.303531,6.2554251 C 17.834815,6.2521313 18.04296,6.308731 18.18333,6.7726371 C 18.18333,6.7726371 19.268704,9.885435 19.429564,10.470742 L 17.873968,7.5537061 C 17.608788,7.0564434 17.275224,7.1399365 16.901178,7.1399365 L 3.7717775,7.1399365 C 3.4614503,7.1399365 3.2754695,7.3468213 3.3068255,7.6571485 L 6.2856462,38.522116 L 6.1717518,38.418674 z "
+       style="color:#000000;fill:url(#linearGradient158);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1.17341149;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:block;overflow:visible"
+       transform="matrix(1.008872,0,0,1.012144,-0.101943,-0.33126)"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000036;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 3.3386019,17.533487 L 34.488461,17.533487"
+       id="path13113"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13115"
+       d="M 2.7573333,11.533487 L 33.496214,11.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000012;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <g
+       inkscape:export-ydpi="74.800003"
+       inkscape:export-xdpi="74.800003"
+       inkscape:export-filename="/home/jimmac/ximian_art/icons/nautilus/suse93/gnome-fs-directory.png"
+       transform="matrix(1.034503,0,0.104528,1.035221,-9.922058,2.395183)"
+       id="g2381"
+       style="fill:#ffffff;fill-opacity:0.5803109;fill-rule:nonzero;stroke:#000000;stroke-miterlimit:4;display:block"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true">
+      <path
+         sodipodi:nodetypes="cscscs"
+         id="path2382"
+         d="M 41.785743,9.0363862 C 41.795369,8.5618034 41.800932,8.3118806 41.36235,8.312183 L 28.80653,8.3208402 C 28.50653,8.3208402 28.481916,8.1776341 28.80653,8.3208402 C 29.131144,8.4640463 30.053628,8.9791114 30.989227,9.0218349 C 30.989227,9.0218349 41.785704,9.0382983 41.785743,9.0363862 z "
+         style="stroke:none"
+         inkscape:r_cx="true"
+         inkscape:r_cy="true" />
+    </g>
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000024;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 5.1594716,33.533487 L 35.147226,33.533487"
+       id="path13121"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13119"
+       d="M 4.8658086,31.533487 L 34.974533,31.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000036;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000036;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 4.6336367,29.533487 L 34.802847,29.533487"
+       id="path13135"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13137"
+       d="M 4.4629557,27.533487 L 34.632166,27.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000036;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 4.2556718,25.533487 L 34.460793,25.533487"
+       id="path13143"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13133"
+       d="M 4.0235198,23.533487 L 34.289101,23.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000024;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000024;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 3.8528389,21.533487 L 34.11842,21.533487"
+       id="path13117"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13125"
+       d="M 3.6514189,19.533487 L 33.947215,19.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000012;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       style="opacity:0.39204545;color:#000000;fill:url(#linearGradient13848);fill-opacity:1.0;fill-rule:nonzero;stroke:none;stroke-width:1;stroke-linecap:butt;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:block;overflow:visible"
+       d="M 34.375,14.125 L 37,38.75 L 6,38.875 C 6,38.875 4.125,14.125 4.125,14.125 C 4.125,14.125 34.5,14.125 34.375,14.125 z "
+       id="path13840"
+       sodipodi:nodetypes="cccsc" />
+    <path
+       inkscape:export-ydpi="74.800003"
+       inkscape:export-xdpi="74.800003"
+       inkscape:export-filename="/home/jimmac/ximian_art/icons/nautilus/suse93/gnome-fs-directory.png"
+       sodipodi:nodetypes="cccsscccscc"
+       id="path2401"
+       d="M 5.7785654,39.065997 C 5.8820074,39.277466 6.0888914,39.488925 6.3992173,39.488925 L 39.70767,39.488925 C 39.914562,39.488925 40.228834,39.36262 40.415844,39.224574 C 40.946246,38.833039 41.070704,38.612189 41.308626,38.251107 C 43.756752,34.535647 47.113767,18.974214 47.113767,18.974214 C 47.217209,18.762754 47.010326,18.551294 46.7,18.551294 L 11.776358,18.551294 C 11.466032,18.551294 10.120393,34.658624 6.9133592,37.838317 L 5.6751235,39.065997 L 5.7785654,39.065997 z "
+       style="opacity:1;color:#000000;fill:url(#linearGradient13162);fill-opacity:1;fill-rule:nonzero;stroke:#3465a4;stroke-width:1.00416672;stroke-linecap:butt;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:block;overflow:visible"
+       transform="matrix(0.988773,0,0,1.002979,-0.111407,-0.106563)"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true" />
+    <path
+       id="path323"
+       d="M 13.134476,20.138641 C 12.361729,25.129398 11.633175,29.147884 10.418486,33.652505 C 12.804971,32.945398 17.534602,30.448 27.534602,30.448 C 37.534602,30.448 44.258175,21.199301 45.186253,20.094447 L 13.134476,20.138641 z "
+       style="fill:url(#linearGradient156);fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       sodipodi:nodetypes="ccccc"
+       transform="matrix(0.988773,0,0,1.002979,-0.111407,-0.106563)"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true" />
+    <path
+       style="opacity:0.52272728;color:#000000;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:url(#linearGradient155);stroke-width:1.00416696px;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 45.820083,19.6875 L 12.661612,19.6875 C 12.661612,19.6875 10.513864,35.707107 7.9393398,37.928078 C 16.060417,37.928078 39.510511,37.879442 39.53033,37.879442 C 41.281989,37.879442 44.437971,25.243248 45.820083,19.6875 z "
+       id="path324"
+       sodipodi:nodetypes="cccsc"
+       transform="matrix(0.988773,0,0,1.002979,-0.111407,-0.106563)"
+       inkscape:r_cx="true"
+       inkscape:r_cy="true" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13123"
+       d="M 3.1628954,15.533487 L 33.993452,15.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:0.99999994;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000036;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 2.9642313,13.533487 L 33.990735,13.533487"
+       id="path13127"
+       sodipodi:nodetypes="cc" />
+    <path
+       sodipodi:nodetypes="cc"
+       id="path13145"
+       d="M 2.3052333,7.533487 L 17.088967,7.533487"
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:0.99999982;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
+    <path
+       style="opacity:0.11363633;color:#000000;fill:#729fcf;fill-opacity:1;fill-rule:nonzero;stroke:#000000;stroke-width:1.00000024;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
+       d="M 2.5242572,9.5334871 L 17.805073,9.5334871"
+       id="path13147"
+       sodipodi:nodetypes="cc" />
+  </g>
+  <g
+     inkscape:groupmode="layer"
+     id="layer2"
+     inkscape:label="pattern" />
+</svg>

