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Commit 14acce6c authored by LM's avatar LM
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Fixed generator to output proper console information

parent a2f8d1e8
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Showing with 40 additions and 974 deletions
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc
View file @ 14acce6c
......@@ -95,6 +95,7 @@ void MAVLinkXMLParserV10::processError(QProcess::ProcessError err)
*/
bool MAVLinkXMLParserV10::generate()
{
emit parseState(tr("Generator ready."));
#ifdef Q_OS_WIN
QString generatorCall("files/mavlink_generator/generator/mavgen.exe");
#endif
......@@ -116,979 +117,32 @@ bool MAVLinkXMLParserV10::generate()
qDebug() << "Attempted to start" << generatorCall << arguments;
process = new QProcess(this);
process->setProcessChannelMode(QProcess::SeparateChannels);
connect(process, SIGNAL(error(QProcess::ProcessError)), this, SLOT(processError(QProcess::ProcessError)));
bool result = (process->execute(generatorCall, arguments) == 0);
connect(process, SIGNAL(readyReadStandardOutput()), this, SLOT(readStdOut()));
connect(process, SIGNAL(readyReadStandardError()), this, SLOT(readStdErr()));
process->start(generatorCall, arguments, QIODevice::ReadWrite);
QString output = QString(process->readAll());
emit parseState(output);
// Print process status
emit parseState(QString("<font color=\"red\">%1</font>").arg(QString(process->readAllStandardError())));
emit parseState(QString(process->readAllStandardOutput()));
return result;
}
///**
// * Generate C-code (C-89 compliant) out of the XML protocol specs.
// */
//bool MAVLinkXMLParserV10::generate()
//{
// uint16_t crc_key = X25_INIT_CRC;
// // 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;
// static unsigned message_lengths[256];
// static unsigned message_key[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://qgroundcontrol.org/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 \"../mavlink_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
// MAVLinkXMLParserV10 includeParser(incFilePath, topLevelOutputDirName, this);
// connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
// // Generate and write
// includeParser.generate();
// mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
// 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())
// {
// // If this is the only field, don't add the separator
// if (pp.nextSibling().isNull())
// {
// fieldComment += pp2.nodeValue();
// }
// else
// {
// fieldComment += pp2.nodeValue() + sep;
// }
// }
// else if (pp2.isElement())
// {
// // If this is the only field, don't add the separator
// if (pp.nextSibling().isNull())
// {
// fieldComment += pp2.text();
// }
// else
// {
// 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.simplified() + " */\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");
// QString headerType("mavlink_header_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\n#define MAVLINK_MSG_ID_%1_LEN %3\n#define MAVLINK_MSG_%2_LEN %3\n#define MAVLINK_MSG_ID_%1_KEY 0x%4\n#define MAVLINK_MSG_%2_KEY 0x%4");
// 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 decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n\tmemcpy( %1, msg->payload, sizeof(%2));\n}\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 pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_%3_LEN);\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 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\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n\tmsg->msgid = MAVLINK_MSG_ID_%3;\n\n%4\n\treturn mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_%3_LEN);\n}\n\n");
// //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;
// int calculatedLength = 0;
// unsigned message_length = 0;
// // Get the message fields
// QDomNode f = e.firstChild();
// // The field types and order are hashed with a checksum
// // Initialize CRC
// uint16_t fieldHash;
// crcInit(&fieldHash);
// while (!f.isNull())
// {
// QDomElement e2 = f.toElement();
// if (!e2.isNull() && e2.tagName() == "field")
// {
// QString fieldType = e2.attribute("type", "");
// QString fieldName = e2.attribute("name", "");
// QString fieldOffset = e2.attribute("offset", "");
// 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;\t///< %3\n").arg("uint8_t", fieldName, fieldText);
// calculatedLength += 1;
// // 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);
// packLines += QString("\n\tp->%2 = MAVLINK_VERSION;\t// %1:%3").arg(fieldType, fieldName, e2.text());
// // Add decode function for this type
// decodeLines += QString("\n\t%1->%2 = mavlink_msg_%1_get_%2(msg);").arg(messageName, fieldName);
// if (fieldOffset != "") { // does not use the number - always moves up one slot
// QStringList itemList;
// // Swap field in C structure
// itemList = cStructLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// cStructLines = itemList.join("\n") + "\n";
// // Swap line in message_xx_pack function
// itemList = packLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// packLines = itemList.join("\n") + "\n";
// // Swap line in decode function for this type
// itemList = decodeLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// decodeLines = itemList.join("\n") + "\n";
// }
// }
// // ARRAYS are not longer supported - leave error message in here to inform users!
