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#include <QFile>
#include <QDir>
#include <QPair>
#include <QList>
#include <QMap>
#include <QDateTime>
#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()
{
}
bool MAVLinkXMLParser::generate()
{
// Process result
bool success = true;
// Only generate if output dir is correctly set
if (outputDirName == "") return false;
// 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>();
/*
// Seek for element "messages" until end of document
// ignoring all other tags
while(!n.isNull())
{
if (n.toElement().tagName() == "messages")
{
break;
}
else
{
qDebug() << "IGNORED TAG" << n.toElement().tagName();
n = n.nextSibling();
}
}
qDebug() << "WORKING ON" << n.toElement().tagName();
QList< QPair<QString, QString> > cFiles;
QString lcmStructDefs = "";
// 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 fileName = 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(fileName);
if (fInfo.isRelative())
QFileInfo rInfo(this->fileName);
fileName = rInfo.absoluteDir().canonicalPath() + "/" + fileName;
QFile file(fileName);
if (file.open(QIODevice::ReadOnly | QIODevice::Text))
const QString instanceText(QString::fromUtf8(file.readAll()));
includeDoc.setContent(instanceText);
// Get all messages
QDomNode in = includeDoc.documentElement().firstChild();
//while (!in.isNull())
//{
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;
}
}
}
//in = in.nextSibling();
//}
emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(fileName));
// 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;
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// Handle all message tags
else if (e.tagName() == "messages")
{
p = n;
n = n.firstChild();
while (!n.isNull())
{
e = n.toElement();
if(!e.isNull())
{
//if (e.isNull()) continue;
// Get message name
QString messageName = e.attribute("name", "").toLower();
if (messageName.size() == 0)
{
emit parseState(tr("<font color=\"red\">ERROR: Missing required name=\"\" attribute for tag %2 near line %1\nAbort.</font>").arg(QString::number(e.lineNumber()), e.tagName()));
return false;
}
else
{
// Get message id
bool ok;
int messageId = e.attribute("id", "-1").toInt(&ok, 10);
emit parseState(tr("Compiling message <strong>%1 \t(#%3)</strong> \tnear line %2").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId)));
// Sanity check: Accept only message IDs not used previously
if (usedMessageIDs->contains(messageId))
{
emit parseState(tr("<font color=\"red\">ERROR: Message ID %1 used twice, second occurence near line %2 of file %3\nAbort.</font>").arg(QString::number(messageId), QString::number(e.lineNumber()), fileName));
return false;
}
else
{
usedMessageIDs->append(messageId);
}
// Sanity check: Accept only message names not used previously
if (usedMessageNames->contains(messageName))
{
emit parseState(tr("<font color=\"red\">ERROR: Message name %1 used twice, second occurence near line %2 of file %3\nAbort.</font>").arg(messageName, QString::number(e.lineNumber()), fileName));
return false;
}
else
{
usedMessageNames->insert(messageName, QString::number(e.lineNumber()));
}
QString channelType = "mavlink_channel_t";
QString messageType = "mavlink_message_t";
// Build up function call
QString commentContainer = "/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n";
QString commentEntry = " * @param %1 %2\n";
QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
QString arrayDefines = "";
QString cStructName = QString("mavlink_%1_t").arg(messageName);
QString cStruct = "typedef struct __%1 \n{\n%2\n} %1;";
QString cStructLines = "";
QString encode = "static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n";
QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\tuint16_t i = 0;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
//QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
QString unpacking = "";
QString prepends = "";
QString packParameters = "";
QString packArguments = "system_id, component_id, msg";
QString packLines = "";
QString decodeLines = "";
QString sendArguments = "";
QString commentLines = "";
// Get the message fields
QDomNode f = e.firstChild();
while (!f.isNull())
{
QDomElement e2 = f.toElement();
if (!e2.isNull())
{
QString fieldType = e2.attribute("type", "");
QString fieldName = e2.attribute("name", "");
QString fieldText = e2.text();
// Send arguments are the same for integral types and arrays
sendArguments += ", " + fieldName;
// Array handling is different from simple types
if (fieldType.startsWith("array"))
{
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
QString arrayType = fieldType.split("[").first();
packParameters += QString(", const ") + QString("int8_t*") + " " + fieldName;
packArguments += ", " + messageName + "->" + fieldName;
// Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText);