src/apps/mavlinkgen/main.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    PIXHAWK is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Main executable
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QtGui/QApplication>
+#include "MAVLinkGen.h"
+
+/**
+ * @brief Starts the application
+ *
+ * @param argc Number of commandline arguments
+ * @param argv Commandline arguments
+ * @return exit code, 0 for normal exit and !=0 for error cases
+ */
+int main(int argc, char *argv[])
+{
+
+    MAVLinkGen gen(argc, argv);
+    return gen.exec();
+}

src/apps/mavlinkgen/mavlinkgen.pri

+# MAVLink code generator
+# generates code in several languages for MAVLink encoding/decoding
+
+INCLUDEPATH += .\
+    ui \
+    generator
+
+FORMS += ui/XMLCommProtocolWidget.ui
+
+HEADERS += MAVLinkGen.h \
+    ui/XMLCommProtocolWidget.h \
+    generator/MAVLinkXMLParser.h \
+    ui/DomItem.h \
+    ui/DomModel.h \
+    ui/QGCMAVLinkTextEdit.h
+SOURCES += main.cc \
+    MAVLinkGen.cc \
+    ui/XMLCommProtocolWidget.cc \
+    ui/DomItem.cc \
+    ui/DomModel.cc \
+    generator/MAVLinkXMLParser.cc \
+    ui/QGCMAVLinkTextEdit.cc
+    
+RESOURCES = mavlinkgen.qrc

src/apps/mavlinkgen/mavlinkgen.pro

+# MAVLink code generator
+# generates code in several languages for MAVLink encoding/decoding
+
+QT       += svg xml
+
+TEMPLATE = app
+TARGET = mavlinkgen
+
+LANGUAGE = C++
+
+include(mavlinkgen.pri)
\ No newline at end of file

src/apps/mavlinkgen/mavlinkgen.qrc

+<RCC>
+    <qresource prefix="/">
+        <file>images/categories/applications-system.svg</file>
+        <file>images/status/folder-open.svg</file>
+    </qresource>
+</RCC>

src/apps/mavlinkgen/ui/DomItem.cc

+#include <QtXml>
+
+#include "DomItem.h"
+
+DomItem::DomItem(QDomNode &node, int row, DomItem *parent)
+{
+    domNode = node;
+    // Record the item's location within its parent.
+    rowNumber = row;
+    parentItem = parent;
+}
+
+DomItem::~DomItem()
+{
+    QHash<int,DomItem*>::iterator it;
+    for (it = childItems.begin(); it != childItems.end(); ++it)
+        delete it.value();
+}
+
+QDomNode DomItem::node() const
+{
+    return domNode;
+}
+
+DomItem *DomItem::parent()
+{
+    return parentItem;
+}
+
+DomItem *DomItem::child(int i)
+{
+    if (childItems.contains(i))
+        return childItems[i];
+
+    if (i >= 0 && i < domNode.childNodes().count()) {
+        QDomNode childNode = domNode.childNodes().item(i);
+        DomItem *childItem = new DomItem(childNode, i, this);
+        childItems[i] = childItem;
+        return childItem;
+    }
+    return 0;
+}
+
+int DomItem::row()
+{
+    return rowNumber;
+}

src/apps/mavlinkgen/ui/DomItem.h

+#ifndef DOMITEM_H
+#define DOMITEM_H
+
+#include <QDomNode>
+#include <QHash>
+
+class DomItem
+{
+public:
+    DomItem(QDomNode &node, int row, DomItem *parent = 0);
+    ~DomItem();
+    DomItem *child(int i);
+    DomItem *parent();
+    QDomNode node() const;
+    int row();
+
+private:
+    QDomNode domNode;
+    QHash<int,DomItem*> childItems;
+    DomItem *parentItem;
+    int rowNumber;
+};
+
+#endif

