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Commit 1dd78635 authored by lm's avatar lm
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Working towards MAVLink v1.0 code generation

parent 7c16fa22
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Showing with 318 additions and 147 deletions
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc
View file @ 1dd78635
......@@ -39,9 +39,9 @@ This file is part of the QGROUNDCONTROL project
#include <QDebug>
MAVLinkXMLParserV10::MAVLinkXMLParserV10(QDomDocument* document, QString outputDirectory, QObject* parent) : QObject(parent),
doc(document),
outputDirName(outputDirectory),
fileName("")
doc(document),
outputDirName(outputDirectory),
fileName("")
{
}
......@@ -112,16 +112,6 @@ bool MAVLinkXMLParserV10::generate()
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
......@@ -178,10 +168,7 @@ bool MAVLinkXMLParserV10::generate()
MAVLinkXMLParserV10 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--;
includeParser.generate();
mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
......@@ -350,7 +337,7 @@ bool MAVLinkXMLParserV10::generate()
//int commaPosition = currEnum.lastIndexOf(",");
//currEnum.remove(commaPosition, 1);
enums += "/** @brief " + comment + " */\n" + currEnum + currEnumEnd;
enums += "/** @brief " + comment.simplified() + " */\n" + currEnum + currEnumEnd;
} // Element is non-zero and element name is <enum>
n = n.nextSibling();
} // While through <enums>
......@@ -407,6 +394,7 @@ bool MAVLinkXMLParserV10::generate()
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");
......@@ -415,17 +403,19 @@ bool MAVLinkXMLParserV10::generate()
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 idDefine = QString("#define MAVLINK_MSG_ID_%1 %2\n#define MAVLINK_MSG_ID_%1_LEN %3\n#define MAVLINK_MSG_%2_LEN %3");
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 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;
......@@ -435,7 +425,7 @@ bool MAVLinkXMLParserV10::generate()
QString decodeLines;
QString sendArguments;
QString commentLines;
unsigned message_length = 0;
int calculatedLength = 0;
// Get the message fields
......@@ -447,6 +437,7 @@ bool MAVLinkXMLParserV10::generate()
{
QString fieldType = e2.attribute("type", "");
QString fieldName = e2.attribute("name", "");
QString fieldOffset = e2.attribute("offset", "");
QString fieldText = e2.text();
QString unpackingCode;
......@@ -466,10 +457,30 @@ bool MAVLinkXMLParserV10::generate()
{
// Add field to C structure
cStructLines += QString("\t%1 %2; ///< %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("\ti += put_uint8_t_by_index(%1, i, msg->payload); // %2\n").arg(mavlinkVersion).arg(fieldText);
packLines += QString("\n\tp->%2 = MAVLINK_VERSION; // %1:%3").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->%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); else ;
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); else ;
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); else ;
decodeLines = itemList.join("\n") + "\n";
}
}
// Array handling is different from simple types
......@@ -477,51 +488,144 @@ bool MAVLinkXMLParserV10::generate()
{
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 inavlid 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 ") + 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);
// packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
packLines += QString("\tmemcpy( p->%2, %2, sizeof(p->%2)); // %1[%3]:%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);
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); else ;
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); else ;
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); else ;
decodeLines = itemList.join("\n") + "\n";
}
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();
calculatedLength += arrayLength;
QString arrayType = fieldType.split("[").first();
if (arrayType.contains("string")) calculatedLength += arrayLength; else
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 inavlid 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 ") + 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());
// 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)); // %1[%3]:%4\n").arg("char", 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));
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); else ;
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); else ;
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); else ;
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 inavlid 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]; ///< %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("\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)); // %1[%3]:%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);
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); else ;
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); else ;
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); else ;
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(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* 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));
......@@ -535,106 +639,109 @@ bool MAVLinkXMLParserV10::generate()
// 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());
// packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); // %3\n").arg(fieldType, fieldName, e2.text());
packLines += QString("\tp->%2 = %2; // %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);
}
// 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;
}
// 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); else ;
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); else ;
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); else ;
decodeLines = itemList.join("\n") + "\n";
}
if (fieldType.contains("array")) calculatedLength += 1; else
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;
}
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);
// 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)(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("\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("\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("\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("\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(prepends, fieldType.split("[").at(1).split("]").first());
{ // 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());
{ // 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%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* 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* 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;
......@@ -645,7 +752,8 @@ bool MAVLinkXMLParserV10::generate()
}
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%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") + ")";
}
......@@ -653,20 +761,25 @@ bool MAVLinkXMLParserV10::generate()
f = f.nextSibling();
}
if (messageId > highest_message_id)
{
highest_message_id = messageId;
}
message_lengths[messageId] = message_length;
cStruct = cStruct.arg(cStructName, cStructLines);
// 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);
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;
// 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 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");
QString compact2Send3("\n\tcrc_init(&checksum);\n\tchecksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);\n\tchecksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );\n\thdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte\n\thdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte\n\n\tmavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);\n\tmavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);\n}\n\n#endif");
compact2Send = compact2Send.arg(channelType, headerType, messageName, messageName.toUpper(), packParameters, packLines ) + compact2Send2 + compact2Send3;
QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine.arg(messageName.toUpper(), QString::number(messageId), QString::number(calculatedLength)) + "\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;
cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
} // Check if tag = message
} // Check if e = NULL
......@@ -711,16 +824,6 @@ bool MAVLinkXMLParserV10::generate()
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
......@@ -739,7 +842,8 @@ bool MAVLinkXMLParserV10::generate()
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 += "\n#include \"" + mainHeaderName + "\"\n\n";
mHeader += "#pragma pack(push,1)\n#include \"" + mainHeaderName + "\"\n#ifdef MAVLINK_CHECK_LENGTH\n#include \"lengths.h\"\n#endif\n#pragma pack(pop)\n";
mHeader += "#endif\n";
mavlinkHeader.write(mHeader.toLatin1());
mavlinkHeader.close();
......