// Add pack line to message_xx_pack function
packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), 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").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").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
}
else
// Handle simple types like integers and floats
{
packParameters += ", " + fieldType + " " + fieldName;
packArguments += ", " + messageName + "->" + fieldName;
// Add field to C structure
cStructLines += QString("\t%1 %2; ///< %3\n").arg(fieldType, fieldName, fieldText);
// Add pack line to message_xx_pack function
packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); //%3\n").arg(fieldType, fieldName, e2.text());
// Add decode function for this type
decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
}
commentLines += commentEntry.arg(fieldName, fieldText);
QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
//
QString unpackingCode;
if (fieldType == "uint8_t" || fieldType == "int8_t")
{
unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends);
}
else if (fieldType == "uint16_t" || fieldType == "int16_t")
{
unpackingCode = QString("\tgeneric_16bit r;\n\tr.b[1] = (msg->payload%1)[0];\n\tr.b[0] = (msg->payload%1)[1];\n\treturn (%2)r.s;").arg(prepends).arg(fieldType);
}
else if (fieldType == "uint32_t" || fieldType == "int32_t")
{
unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.i;").arg(prepends).arg(fieldType);
}
else if (fieldType == "float")
{
unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.f;").arg(prepends).arg(fieldType);
}
else if (fieldType == "uint64_t" || fieldType == "int64_t")
{
unpackingCode = QString("\tgeneric_64bit r;\n\tr.b[7] = (msg->payload%1)[0];\n\tr.b[6] = (msg->payload%1)[1];\n\tr.b[5] = (msg->payload%1)[2];\n\tr.b[4] = (msg->payload%1)[3];\n\tr.b[3] = (msg->payload%1)[4];\n\tr.b[2] = (msg->payload%1)[5];\n\tr.b[1] = (msg->payload%1)[6];\n\tr.b[0] = (msg->payload%1)[7];\n\treturn (%2)r.ll;").arg(prepends).arg(fieldType);
}
else if (fieldType.startsWith("array"))
{ // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string
unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
}
else if (fieldType.startsWith("string"))
{ // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string
unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
}
// Generate the message decoding function
// Array handling is different from simple types
if (fieldType.startsWith("array"))
{
unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
decodeLines += "";
QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
prepends += "+" + arrayLength;
}
else if (fieldType.startsWith("string"))
{
unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
decodeLines += "";
QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
prepends += "+" + arrayLength;
}
else
{
unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg(fieldType, messageName, fieldName, unpackingCode);
decodeLines += "";
prepends += "+sizeof(" + e2.attribute("type", "void") + ")";
}
}
f = f.nextSibling();
}
cStruct = cStruct.arg(cStructName, cStructLines);
lcmStructDefs.append("\n").append(cStruct).append("\n");
pack = pack.arg(messageName, packParameters, messageName.toUpper(), packLines);
encode = encode.arg(messageName).arg(cStructName).arg(packArguments);
decode = decode.arg(messageName).arg(cStructName).arg(decodeLines);
compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters);
QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
} // Check if tag = message
} // Check if e = NULL
n = n.nextSibling();
} // While through <message>
n = p;
} // Check if tag = messages
} // Check if e = NULL
n = n.nextSibling();
} // While through include and messages
n = p;
} // Check if tag = mavlink
} // Check if e = NULL
} // While through root children
// XML parsed and converted to C code. Now generating the files
QDateTime now = QDateTime::currentDateTime().toUTC();
QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
QString date = now.toString(dateFormat);
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 MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
mainHeader += "\n#include \"protocol.h\"\n";
QString includeLine = "#include \"%1\"\n";
QString mainHeaderName = "mavlink.h";
QString messagesDirName = "generated";
QDir dir(outputDirName + "/" + messagesDirName);
// 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());
mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first);
}
mainHeader += "#ifdef __cplusplus\n}\n#endif\n";
mainHeader += "#endif";
// Write main header
QFile rawHeader(outputDirName + "/" + mainHeaderName);
bool ok = rawHeader.open(QIODevice::WriteOnly | QIODevice::Text);
success = success && ok;
rawHeader.write(mainHeader.toLatin1());
// 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;
}