// else if (fieldType.startsWith("array"))
// {
// emit parseState(tr("<font color=\"red\">ERROR: In message %1 deprecated type <array> used near line %2 of file %3. Please change from array[size] to uint8_t[size] to get the same behaviour.\nAbort.</font>").arg(messageName, QString::number(e.lineNumber()), fileName));
// return false;
// }
// else if (fieldType.startsWith("string"))
// {
// int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
// // String array is always unsigned char, so bytes
// calculatedLength += arrayLength;
// packParameters += QString(", const ") + QString("char*") + " " + fieldName;
// packArguments += ", " + messageName + "->" + fieldName;
// // Add field to C structure
// cStructLines += QString("\t%1 %2[%3];\t///< %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());
// packLines += QString("\tstrncpy( p->%2, %2, sizeof(p->%2));\t// %1[%3]:%4\n").arg("char", fieldName, QString::number(arrayLength), fieldText);
// // Add decode function for this type
// decodeLines += QString("\n\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));
// if (fieldOffset != "")
// { // does not use the number - always moves up one slot
// QStringList itemList;
// // Swap field in C structure
// itemList = cStructLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// cStructLines = itemList.join("\n") + "\n";
// // Swap line in message_xx_pack function
// itemList = packLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// packLines = itemList.join("\n") + "\n";
// // Swap line in decode function for this type
// itemList = decodeLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// decodeLines = itemList.join("\n") + "\n";
// }
// }
// // 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();
// if (arrayType.contains("array"))
// {
// calculatedLength += arrayLength;
// }
// else if (arrayType.contains("char"))
// {
// calculatedLength += arrayLength;
// }
// else if (arrayType.contains("int8"))
// {
// calculatedLength += arrayLength;
// }
// else if (arrayType.contains("int16"))
// {
// calculatedLength += arrayLength*2;
// }
// else if (arrayType.contains("int32"))
// {
// calculatedLength += arrayLength*4;
// }
// else if (arrayType.contains("int64"))
// {
// calculatedLength += arrayLength*8;
// }
// else if (arrayType == "float")
// {
// calculatedLength += arrayLength*4;
// }
// else
// {
// emit parseState(tr("<font color=\"red\">ERROR: In message %1 invalid array type %4 used near line %2 of file %3\nAbort.</font>").arg(messageName, QString::number(e.lineNumber()), fileName, arrayType));
// return false;
// }
// packParameters += QString(", const ") + arrayType + "* " + fieldName;
// packArguments += ", " + messageName + "->" + fieldName;
// // Add field to C structure
// cStructLines += QString("\t%1 %2[%3];\t///< %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);
// packLines += QString("\tmemcpy(p->%2, %2, sizeof(p->%2));\t// %1[%3]:%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
// // Add decode function for this type
// decodeLines += QString("\n\tmavlink_msg_%1_get_%2(msg, %1->%2);").arg(messageName, fieldName);
// if (fieldOffset != "")
// { // does not use the number - always moves up one slot
// QStringList itemList;
// // Swap field in C structure
// itemList = cStructLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// cStructLines = itemList.join("\n") + "\n";
process->waitForFinished(20000);
// // Swap line in message_xx_pack function
// itemList = packLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// packLines = itemList.join("\n") + "\n";
// // Swap line in decode function for this type
// itemList = decodeLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// decodeLines = itemList.join("\n") + "\n";
// }
// 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));
// unpackingCode = QString("\n\tmemcpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName);
// // 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);
// unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* %2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\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;\t///< %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());
// packLines += QString("\tp->%2 = %2;\t// %1:%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);
// decodeLines += QString("\n\t%1 = p->%1;").arg(fieldName);
// if (fieldOffset != "") { // does not use the number - always moves up one slot
// QStringList itemList;
// // Swap field in C structure
// itemList = cStructLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// cStructLines = itemList.join("\n") + "\n";
// // Swap line in message_xx_pack function
// itemList = packLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// packLines = itemList.join("\n") + "\n";
// // Swap line in decode function for this type
