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Commit 5ad0a123 authored by lm's avatar lm
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Cleanup of code generator, working towards field hashes

parent 06be9881
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Showing with 142 additions and 106 deletions
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc
View file @ 5ad0a123
...@@ -62,6 +62,41 @@ MAVLinkXMLParserV10::~MAVLinkXMLParserV10() ...@@ -62,6 +62,41 @@ MAVLinkXMLParserV10::~MAVLinkXMLParserV10()
{ {
} }
/**
*
* 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;
}
/** /**
* Generate C-code (C-89 compliant) out of the XML protocol specs. * Generate C-code (C-89 compliant) out of the XML protocol specs.
*/ */
...@@ -171,26 +206,6 @@ bool MAVLinkXMLParserV10::generate() ...@@ -171,26 +206,6 @@ bool MAVLinkXMLParserV10::generate()
includeParser.generate(); includeParser.generate();
mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n"; mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
// OLD MODE: MERGE BOTH FILES
// const QString instanceText(QString::fromUtf8(file.readAll()));
// includeDoc.setContent(instanceText);
// // Get all messages
// QDomNode in = includeDoc.documentElement().firstChild();
// QDomElement ie = in.toElement();
// if (!ie.isNull())
// {
// if (ie.tagName() == "messages" || ie.tagName() == "include")
// {
// QDomNode ref = n.parentNode().insertAfter(in, n);
// if (ref.isNull())
// {
// emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
// return false;
// }
// }
// }
emit parseState(QString("<font color=\"green\">End of inclusion from file: %1</font>").arg(incFileName)); emit parseState(QString("<font color=\"green\">End of inclusion from file: %1</font>").arg(incFileName));
} }
else else
...@@ -311,11 +326,27 @@ bool MAVLinkXMLParserV10::generate() ...@@ -311,11 +326,27 @@ bool MAVLinkXMLParserV10::generate()
QDomElement pp2 = pp.toElement(); QDomElement pp2 = pp.toElement();
if (pp2.isText() || pp2.isCDATASection()) if (pp2.isText() || pp2.isCDATASection())
{ {
fieldComment += pp2.nodeValue() + sep; // 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()) else if (pp2.isElement())
{ {
fieldComment += pp2.text() + sep; // 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(); pp = pp.nextSibling();
} }
...@@ -430,6 +461,13 @@ bool MAVLinkXMLParserV10::generate() ...@@ -430,6 +461,13 @@ bool MAVLinkXMLParserV10::generate()
// Get the message fields // Get the message fields
QDomNode f = e.firstChild(); QDomNode f = e.firstChild();
// The field types and order are hashed with a checksum
// Initialize CRC
uint16_t fieldHash;
crcInit(&fieldHash);
while (!f.isNull()) while (!f.isNull())
{ {
QDomElement e2 = f.toElement(); QDomElement e2 = f.toElement();
...@@ -483,68 +521,17 @@ bool MAVLinkXMLParserV10::generate() ...@@ -483,68 +521,17 @@ bool MAVLinkXMLParserV10::generate()
} }
} }
// Array handling is different from simple types // ARRAYS are not longer supported - leave error message in here to inform users!
else if (fieldType.startsWith("array")) else if (fieldType.startsWith("array"))
{ {
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); 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));
QString arrayType = fieldType.split("[").first(); return false;
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("\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("\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")) else if (fieldType.startsWith("string"))
{ {
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
// String array is always unsigned char, so bytes
calculatedLength += arrayLength; 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; packParameters += QString(", const ") + QString("char*") + " " + fieldName;
packArguments += ", " + messageName + "->" + fieldName; packArguments += ", " + messageName + "->" + fieldName;
...@@ -557,21 +544,22 @@ bool MAVLinkXMLParserV10::generate() ...@@ -557,21 +544,22 @@ bool MAVLinkXMLParserV10::generate()
decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName); 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)); 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 if (fieldOffset != "")
{ // does not use the number - always moves up one slot
QStringList itemList; QStringList itemList;
// Swap field in C structure // Swap field in C structure
itemList = cStructLines.split("\n", QString::SkipEmptyParts); itemList = cStructLines.split("\n", QString::SkipEmptyParts);
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
cStructLines = itemList.join("\n") + "\n"; cStructLines = itemList.join("\n") + "\n";
// Swap line in message_xx_pack function // Swap line in message_xx_pack function
itemList = packLines.split("\n", QString::SkipEmptyParts); itemList = packLines.split("\n", QString::SkipEmptyParts);