src/apps/mavlinkgen/ui/DomModel.cc

+#include <QtGui>
+#include <QtXml>
+
+#include "DomItem.h"
+#include "DomModel.h"
+
+DomModel::DomModel(QDomDocument document, QObject *parent)
+    : QAbstractItemModel(parent), domDocument(document)
+{
+    rootItem = new DomItem(domDocument, 0);
+}
+
+DomModel::~DomModel()
+{
+    delete rootItem;
+}
+
+int DomModel::columnCount(const QModelIndex &/*parent*/) const
+{
+    return 3;
+}
+
+QVariant DomModel::data(const QModelIndex &index, int role) const
+{
+    if (!index.isValid())
+        return QVariant();
+
+    if (role != Qt::DisplayRole)
+        return QVariant();
+
+    DomItem *item = static_cast<DomItem*>(index.internalPointer());
+
+    QDomNode node = item->node();
+    QStringList attributes;
+    QDomNamedNodeMap attributeMap = node.attributes();
+
+    switch (index.column()) {
+    case 0:
+        {
+            if (node.nodeName() == "message")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "field")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "enum")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "entry")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "#text")
+            {
+                return node.nodeValue().split("\n").join(" ");
+            }
+            else
+            {
+                return node.nodeName();
+            }
+        }
+        break;
+    case 1:
+        if (node.nodeName() == "description")
+            {
+                return node.nodeValue().split("\n").join(" ");
+            }
+        else
+        {
+        for (int i = 0; i < attributeMap.count(); ++i) {
+            QDomNode attribute = attributeMap.item(i);
+
+            if (attribute.nodeName() == "id" || attribute.nodeName() == "index" || attribute.nodeName() == "value")
+            {
+                return QString("(# %1)").arg(attribute.nodeValue());
+            }
+            else  if (attribute.nodeName() == "type")
+            {
+                return attribute.nodeValue();
+            }
+        }
+    }
+        break;
+//    case 2:
+//        {
+////            if (node.nodeName() != "description")
+////            {
+////            for (int i = 0; i < attributeMap.count(); ++i) {
+////                QDomNode attribute = attributeMap.item(i);
+////                attributes << attribute.nodeName() + "=\""
+////                        +attribute.nodeValue() + "\"";
+////            }
+////            return attributes.join(" ");
+////            }
+////            else
+////            {
+////            return node.nodeValue().split("\n").join(" ");
+////        }
+//        }
+//        break;
+    }
+    // Return empty variant if no case applied
+    return QVariant();
+}
+
+Qt::ItemFlags DomModel::flags(const QModelIndex &index) const
+{
+    if (!index.isValid())
+        return 0;
+
+    return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
+}
+
+QVariant DomModel::headerData(int section, Qt::Orientation orientation,
+                              int role) const
+{
+    if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
+        switch (section) {
+        case 0:
+            return tr("Name                 ");
+        case 1:
+            return tr("Value");
+//        case 2:
+//            return tr("Description");
+        default:
+            return QVariant();
+        }
+    }
+
+    return QVariant();
+}
+
+QModelIndex DomModel::index(int row, int column, const QModelIndex &parent)
+        const
+{
+    if (!hasIndex(row, column, parent))
+        return QModelIndex();
+
+    DomItem *parentItem;
+
+    if (!parent.isValid())
+        parentItem = rootItem;
+    else
+        parentItem = static_cast<DomItem*>(parent.internalPointer());
+
+    DomItem *childItem = parentItem->child(row);
+    if (childItem)
+        return createIndex(row, column, childItem);
+    else
+        return QModelIndex();
+}
+
+QModelIndex DomModel::parent(const QModelIndex &child) const
+{
+    if (!child.isValid())
+        return QModelIndex();
+
+    DomItem *childItem = static_cast<DomItem*>(child.internalPointer());
+    DomItem *parentItem = childItem->parent();
+
+    if (!parentItem || parentItem == rootItem)
+        return QModelIndex();
+
+    return createIndex(parentItem->row(), 0, parentItem);
+}
+
+int DomModel::rowCount(const QModelIndex &parent) const
+{
+    if (parent.column() > 0)
+        return 0;
+
+    DomItem *parentItem;
+
+    if (!parent.isValid())
+        parentItem = rootItem;
+    else
+        parentItem = static_cast<DomItem*>(parent.internalPointer());
+
+    return parentItem->node().childNodes().count();
+}

src/apps/mavlinkgen/ui/DomModel.h

+#ifndef DOMMODEL_H
+#define DOMMODEL_H
+
+#include <QAbstractItemModel>
+#include <QDomDocument>
+#include <QModelIndex>
+#include <QVariant>
+
+class DomItem;
+
+class DomModel : public QAbstractItemModel
+{
+    Q_OBJECT
+
+public:
+    DomModel(QDomDocument document, QObject *parent = 0);
+    ~DomModel();
+
+    QVariant data(const QModelIndex &index, int role) const;
+    Qt::ItemFlags flags(const QModelIndex &index) const;
+    QVariant headerData(int section, Qt::Orientation orientation,
+                        int role = Qt::DisplayRole) const;
+    QModelIndex index(int row, int column,
+                      const QModelIndex &parent = QModelIndex()) const;
+    QModelIndex parent(const QModelIndex &child) const;
+    int rowCount(const QModelIndex &parent = QModelIndex()) const;
+    int columnCount(const QModelIndex &parent = QModelIndex()) const;
+
+private:
+    QDomDocument domDocument;
+    DomItem *rootItem;
+};
+
+#endif