// itemList = decodeLines.split("\n", QString::SkipEmptyParts);
// if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
// decodeLines = itemList.join("\n") + "\n";
// }
// if (fieldType.contains("char"))
// {
// calculatedLength += 1;
// }
// else if (fieldType.contains("int8"))
// {
// calculatedLength += 1;
// }
// else if (fieldType.contains("int16"))
// {
// calculatedLength += 2;
// }
// else if (fieldType.contains("int32"))
// {
// calculatedLength += 4;
// }
// else if (fieldType.contains("int64"))
// {
// calculatedLength += 8;
// }
// else if (fieldType == "float")
// {
// calculatedLength += 4;
// }
// else
// {
// emit parseState(tr("<font color=\"red\">ERROR: In message %1 inavlid type %4 used near line %2 of file %3\nAbort.</font>").arg(messageName, QString::number(e.lineNumber()), fileName, fieldType));
// return false;
// }
// }
// // message length calculation
// unsigned element_multiplier = 1;
// unsigned element_length = 0;
// 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));
// return false;
// }
// message_length += element_length;
// //
// // QString unpackingCode;
// if (fieldType == "uint8_t_mavlink_version")
// {
// // unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg("uint8_t", prepends);
// unpackingCode = QString("\treturn (%1)(p->%2);").arg("uint8_t", fieldName);
// }
// else if (fieldType == "uint8_t" || fieldType == "int8_t")
// {
// // unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends);
// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName);
// }
// 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);
// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName);
// }
// 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);
// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName);
// }
// 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);
// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName);
// }
// 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);
// unpackingCode = QString("\treturn (%1)(p->%2);").arg(fieldType, fieldName);
// }
// 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(filedName, prepends, fieldType.split("[").at(1).split("]").first());
// unpackingCode = QString("\n\tmemcpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName);
// }
// 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());
// unpackingCode = QString("\n\tstrncpy(%1, p->%1, sizeof(p->%1));\n\treturn sizeof(p->%1);").arg(fieldName);
// }
// // 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);
// unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n\tmavlink_%2_t *p = (mavlink_%2_t *)&msg->payload[0];\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);
// unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* %2)\n{\n\tmavlink_%1_t *p = (mavlink_%1_t *)&msg->payload[0];\n%3\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);
// unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* %2)\n{\n\tmavlink_%1 *p = (mavlink_%1 *)&msg->payload[0];\n%3\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);
// unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n\tmavlink_%2_t *p = (mavlink_%2_t *)&msg->payload[0];\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;
// // Sort fields to ensure 16bit-boundary aligned data
// QStringList fieldList;
// // Stable sort fields in C structure
// fieldList = cStructLines.split("\n", QString::SkipEmptyParts);
// if (fieldList.size() > 1)
// {
// qStableSort(fieldList.begin(), fieldList.end(), structSort);
// }
// // struct now sorted, do crc calc for each field
// QString fieldCRCstring;
// QByteArray fieldText;
// crc_key = X25_INIT_CRC;
// for (int i =0; i < fieldList.size(); i++)
// {
// fieldCRCstring = fieldList.at(i).simplified();
// fieldCRCstring = fieldCRCstring.section(" ",0,1); // note: this has one space bewteen type and name
// fieldText = fieldCRCstring.toAscii();
// for (int i = 0; i < fieldText.size(); ++i)
// {
// crcAccumulate((uint8_t) fieldText.at(i), &crc_key);
// }
// }
// // generate the key byte value
// QString stringCRC;
// message_key[messageId] = (crc_key&0xff)^((crc_key>>8)&0xff);
// stringCRC = stringCRC.number( message_key[messageId], 16);
// // create structure
// cStructLines = fieldList.join("\n") + "\n";
// // cStruct = cStruct.arg(cStructName, cStructLines, QString::number(calculatedLength) );
// 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);
// decode = decode.arg(messageName).arg(cStructName);
//// 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 compactSend("#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 msg;\n\tuint16_t checksum;\n\tmavlink_%3_t *p = (mavlink_%3_t *)&msg.payload[0];\n\n%6\n\tmsg.STX = MAVLINK_STX;\n\tmsg.len = MAVLINK_MSG_ID_%4_LEN;\n\tmsg.msgid = MAVLINK_MSG_ID_%4;\n");
