Added v0.9 and v1.0 parser options, working towards V1.0 MAVLink release candidate

src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class MAVLinkXMLParserV10
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#include <QFile>
+#include <QDir>
+#include <QPair>
+#include <QList>
+#include <QMap>
+#include <QDateTime>
+#include <QLocale>
+#include "MAVLinkXMLParserV10.h"
+
+#include <QDebug>
+
+MAVLinkXMLParserV10::MAVLinkXMLParserV10(QDomDocument* document, QString outputDirectory, QObject* parent) : QObject(parent),
+    doc(document),
+    outputDirName(outputDirectory),
+    fileName("")
+{
+}
+
+MAVLinkXMLParserV10::MAVLinkXMLParserV10(QString document, QString outputDirectory, QObject* parent) : QObject(parent)
+{
+    doc = new QDomDocument();
+    QFile file(document);
+    if (file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        const QString instanceText(QString::fromUtf8(file.readAll()));
+        doc->setContent(instanceText);
+    }
+    fileName = document;
+    outputDirName = outputDirectory;
+}
+
+MAVLinkXMLParserV10::~MAVLinkXMLParserV10()
+{
+}
+
+/**
+ * Generate C-code (C-89 compliant) out of the XML protocol specs.
+ */
+bool MAVLinkXMLParserV10::generate()
+{
+    // 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;
+
+    // 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
+    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 \"../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
+                                recursion_level++;
+                                // Abort if inclusion fails
+                                if (!includeParser.generate()) return false;
+                                recursion_level--;
+                                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));
+                            }
+                            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())
+                                                        {
+                                                            fieldComment +=  pp2.nodeValue() + sep;
+                                                        }
+                                                        else if (pp2.isElement())
+                                                        {
+                                                            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  + " */\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");
+
+                                        // 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").arg(messageName.toUpper(), QString::number(messageId));
+                                        QString arrayDefines;
+                                        QString cStructName = QString("mavlink_%1_t").arg(messageName);
+                                        QString cStruct("typedef struct __%1 \n{\n%2\n} %1;");
+                                        QString cStructLines;
+                                        QString encode("static inline uint16_t mavlink_msg_%1_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const %2* %1)\n{\n\treturn mavlink_msg_%1_pack(%3);\n}\n");
+
+                                        QString decode("static inline void mavlink_msg_%1_decode(const mavlink_message_t* msg, %2* %1)\n{\n%3}\n");
+                                        QString pack("static inline uint16_t mavlink_msg_%1_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg%2)\n{\n\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 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;
+                                        unsigned message_length = 0;
+
+
+                                        // Get the message fields
+                                        QDomNode f = e.firstChild();
+                                        while (!f.isNull())
+                                        {
+                                            QDomElement e2 = f.toElement();
+                                            if (!e2.isNull() && e2.tagName() == "field")
+                                            {
+                                                QString fieldType = e2.attribute("type", "");
+                                                QString fieldName = e2.attribute("name", "");
+                                                QString fieldText = e2.text();
+
+                                                QString unpackingCode;
+                                                QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
+
+                                                // Send arguments 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; ///< %3\n").arg("uint8_t", fieldName, fieldText);
+                                                    // 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);
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
+                                                }
+
+                                                // Array handling is different from simple types
+                                                else if (fieldType.startsWith("array"))
+                                                {
+                                                    int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
+                                                    QString arrayType = fieldType.split("[").first();
+                                                    packParameters += QString(", const ") + QString("int8_t*") + " " + fieldName;
+                                                    packArguments += ", " + messageName + "->" + fieldName;
+
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), 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));
+                                                }
+                                                else if (fieldType.startsWith("string"))
+                                                {
+                                                    int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
+                                                    QString arrayType = fieldType.split("[").first();
+                                                    packParameters += QString(", const ") + QString("char*") + " " + fieldName;
+                                                    packArguments += ", " + messageName + "->" + fieldName;
+
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("char", fieldName, QString::number(arrayLength), fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
+                                                    arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
+                                                }
+                                                // Expand array handling to all valid mavlink data types
+                                                else if(fieldType.contains('[') && fieldType.contains(']'))
+                                                {
+                                                    int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
+                                                    QString arrayType = fieldType.split("[").first();
+                                                    packParameters += QString(", const ") + arrayType + "* " + fieldName;
+                                                    packArguments += ", " + messageName + "->" + fieldName;
+
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_array_by_index((const int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
+                                                    arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
+
+                                                    unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, sizeof(%2)*%3);\n\treturn sizeof(%2)*%3;").arg(prepends, arrayType, QString::number(arrayLength));