src/apps/mavlinkgen/ui/QGCMAVLinkTextEdit.cc

+#include "QGCMAVLinkTextEdit.h"
+#include <QMessageBox>
+#include <QMenu>
+#include <QEvent>
+#include <QPainter>
+#include <QScrollBar>
+#include <QTextLayout>
+
+QGCMAVLinkTextEdit::QGCMAVLinkTextEdit(QWidget *parent)
+: QTextEdit(parent)
+{
+    setViewportMargins(50, 0, 0, 0);
+    highlight = new XmlHighlighter(document());
+    setLineWrapMode ( QTextEdit::NoWrap );
+    setAcceptRichText ( false );
+    connect(verticalScrollBar(), SIGNAL(valueChanged(int)), this, SLOT(update()));
+    connect(this, SIGNAL(textChanged()), this, SLOT(update()));
+}
+
+
+bool QGCMAVLinkTextEdit::Conform()
+{
+    QString errorStr;
+    int errorLine, errorColumn;
+    QDomDocument doc;
+    return doc.setContent(text(),false, &errorStr, &errorLine, &errorColumn);
+}
+
+QDomDocument QGCMAVLinkTextEdit::xml_document()
+{
+    QString errorStr;
+    int errorLine, errorColumn;
+    QDomDocument doc;
+    doc.setContent(text(),false, &errorStr, &errorLine, &errorColumn);
+    return doc;
+}
+
+
+void QGCMAVLinkTextEdit::setPlainText( const QString txt )
+{
+    QString errorStr;
+    int errorLine, errorColumn;
+    QDomDocument doc;
+    if (!doc.setContent(txt,false, &errorStr, &errorLine, &errorColumn)) {
+        QTextEdit::setPlainText(txt);
+    } else {
+        QTextEdit::setPlainText(doc.toString(5));
+    }
+}
+
+bool QGCMAVLinkTextEdit::syntaxcheck()
+{
+    bool noError = true;
+    if (text().size() > 0 ) {
+        QString errorStr;
+        int errorLine, errorColumn;
+        QDomDocument doc;
+        if (!doc.setContent(text(),false, &errorStr, &errorLine, &errorColumn)) {
+            //////return doc.toString(5);
+            QMessageBox::critical(0, tr("Found xml error"),tr("Check line %1 column %2 on string \"%3\"!")
+								  .arg(errorLine - 1)
+								  .arg(errorColumn - 1)
+								  .arg(errorStr));
+            noError = false;
+			
+            // FIXME Mark line
+            if (errorLine >= 0 ) {
+				
+            }
+        } else {
+            QMessageBox::information(0, tr("XML valid."),tr("All tags are valid. Document size is %1 characters.").arg(text().size()));
+            setPlainText(doc.toString(5));
+        }
+    } else {
+        QMessageBox::information(0, tr("XML not found!"),tr("Null size xml document!"));
+        noError = false;
+    }
+	return noError;
+}
+
+void QGCMAVLinkTextEdit::contextMenuEvent ( QContextMenuEvent * e )
+{
+	Q_UNUSED(e);
+    QMenu *RContext = createOwnStandardContextMenu();
+    RContext->exec(QCursor::pos());
+    delete RContext;
+}
+
+QMenu *QGCMAVLinkTextEdit::createOwnStandardContextMenu()
+{
+    QMenu *TContext = createStandardContextMenu();
+    TContext->addAction(QIcon(QString::fromUtf8(":/img/zoomin.png")),tr( "Zoom In" ), this , SLOT( zoomIn() ) );
+    TContext->addAction(QIcon(QString::fromUtf8(":/img/zoomout.png")),tr( "Zoom Out" ), this , SLOT( zoomOut() ) );
+    TContext->addAction(tr("Check xml syntax" ), this , SLOT( syntaxcheck() ) );
+    return TContext;
+}
+
+bool QGCMAVLinkTextEdit::event( QEvent *event )
+{
+    if (event->type()==QEvent::Paint) {
+        QPainter p(this);
+        p.fillRect(0, 0, 50, height(), QColor("#636363"));
+        QFont workfont(font());
+        QPen pen(QColor("#ffffff"),1);
+        p.setPen(pen);
+        p.setFont (workfont);
+        int contentsY = verticalScrollBar()->value();
+        qreal pageBottom = contentsY+viewport()->height();
+        int m_lineNumber(1);
+        const QFontMetrics fm=fontMetrics();
+        const int ascent = fontMetrics().ascent() +1;
+		
+        for (QTextBlock block=document()->begin(); block.isValid(); block=block.next(), m_lineNumber++) {
+            QTextLayout *layout = block.layout();
+            const QRectF boundingRect = layout->boundingRect();
+            QPointF position = layout->position();
+            if ( position.y() +boundingRect.height() < contentsY ) {
+                continue;
+            }
+            if ( position.y() > pageBottom ) {
+                break;
+            }
+            const QString txt = QString::number(m_lineNumber);
+            p.drawText(50-fm.width(txt)-2, qRound(position.y())-contentsY+ascent, txt);
+			
+        }