//// QString compactSend2("\tmsg.sysid = mavlink_system.sysid;\n\tmsg.compid = mavlink_system.compid;\n\tmsg.seq = mavlink_get_channel_status(chan)->current_tx_seq;\n\tmavlink_get_channel_status(chan)->current_tx_seq = msg.seq + 1;\n");
//// QString compactSend3("\tchecksum = crc_calculate_msg(&msg, msg.len + MAVLINK_CORE_HEADER_LEN);\n\tmsg.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte\n\tmsg.ck_b = (uint8_t)(checksum >> 8); ///< High byte\n\n\tmavlink_send_msg(chan, &msg);\n}\n\n#endif");
//// compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters );
//// compactSend = compactSend.arg(channelType, messageType, messageName, messageName.toUpper(), packParameters, packLines ) + compactSend2 + compactSend3;
//// QString compact2Send("\n\n#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS_SMALL\nstatic inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 hdr;\n\tmavlink_%3_t payload;\n\tuint16_t checksum;\n\tmavlink_%3_t *p = &payload;\n\n%6\n\thdr.STX = MAVLINK_STX;\n\thdr.len = MAVLINK_MSG_ID_%4_LEN;\n\thdr.msgid = MAVLINK_MSG_ID_%4;\n");
// QString compact2Send0( "\n#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS\n" );
// QString compact2Send1("static inline void mavlink_msg_%3_send(%1 chan%5)\n{\n\t%2 hdr;\n\tmavlink_%3_t payload;\n\n\tMAVLINK_BUFFER_CHECK_START( chan, MAVLINK_MSG_ID_%4_LEN )\n%6\n\thdr.STX = MAVLINK_STX;\n\thdr.len = MAVLINK_MSG_ID_%4_LEN;\n\thdr.msgid = MAVLINK_MSG_ID_%4;\n");
// QString compact2Send2("\thdr.sysid = mavlink_system.sysid;\n\thdr.compid = mavlink_system.compid;\n\thdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;\n\tmavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );\n\tmavlink_send_mem(chan, (uint8_t *)&payload, sizeof(payload) );\n");
// QString compact2Send3("\n\tcrc_init(&hdr.ck);\n\tcrc_calculate_mem((uint8_t *)&hdr.len, &hdr.ck, MAVLINK_CORE_HEADER_LEN);\n\tcrc_calculate_mem((uint8_t *)&payload, &hdr.ck, hdr.len );\n\tcrc_accumulate( 0x%1, &hdr.ck); /// include key in X25 checksum\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.ck, MAVLINK_NUM_CHECKSUM_BYTES);\n\tMAVLINK_BUFFER_CHECK_END\n}\n\n#endif");
// QString compact2Send = compact2Send0 + commentSendContainer.arg(messageName.toLower(), commentLines) + compact2Send1.arg(channelType, headerType, messageName, messageName.toUpper(), packParameters, packLines.replace(QString("p->"),QString("payload.")) ) + compact2Send2 + compact2Send3.arg(stringCRC.toUpper());
//// QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine.arg(messageName.toUpper(), QString::number(messageId), QString::number(calculatedLength), stringCRC.toUpper() ) + "\n\n" + cStruct + "\n" + arrayDefines + "\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 + compact2Send + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode;
// QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine.arg(messageName.toUpper(), QString::number(messageId), QString::number(calculatedLength), stringCRC.toUpper() ) + "\n\n" + cStruct + "\n" + arrayDefines + "\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + commentPackChanContainer.arg(messageName.toLower(), commentLines) + packChan + commentEncodeContainer.arg(messageName.toLower()) + encode + "\n" + compact2Send + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode;
// cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
// emit parseState(tr("Compiled message <strong>%1 \t(#%3)</strong> \tend near line %2, length %4, crc key 0x%5(%6)").arg(messageName, QString::number(n.lineNumber()), QString::number(messageId), QString::number(message_lengths[messageId]), stringCRC.toUpper(), QString::number(message_key[messageId])));
// } // 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);
// }
// // CRC seeds
// mainHeader += "\n\n// MESSAGE CRC KEYS\n\n";
// mainHeader += "#undef MAVLINK_MESSAGE_KEYS\n";
// mainHeader += "#define MAVLINK_MESSAGE_KEYS { ";
// for (int i=0; i<highest_message_id; i++) {
// mainHeader += QString::number(message_key[i]);
// if (i < highest_message_id-1) mainHeader += ", ";
// }
// mainHeader += " }";
// // Message lengths
// 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 += "\n#include \"" + mainHeaderName + "\"\n\n";
// // mHeader += "#pragma pack(push,1)\n#include mavlink_options.h\n#include \"" + mainHeaderName + "\"\n#ifdef MAVLINK_CHECK_LENGTH\n#include \"lengths.h\"\n#endif\n#pragma pack(pop)\n";
// mHeader += "#pragma pack(push,1)\n#include \"mavlink_options.h\"\n#include \"" + mainHeaderName + "\"\n#ifdef MAVLINK_DATA\n#include \"mavlink_data.h\"\n#endif\n#pragma pack(pop)\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;
//}
///**
// *
// * CALCULATE THE CHECKSUM
// *
// */
//#define X25_INIT_CRC 0xffff
//#define X25_VALIDATE_CRC 0xf0b8
///**
// * The checksum function adds the hash of one char at a time to the
// * 16 bit checksum (uint16_t).