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
packLines = itemList.join("\n") + "\n"; packLines = itemList.join("\n") + "\n";
// Swap line in decode function for this type // Swap line in decode function for this type
itemList = decodeLines.split("\n", QString::SkipEmptyParts); itemList = decodeLines.split("\n", QString::SkipEmptyParts);
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
decodeLines = itemList.join("\n") + "\n"; decodeLines = itemList.join("\n") + "\n";
} }
} }
...@@ -580,16 +568,39 @@ bool MAVLinkXMLParserV10::generate() ...@@ -580,16 +568,39 @@ bool MAVLinkXMLParserV10::generate()
{ {
int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt(); int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
QString arrayType = fieldType.split("[").first(); QString arrayType = fieldType.split("[").first();
if (arrayType.contains("array")) calculatedLength += arrayLength; else if (arrayType.contains("array"))
if (arrayType.contains("char")) calculatedLength += arrayLength; else {
if (arrayType.contains("int8")) calculatedLength += arrayLength; else calculatedLength += arrayLength;
if (arrayType.contains("int16")) calculatedLength += arrayLength*2; else }
if (arrayType.contains("int32")) calculatedLength += arrayLength*4; else else if (arrayType.contains("char"))
if (arrayType.contains("int64")) calculatedLength += arrayLength*8; else {
if (arrayType == "float") calculatedLength += arrayLength*4; else { calculatedLength += arrayLength;
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; 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; packParameters += QString(", const ") + arrayType + "* " + fieldName;
packArguments += ", " + messageName + "->" + fieldName; packArguments += ", " + messageName + "->" + fieldName;
...@@ -601,21 +612,22 @@ bool MAVLinkXMLParserV10::generate() ...@@ -601,21 +612,22 @@ bool MAVLinkXMLParserV10::generate()
// Add decode function for this type // Add decode function for this type
decodeLines += QString("\n\tmavlink_msg_%1_get_%2(msg, %1->%2);").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 if (fieldOffset != "")
{ // does not use the number - always moves up one slot
QStringList itemList; QStringList itemList;
// Swap field in C structure // Swap field in C structure
itemList = cStructLines.split("\n", QString::SkipEmptyParts); itemList = cStructLines.split("\n", QString::SkipEmptyParts);
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
cStructLines = itemList.join("\n") + "\n"; cStructLines = itemList.join("\n") + "\n";
// Swap line in message_xx_pack function // Swap line in message_xx_pack function
itemList = packLines.split("\n", QString::SkipEmptyParts); itemList = packLines.split("\n", QString::SkipEmptyParts);
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
packLines = itemList.join("\n") + "\n"; packLines = itemList.join("\n") + "\n";
// Swap line in decode function for this type // Swap line in decode function for this type
itemList = decodeLines.split("\n", QString::SkipEmptyParts); itemList = decodeLines.split("\n", QString::SkipEmptyParts);
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2);
decodeLines = itemList.join("\n") + "\n"; decodeLines = itemList.join("\n") + "\n";
} }
...@@ -662,17 +674,35 @@ bool MAVLinkXMLParserV10::generate() ...@@ -662,17 +674,35 @@ bool MAVLinkXMLParserV10::generate()
if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ; if (itemList.size() > 1) itemList.swap(itemList.size() - 1, itemList.size() - 2); else ;
decodeLines = itemList.join("\n") + "\n"; decodeLines = itemList.join("\n") + "\n";
} }
if (fieldType.contains("char"))
if (fieldType.contains("array")) calculatedLength += 1; else {
if (fieldType.contains("char")) calculatedLength += 1; else calculatedLength += 1;
if (fieldType.contains("int8")) calculatedLength += 1; else }
if (fieldType.contains("int16")) calculatedLength += 2; else else if (fieldType.contains("int8"))
if (fieldType.contains("int32")) calculatedLength += 4; else {
if (fieldType.contains("int64")) calculatedLength += 8; else calculatedLength += 1;
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)); else if (fieldType.contains("int16"))
return false; {
} 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;
}
} }
......
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h
View file @ 5ad0a123
...@@ -58,6 +58,12 @@ signals: ...@@ -58,6 +58,12 @@ signals:
void parseState(QString message); void parseState(QString message);
protected: protected:
/** @brief Accumulate the X.25 CRC by adding one char at a time. */
void crcAccumulate(uint8_t data, uint16_t *crcAccum);
/** @brief Initialize the buffer for the X.25 CRC */
void crcInit(uint16_t* crcAccum);
QDomDocument* doc; QDomDocument* doc;
QString outputDirName; QString outputDirName;
QString fileName; QString fileName;
......
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