+        p.setPen(QPen(Qt::NoPen));
+    } else if ( event->type() == QEvent::KeyPress ) {
+        QKeyEvent *ke = static_cast<QKeyEvent *>(event);
+        if ((ke->modifiers() & Qt::ControlModifier) && ke->key() == Qt::Key_Minus)   {
+            QTextEdit::zoomOut();
+            return true;
+        }
+        if ((ke->modifiers() & Qt::ControlModifier) && ke->key() == Qt::Key_Plus)   {
+            QTextEdit::zoomIn();
+            return true;
+        }
+    }
+    return QTextEdit::event(event);
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+static const QColor DEFAULT_SYNTAX_CHAR		= Qt::blue;
+static const QColor DEFAULT_ELEMENT_NAME	= Qt::darkRed;
+static const QColor DEFAULT_COMMENT			= Qt::darkGreen;
+static const QColor DEFAULT_ATTRIBUTE_NAME	= Qt::red;
+static const QColor DEFAULT_ATTRIBUTE_VALUE	= Qt::darkGreen;
+static const QColor DEFAULT_ERROR			= Qt::darkMagenta;
+static const QColor DEFAULT_OTHER			= Qt::black;
+
+// Regular expressions for parsing XML borrowed from:
+// http://www.cs.sfu.ca/~cameron/REX.html
+static const QString EXPR_COMMENT			= "<!--[^-]*-([^-][^-]*-)*->";
+static const QString EXPR_COMMENT_BEGIN		= "<!--";
+static const QString EXPR_COMMENT_END		= "[^-]*-([^-][^-]*-)*->";
+static const QString EXPR_ATTRIBUTE_VALUE	= "\"[^<\"]*\"|'[^<']*'";
+static const QString EXPR_NAME				= "([A-Za-z_:]|[^\\x00-\\x7F])([A-Za-z0-9_:.-]|[^\\x00-\\x7F])*";
+
+XmlHighlighter::XmlHighlighter(QObject* parent)
+: QSyntaxHighlighter(parent)
+{
+    init();
+}
+
+XmlHighlighter::XmlHighlighter(QTextDocument* parent)
+: QSyntaxHighlighter(parent)
+{
+    init();
+}
+
+XmlHighlighter::XmlHighlighter(QTextEdit* parent)
+: QSyntaxHighlighter(parent)
+{
+    init();
+}
+
+XmlHighlighter::~XmlHighlighter()
+{
+}
+
+void XmlHighlighter::init()
+{
+    fmtSyntaxChar.setForeground(DEFAULT_SYNTAX_CHAR);
+    fmtElementName.setForeground(DEFAULT_ELEMENT_NAME);
+    fmtComment.setForeground(DEFAULT_COMMENT);
+    fmtAttributeName.setForeground(DEFAULT_ATTRIBUTE_NAME);
+    fmtAttributeValue.setForeground(DEFAULT_ATTRIBUTE_VALUE);
+    fmtError.setForeground(DEFAULT_ERROR);
+    fmtOther.setForeground(DEFAULT_OTHER);
+}
+
+void XmlHighlighter::setHighlightColor(HighlightType type, QColor color, bool foreground)
+{
+    QTextCharFormat format;
+    if (foreground)
+        format.setForeground(color);
+    else
+        format.setBackground(color);
+    setHighlightFormat(type, format);
+}
+
+void XmlHighlighter::setHighlightFormat(HighlightType type, QTextCharFormat format)
+{
+    switch (type)
+    {
+		case SyntaxChar:
+			fmtSyntaxChar = format;
+			break;
+		case ElementName:
+			fmtElementName = format;
+			break;
+		case Comment:
+			fmtComment = format;
+			break;
+		case AttributeName:
+			fmtAttributeName = format;
+			break;
+		case AttributeValue:
+			fmtAttributeValue = format;
+			break;
+		case Error:
+			fmtError = format;
+			break;
+		case Other:
+			fmtOther = format;
+			break;
+    }
+    rehighlight();
+}
+
+void XmlHighlighter::highlightBlock(const QString& text)
+{
+    int i = 0;
+    int pos = 0;
+    int brackets = 0;
+	
+    state = (previousBlockState() == InElement ? ExpectAttributeOrEndOfElement : NoState);
+	
+    if (previousBlockState() == InComment)
+    {
+        // search for the end of the comment
+        QRegExp expression(EXPR_COMMENT_END);
+        pos = expression.indexIn(text, i);
+		
+        if (pos >= 0)
+        {
+            // end comment found
+            const int iLength = expression.matchedLength();
+            setFormat(0, iLength - 3, fmtComment);
+            setFormat(iLength - 3, 3, fmtSyntaxChar);
+            i += iLength; // skip comment
+        }
+        else
+        {
+            // in comment
+            setFormat(0, text.length(), fmtComment);
+            setCurrentBlockState(InComment);
+            return;
+        }
+    }
+	
+    for (; i < text.length(); i++)
+    {
+        switch (text.at(i).toAscii())
+        {
+			case '<':
+				brackets++;
+				if (brackets == 1)
+				{
+					setFormat(i, 1, fmtSyntaxChar);
+					state = ExpectElementNameOrSlash;
+				}
+				else
+				{
+					// wrong bracket nesting
+					setFormat(i, 1, fmtError);
+				}
+				break;
+				
