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Commit 0f2ef0c1 authored by Bryan Godbolt's avatar Bryan Godbolt
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modified mavlink xml parser to allow any array type 

I added the ability for the parser to pack an array of any mavlink standard type.  This will allow array types to be specified for mavlink messages without using the type="array" syntax.

I also changed how a bunch of the strings were constructed to more closely conform to the coding style guidelines by reducing the number of implicit copy constructor calls
parent aa35c64a
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Showing with 55 additions and 22 deletions
src/comm/MAVLinkXMLParser.cc
View file @ 0f2ef0c1
......@@ -204,31 +204,33 @@ bool MAVLinkXMLParser::generate()
usedMessageNames->insert(messageName, QString::number(e.lineNumber()));
}
QString channelType = "mavlink_channel_t";
QString messageType = "mavlink_message_t";
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 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 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 cStruct("typedef struct __%1 \n{\n%2\n} %1;");
QString cStructLines;
QString encode("static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n");
QString decode = "static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n";
QString pack = "static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n";
QString compactSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n");
QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tuint16_t i = 0;\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, i);\n}\n\n");
QString compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_pack(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif");
//QString compactStructSend = "#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n\nstatic inline void mavlink_msg_%3_struct_send(%1 chan%5)\n{\n\t%2 msg;\n\tmavlink_msg_%3_encode(mavlink_system.sysid, mavlink_system.compid, &msg%4);\n\tmavlink_send_uart(chan, &msg);\n}\n\n#endif";
QString unpacking = "";
QString prepends = "";
QString packParameters = "";
QString packArguments = "system_id, component_id, msg";
QString packLines = "";
QString decodeLines = "";
QString sendArguments = "";
QString commentLines = "";
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();
......@@ -241,6 +243,9 @@ bool MAVLinkXMLParser::generate()
QString fieldName = e2.attribute("name", "");
QString fieldText = e2.text();
QString unpackingCode;
QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
// Send arguments are the same for integral types and arrays
sendArguments += ", " + fieldName;
......@@ -255,7 +260,7 @@ bool MAVLinkXMLParser::generate()
// 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());
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));
......@@ -275,6 +280,29 @@ bool MAVLinkXMLParser::generate()
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
}
// Expand array handling to all valid mavlink data types
else if(fieldType.contains('[') && fieldType.contains(']'))
{
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
QString arrayType = fieldType.split("[").first();
packParameters += QString(", const ") + arrayType + "* " + fieldName;
packArguments += ", " + messageName + "->" + fieldName;
// Add field to C structure
cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
// Add pack line to message_xx_pack function
packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); //%4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
// Add decode function for this type
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, sizeof(%2)*%3);\n\treturn sizeof(%2)*%3;").arg(prepends, arrayType, QString::number(arrayLength));
unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode);
// decodeLines += "";
prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength));
}
else
// Handle simple types like integers and floats
{
......@@ -289,9 +317,9 @@ bool MAVLinkXMLParser::generate()
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;
// QString unpackingCode;
if (fieldType == "uint8_t" || fieldType == "int8_t")
{
......@@ -322,6 +350,7 @@ bool MAVLinkXMLParser::generate()
unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
}
// Generate the message decoding function
// Array handling is different from simple types
if (fieldType.startsWith("array"))
......@@ -338,6 +367,10 @@ bool MAVLinkXMLParser::generate()
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);
......
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