src/comm/UDPLink.cc
View file @ 1dd78635
......@@ -86,7 +86,8 @@ void UDPLink::setPort(int port)
void UDPLink::addHost(const QString& host)
{
//qDebug() << "UDP:" << "ADDING HOST:" << host;
if (host.contains(":")) {
if (host.contains(":"))
{
//qDebug() << "HOST: " << host.split(":").first();
QHostInfo info = QHostInfo::fromName(host.split(":").first());
if (info.error() == QHostInfo::NoError)
......@@ -129,14 +130,18 @@ void UDPLink::removeHost(const QString& hostname)
QHostInfo info = QHostInfo::fromName(host);
QHostAddress address;
QList<QHostAddress> hostAddresses = info.addresses();
for (int i = 0; i < hostAddresses.size(); i++) {
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":")) {
if (!hostAddresses.at(i).toString().contains(":"))
{
address = hostAddresses.at(i);
}
}
for (int i = 0; i < hosts.count(); ++i) {
if (hosts.at(i) == address) {
for (int i = 0; i < hosts.count(); ++i)
{
if (hosts.at(i) == address)
{
hosts.removeAt(i);
ports.removeAt(i);
}
......@@ -154,7 +159,8 @@ void UDPLink::writeBytes(const char* data, qint64 size)
#ifdef UDPLINK_DEBUG
QString bytes;
QString ascii;
for (int i=0; i<size; i++) {
for (int i=0; i<size; i++)
{
unsigned char v = data[i];
bytes.append(QString().sprintf("%02x ", v));
if (data[i] > 31 && data[i] < 127)
......@@ -183,7 +189,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
void UDPLink::readBytes()
{
const qint64 maxLength = 65536;
char data[maxLength];
static char data[maxLength];
QHostAddress sender;
quint16 senderPort;
......@@ -207,11 +213,14 @@ void UDPLink::readBytes()
// Add host to broadcast list if not yet present
if (!hosts.contains(sender)) {
if (!hosts.contains(sender))
{
hosts.append(sender);
ports.append(senderPort);
// ports->insert(sender, senderPort);
} else {
}
else
{
int index = hosts.indexOf(sender);
ports.replace(index, senderPort);
}
......
src/uas/UAS.cc
View file @ 1dd78635
......@@ -446,9 +446,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
emit valueChanged(uasId, "mag x", "tesla", scaled.xmag/1000.0f, time);
emit valueChanged(uasId, "mag y", "tesla", scaled.ymag/1000.0f, time);
emit valueChanged(uasId, "mag z", "tesla", scaled.zmag/1000.0f, time);
emit valueChanged(uasId, "mag x", "uTesla", scaled.xmag/100.0f, time);
emit valueChanged(uasId, "mag y", "uTesla", scaled.ymag/100.0f, time);
emit valueChanged(uasId, "mag z", "uTesla", scaled.zmag/100.0f, time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
......@@ -753,6 +753,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit remoteControlChannelRawChanged(5, channels.chan6_raw);
emit remoteControlChannelRawChanged(6, channels.chan7_raw);
emit remoteControlChannelRawChanged(7, channels.chan8_raw);
quint64 time = getUnixTime();
emit valueChanged(uasId, "rc in #1", "us", channels.chan1_raw, time);
emit valueChanged(uasId, "rc in #2", "us", channels.chan2_raw, time);
emit valueChanged(uasId, "rc in #3", "us", channels.chan3_raw, time);
emit valueChanged(uasId, "rc in #4", "us", channels.chan4_raw, time);
emit valueChanged(uasId, "rc in #5", "us", channels.chan5_raw, time);
emit valueChanged(uasId, "rc in #6", "us", channels.chan6_raw, time);
emit valueChanged(uasId, "rc in #7", "us", channels.chan7_raw, time);
emit valueChanged(uasId, "rc in #8", "us", channels.chan8_raw, time);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
......@@ -992,6 +1001,55 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, str+".z", "raw", vect.z, time);
}
break;
// WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
// case MAVLINK_MSG_ID_MEMORY_VECT:
// {
// mavlink_memory_vect_t vect;
// mavlink_msg_memory_vect_decode(&message, &vect);
// QString str("mem_%1");
// quint64 time = getUnixTime(0);
// int16_t *mem0 = (int16_t *)&vect.value[0];
// uint16_t *mem1 = (uint16_t *)&vect.value[0];
// int32_t *mem2 = (int32_t *)&vect.value[0];
// // uint32_t *mem3 = (uint32_t *)&vect.value[0]; causes overload problem
// float *mem4 = (float *)&vect.value[0];
// if ( vect.ver == 0) vect.type = 0, vect.ver = 1; else ;
// if ( vect.ver == 1)
// {
// switch (vect.type) {
// default:
// case 0:
// for (int i = 0; i < 16; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
// break;
// case 1:
// for (int i = 0; i < 16; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
// break;
// case 2:
// for (int i = 0; i < 16; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
// break;
// case 3:
// for (int i = 0; i < 16; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
// break;
// case 4:
// for (int i = 0; i < 8; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
// break;
// case 5:
// for (int i = 0; i < 8; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
// break;
// case 6:
// for (int i = 0; i < 8; i++)
// emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
// break;
// }
// }
// }
// break;
//#ifdef MAVLINK_ENABLED_PIXHAWK
// case MAVLINK_MSG_ID_POINT_OF_INTEREST:
// {
......
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