+			case '>':
+				brackets--;
+				if (brackets == 0)
+				{
+					setFormat(i, 1, fmtSyntaxChar);
+				}
+				else
+				{
+					// wrong bracket nesting
+					setFormat( i, 1, fmtError);
+				}
+				state = NoState;
+				break;
+				
+			case '/':
+				if (state == ExpectElementNameOrSlash)
+				{
+					state = ExpectElementName;
+					setFormat(i, 1, fmtSyntaxChar);
+				}
+				else
+				{
+					if (state == ExpectAttributeOrEndOfElement)
+					{
+						setFormat(i, 1, fmtSyntaxChar);
+					}
+					else
+					{
+						processDefaultText(i, text);
+					}
+				}
+				break;
+				
+			case '=':
+				if (state == ExpectEqual)
+				{
+					state = ExpectAttributeValue;
+					setFormat(i, 1, fmtOther);
+				}
+				else
+				{
+					processDefaultText(i, text);
+				}
+				break;
+				
+			case '\'':
+			case '\"':
+				if (state == ExpectAttributeValue)
+				{
+					// search attribute value
+					QRegExp expression(EXPR_ATTRIBUTE_VALUE);
+					pos = expression.indexIn(text, i);
+					
+					if (pos == i) // attribute value found ?
+					{
+						const int iLength = expression.matchedLength();
+						
+						setFormat(i, 1, fmtOther);
+						setFormat(i + 1, iLength - 2, fmtAttributeValue);
+						setFormat(i + iLength - 1, 1, fmtOther);
+						
+						i += iLength - 1; // skip attribute value
+						state = ExpectAttributeOrEndOfElement;
+					}
+					else
+					{
+						processDefaultText(i, text);
+					}
+				}
+				else
+				{
+					processDefaultText(i, text);
+				}
+				break;
+				
+			case '!':
+				if (state == ExpectElementNameOrSlash)
+				{
+					// search comment
+					QRegExp expression(EXPR_COMMENT);
+					pos = expression.indexIn(text, i - 1);
+					
+					if (pos == i - 1) // comment found ?
+					{
+						const int iLength = expression.matchedLength();
+						
+						setFormat(pos, 4, fmtSyntaxChar);
+						setFormat(pos + 4, iLength - 7, fmtComment);
+						setFormat(iLength - 3, 3, fmtSyntaxChar);
+						i += iLength - 2; // skip comment
+						state = NoState;
+						brackets--;
+					}
+					else
+					{
+						// Try find multiline comment
+						QRegExp expression(EXPR_COMMENT_BEGIN); // search comment start
+						pos = expression.indexIn(text, i - 1);
+						
+						//if (pos == i - 1) // comment found ?
+						if (pos >= i - 1)
+						{
+							setFormat(i, 3, fmtSyntaxChar);
+							setFormat(i + 3, text.length() - i - 3, fmtComment);
+							setCurrentBlockState(InComment);
+							return;
+						}
+						else
+						{
+							processDefaultText(i, text);
+						}
+					}
+				}
+				else
+				{
+					processDefaultText(i, text);
+				}
+				
+				break;
+				
+			default:
+				const int iLength = processDefaultText(i, text);
+				if (iLength > 0)
+					i += iLength - 1;
+				break;
+        }
+    }
+	
+    if (state == ExpectAttributeOrEndOfElement)
+    {
+        setCurrentBlockState(InElement);
+    }
+}
+
+int XmlHighlighter::processDefaultText(int i, const QString& text)
+{
+    // length of matched text
+    int iLength = 0;
+	
+    switch(state)
+    {
+		case ExpectElementNameOrSlash:
+		case ExpectElementName:
+        {
+            // search element name
+            QRegExp expression(EXPR_NAME);
+            const int pos = expression.indexIn(text, i);
+			
+            if (pos == i) // found ?
+            {
+                iLength = expression.matchedLength();
+				
+                setFormat(pos, iLength, fmtElementName);
+                state = ExpectAttributeOrEndOfElement;
+            }
+            else
+            {
+                setFormat(i, 1, fmtOther);
+            }
+        }
+			break;
+			
+		case ExpectAttributeOrEndOfElement:
+        {
+            // search attribute name
+            QRegExp expression(EXPR_NAME);
+            const int pos = expression.indexIn(text, i);
+			
+            if (pos == i) // found ?
+            {
+                iLength = expression.matchedLength();
+				
+                setFormat(pos, iLength, fmtAttributeName);
+                state = ExpectEqual;
+            }
+            else
+            {
+                setFormat(i, 1, fmtOther);
+            }
+        }
+			break;
+			
+		default:
+			setFormat(i, 1, fmtOther);
+			break;
+    }
+    return iLength;
+}