// *
// * @param data new char to hash
// * @param crcAccum the already accumulated checksum
// **/
//void MAVLinkXMLParserV10::crcAccumulate(uint8_t data, uint16_t *crcAccum)
//{
// /*Accumulate one byte of data into the CRC*/
// uint8_t tmp;
// tmp=data ^ (uint8_t)(*crcAccum &0xff);
// tmp^= (tmp<<4);
// *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
//}
///**
// * @param crcAccum the 16 bit X.25 CRC
// */
//void MAVLinkXMLParserV10::crcInit(uint16_t* crcAccum)
//{
// *crcAccum = X25_INIT_CRC;
//}
//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 },
//};
//unsigned itemLength( const QString &s1 )
//{
// unsigned el1, i1, i2;
// QString Ss1 = s1;
// Ss1 = Ss1.replace("_"," ");
// Ss1 = Ss1.simplified();
// Ss1 = Ss1.section(" ",0,0);
// el1 = i1 = 0;
// i2 = sizeof(length_map)/sizeof(length_map[0]);
// do {
// if (Ss1.startsWith(length_map[i1].prefix))
// {
// el1 = length_map[i1].length;
// }
// i1++;
// } while ( (el1 == 0) && (i1 < i2));
// return el1;
//}
process->terminate();
process->kill();
return true;//result;
}
//bool structSort(const QString &s1, const QString &s2)
//{
// unsigned el1, el2;
void MAVLinkXMLParserV10::readStdOut()
{
QString out(process->readAllStandardOutput());
emit parseState(out);
}
// el1 = itemLength( s1 );
// el2 = itemLength( s2 );
// return el2 < el1;
//}
void MAVLinkXMLParserV10::readStdErr()
{
QString out = QString("<font color=\"red\">%1</font>").arg(QString(process->readAllStandardError()));
emit parseState(out);
}
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h
View file @ 14acce6c
......@@ -59,6 +59,11 @@ public slots:
/** @brief Handle process errors */
void processError(QProcess::ProcessError err);
/** @brief Redirect standard output */
void readStdOut();
/** @brief Redirect standard error output */
void readStdErr();
signals:
/** @brief Status message on the parsing */
void parseState(QString message);
......
src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc
View file @ 14acce6c
......@@ -72,9 +72,12 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
m_ui->xmlTextView->setText(xml);
QDomDocument doc;
if (doc.setContent(xml)) {
if (doc.setContent(xml))
{
m_ui->validXMLLabel->setText(tr("<font color=\"green\">Valid XML file</font>"));
} else {
}
else
{
m_ui->validXMLLabel->setText(tr("<font color=\"red\">File is NOT valid XML, please fix in editor</font>"));
}
}
......@@ -89,11 +92,13 @@ void XMLCommProtocolWidget::selectOutputDirectory()
dialog.setFileMode(QFileDialog::Directory);
dialog.setViewMode(QFileDialog::Detail);
QStringList fileNames;
if (dialog.exec()) {
if (dialog.exec())
{
fileNames = dialog.selectedFiles();
}
if (fileNames.size() > 0) {
if (fileNames.size() > 0)
{
m_ui->outputDirNameLabel->setText(fileNames.first());
// Store directory for next time
settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
......@@ -105,13 +110,15 @@ void XMLCommProtocolWidget::selectOutputDirectory()
void XMLCommProtocolWidget::generate()
{
// Check if input file is present
if (!QFileInfo(m_ui->fileNameLabel->text().trimmed()).isFile()) {
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()) {
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;
}
......
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