src/apps/mavlinkgen/ui/QGCMAVLinkTextEdit.h

+
+// Based on: Syntax highlighting from:
+// http://code.google.com/p/fop-miniscribus/
+// (GPL v2) thanks!
+
+#ifndef QGCMAVLINKTEXTEDIT_H
+#define QGCMAVLINKTEXTEDIT_H
+
+#include <QSyntaxHighlighter>
+#include <QTextCharFormat>
+#include <QColor>
+#include <QDomDocument>
+#include <QTextEdit>
+
+//class QGCMAVLinkTextEdit : public QTextEdit
+//{
+//public:
+//    QGCMAVLinkTextEdit();
+//};
+
+class XmlHighlighter : public QSyntaxHighlighter
+{
+public:
+    XmlHighlighter(QObject* parent);
+    XmlHighlighter(QTextDocument* parent);
+    XmlHighlighter(QTextEdit* parent);
+    ~XmlHighlighter();
+
+    enum HighlightType
+    {
+        SyntaxChar,
+        ElementName,
+        Comment,
+        AttributeName,
+        AttributeValue,
+        Error,
+        Other
+    };
+
+    void setHighlightColor(HighlightType type, QColor color, bool foreground = true);
+    void setHighlightFormat(HighlightType type, QTextCharFormat format);
+
+protected:
+    void highlightBlock(const QString& rstrText);
+    int  processDefaultText(int i, const QString& rstrText);
+
+private:
+    void init();
+
+    QTextCharFormat fmtSyntaxChar;
+    QTextCharFormat fmtElementName;
+    QTextCharFormat fmtComment;
+    QTextCharFormat fmtAttributeName;
+    QTextCharFormat fmtAttributeValue;
+    QTextCharFormat fmtError;
+    QTextCharFormat fmtOther;
+
+    enum ParsingState
+    {
+        NoState = 0,
+        ExpectElementNameOrSlash,
+        ExpectElementName,
+        ExpectAttributeOrEndOfElement,
+        ExpectEqual,
+        ExpectAttributeValue
+    };
+
+    enum BlockState
+    {
+        NoBlock = -1,
+        InComment,
+        InElement
+    };
+
+    ParsingState state;
+};
+
+
+
+
+
+class QGCMAVLinkTextEdit : public QTextEdit
+{
+    Q_OBJECT
+    //
+public:
+    QGCMAVLinkTextEdit( QWidget * parent = 0 );
+    bool Conform();
+    QDomDocument xml_document();
+    inline QString text() const
+    {
+        return QTextEdit::toPlainText();
+    }
+    QMenu *createOwnStandardContextMenu();
+protected:
+    void contextMenuEvent ( QContextMenuEvent * e );
+    bool event( QEvent *event );
+private:
+    XmlHighlighter *highlight;
+signals:
+public slots:
+    bool syntaxcheck();
+    void setPlainText( const QString txt );
+};
+
+#endif // QGCMAVLINKTEXTEDIT_H

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc

+#include <QFileDialog>
+#include <QTextBrowser>
+#include <QMessageBox>
+#include <QSettings>
+
+#include "XMLCommProtocolWidget.h"
+#include "ui_XMLCommProtocolWidget.h"
+#include "MAVLinkXMLParser.h"
+
+#include <QDebug>
+#include <iostream>
+
+XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
+    QWidget(parent),
+    model(NULL),
+m_ui(new Ui::XMLCommProtocolWidget)
+{
+    m_ui->setupUi(this);
+	
+    connect(m_ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectXMLFile()));
+    connect(m_ui->selectOutputButton, SIGNAL(clicked()), this, SLOT(selectOutputDirectory()));
+    connect(m_ui->generateButton, SIGNAL(clicked()), this, SLOT(generate()));
+    connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(save()));
+	
+    // Make sure text background is white
+    m_ui->xmlTextView->setStyleSheet("QGCMAVLinkTextEdit { background-color: #FFFFFF; }");
+}
+
+void XMLCommProtocolWidget::selectXMLFile()
+{
+    QSettings settings("MAVLink Consortium", "MAVLink Generator");
+    const QString mavlinkXML = "MAVLINK_XML_FILE";
+    QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
+    QFileInfo dir(dirPath);
+    QFileDialog dialog;
+    dialog.setDirectory(dir.absoluteDir());
+    dialog.setFileMode(QFileDialog::AnyFile);
+    dialog.setFilter(tr("MAVLink XML (*.xml)"));
+    dialog.setViewMode(QFileDialog::Detail);
+    QStringList fileNames;
+    if (dialog.exec()) {
+        fileNames = dialog.selectedFiles();
+    }
+	
+    if (fileNames.size() > 0) {
+        m_ui->fileNameLabel->setText(fileNames.first());
+        QFile file(fileNames.first());
+		
+        if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+            const QString instanceText(QString::fromUtf8(file.readAll()));
+            setXML(instanceText);
+            // Store filename for next time
+            settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath());
+            settings.sync();
+        } else {
+            QMessageBox msgBox;
+            msgBox.setText("Could not read XML file. Permission denied");
+            msgBox.exec();
+        }
+    }
+}
+
+void XMLCommProtocolWidget::setXML(const QString& xml)
+{
+    m_ui->xmlTextView->setText(xml);
+    QDomDocument doc;
+	
+    if (doc.setContent(xml)) {
+        m_ui->validXMLLabel->setText(tr("<font color=\"green\">Valid XML file</font>"));
+    } else {
+        m_ui->validXMLLabel->setText(tr("<font color=\"red\">File is NOT valid XML, please fix in editor</font>"));
+    }
+	
+    if (model != NULL) {
+        m_ui->xmlTreeView->reset();
+        //delete model;
+    }
+    model = new DomModel(doc, this);
+    m_ui->xmlTreeView->setModel(model);
+    // Expand the tree so that message names are visible
+    m_ui->xmlTreeView->expandToDepth(1);
+    m_ui->xmlTreeView->hideColumn(2);
+    m_ui->xmlTreeView->repaint();
+}
+
+void XMLCommProtocolWidget::selectOutputDirectory()
+{
+    QSettings settings("MAVLink Consortium", "MAVLink Generator");
+    const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
+    QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
+    QFileDialog dialog;
+    dialog.setDirectory(dirPath);
+    dialog.setFileMode(QFileDialog::Directory);
+    dialog.setViewMode(QFileDialog::Detail);
+    QStringList fileNames;
+    if (dialog.exec()) {
+        fileNames = dialog.selectedFiles();
+    }
+	
+    if (fileNames.size() > 0) {
+        m_ui->outputDirNameLabel->setText(fileNames.first());
+        // Store directory for next time
+        settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
+        settings.sync();
+        //QFile file(fileName);
+    }
+}
+
+void XMLCommProtocolWidget::generate()
+{
+    // Check if input file is present
+    if (!QFileInfo(m_ui->fileNameLabel->text().trimmed()).isFile()) {
+        QMessageBox::critical(this, tr("Please select an XML input file first"), tr("You have to select an input XML file before generating C files."), QMessageBox::Ok);
+        return;
+    }
+	
+    // Check if output dir is selected
+    if (!QFileInfo(m_ui->outputDirNameLabel->text().trimmed()).isDir()) {
+        QMessageBox::critical(this, tr("Please select output directory first"), tr("You have to select an output directory before generating C files."), QMessageBox::Ok);
+        return;
+    }
+	
+    // First save file
+    save();
+    // Clean log
+    m_ui->compileLog->clear();
+	
+    // Check XML validity
+    if (!m_ui->xmlTextView->syntaxcheck())
+    {
+        // Syntax check already gives output
+        return;
+    }
+	
+    MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+    connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+    bool result = parser->generate();
+    if (result) {
+        QMessageBox msgBox;
+        msgBox.setText(QString("The C code / headers have been generated in folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()));
+        msgBox.exec();
+    } else {
+        QMessageBox::critical(this, tr("C code generation failed, please see the compile log for further information"), QString("The C code / headers could not be written to folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()), QMessageBox::Ok);
+    }
+    delete parser;
+}
+
+void XMLCommProtocolWidget::save()
+{
+    QFile file(m_ui->fileNameLabel->text().trimmed());
+    setXML(m_ui->xmlTextView->document()->toPlainText().toUtf8());
+    file.open(QIODevice::WriteOnly | QIODevice::Text);
+    file.write(m_ui->xmlTextView->document()->toPlainText().toUtf8());
+}
+
+XMLCommProtocolWidget::~XMLCommProtocolWidget()
+{
+    if (model) delete model;
+    delete m_ui;
+}
+
+void XMLCommProtocolWidget::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+		case QEvent::LanguageChange:
+			m_ui->retranslateUi(this);
+			break;
+		default:
+			break;
+    }
+}

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class XMLCommProtocolWidget
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef XMLCOMMPROTOCOLWIDGET_H
+#define XMLCOMMPROTOCOLWIDGET_H
+
+#include <QtGui/QWidget>
+#include "DomModel.h"
+
+namespace Ui
+{
+class XMLCommProtocolWidget;
+}
+
+/**
+ * @brief Tool to generate MAVLink code out of XML protocol definitions
+ * @see http://doc.trolltech.com/4.6/itemviews-simpledommodel.html for a XML view tutorial
+ */
+class XMLCommProtocolWidget : public QWidget
+{
+    Q_OBJECT
+public:
+    XMLCommProtocolWidget(QWidget *parent = 0);
+    ~XMLCommProtocolWidget();
+
+protected slots:
+    /** @brief Select input XML protocol definition */
+    void selectXMLFile();
+    /** @brief Select output directory for generated .h files */
+    void selectOutputDirectory();
+    /** @brief Set the XML this widget currently operates on */
+    void setXML(const QString& xml);
+    /** @brief Parse XML file and generate .h files */
+    void generate();
+    /** @brief Save the edited file */
+    void save();
+
+protected:
+    DomModel* model;
+    void changeEvent(QEvent *e);
+
+private:
+    Ui::XMLCommProtocolWidget *m_ui;
+};
+
+#endif // XMLCOMMPROTOCOLWIDGET_H