+
+                                                    unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, %3* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, arrayType, unpackingCode);
+                                                    //                                                    decodeLines += "";
+                                                    prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength));
+
+                                                }
+                                                else
+                                                    // Handle simple types like integers and floats
+                                                {
+                                                    packParameters += ", " + fieldType + " " + fieldName;
+                                                    packArguments += ", " + messageName + "->" + fieldName;
+
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2; ///< %3\n").arg(fieldType, fieldName, fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); // %3\n").arg(fieldType, fieldName, e2.text());
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
+                                                }
+
+
+                                                // 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;
+                                                    }
+                                                }
+                                                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);
+                                                }
+                                                else if (fieldType == "uint8_t" || fieldType == "int8_t")
+                                                {
+                                                    unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends);
+                                                }
+                                                else if (fieldType == "uint16_t" || fieldType == "int16_t")
+                                                {
+                                                    unpackingCode = QString("\tgeneric_16bit r;\n\tr.b[1] = (msg->payload%1)[0];\n\tr.b[0] = (msg->payload%1)[1];\n\treturn (%2)r.s;").arg(prepends).arg(fieldType);
+                                                }
+                                                else if (fieldType == "uint32_t" || fieldType == "int32_t")
+                                                {
+                                                    unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.i;").arg(prepends).arg(fieldType);
+                                                }
+                                                else if (fieldType == "float")
+                                                {
+                                                    unpackingCode = QString("\tgeneric_32bit r;\n\tr.b[3] = (msg->payload%1)[0];\n\tr.b[2] = (msg->payload%1)[1];\n\tr.b[1] = (msg->payload%1)[2];\n\tr.b[0] = (msg->payload%1)[3];\n\treturn (%2)r.f;").arg(prepends).arg(fieldType);
+                                                }
+                                                else if (fieldType == "uint64_t" || fieldType == "int64_t")
+                                                {
+                                                    unpackingCode = QString("\tgeneric_64bit r;\n\tr.b[7] = (msg->payload%1)[0];\n\tr.b[6] = (msg->payload%1)[1];\n\tr.b[5] = (msg->payload%1)[2];\n\tr.b[4] = (msg->payload%1)[3];\n\tr.b[3] = (msg->payload%1)[4];\n\tr.b[2] = (msg->payload%1)[5];\n\tr.b[1] = (msg->payload%1)[6];\n\tr.b[0] = (msg->payload%1)[7];\n\treturn (%2)r.ll;").arg(prepends).arg(fieldType);
+                                                }
+                                                else if (fieldType.startsWith("array"))
+                                                {
+                                                    // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string
+                                                    unpackingCode = QString("\n\tmemcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
+                                                }
+                                                else if (fieldType.startsWith("string"))
+                                                {
+                                                    // fieldtype formatis string[n] where n is the number of bytes, extract n from field type string
+                                                    unpackingCode = QString("\n\tstrcpy(r_data, msg->payload%1, %2);\n\treturn %2;").arg(prepends, fieldType.split("[").at(1).split("]").first());
+                                                }
+
+
+                                                // Generate the message decoding function
+                                                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);
+                                                    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);
+                                                    decodeLines += "";
+                                                    QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
+                                                    prepends += "+" + arrayLength;
+                                                }
+                                                else if (fieldType.startsWith("string"))
+                                                {
+                                                    unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, char* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
+                                                    decodeLines += "";
+                                                    QString arrayLength = QString(fieldType.split("[").at(1).split("]").first());
+                                                    prepends += "+" + arrayLength;
+                                                }
+                                                else 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);
+                                                    decodeLines += "";
+                                                    prepends += "+sizeof(" + e2.attribute("type", "void") + ")";
+                                                }
+                                            }
+                                            f = f.nextSibling();
+                                        }
+
+                                        if (messageId > highest_message_id)
+                                        {
+                                            highest_message_id = messageId;
+                                        }
+                                        message_lengths[messageId] = message_length;
+
+                                        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;
+                                        cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
+                                    } // Check if tag = message
+                                } // Check if e = NULL
+                                n = n.nextSibling();
+                            } // While through <message>
+                            n = p;
+
+                        } // Check if tag = messages
+                    } // Check if e = NULL
+                    n = n.nextSibling();
+                } // While through include and messages
+                // 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);
+    }
+
+    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 += "#include \"" + mainHeaderName + "\"\n\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;
+}

src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkXMLParserV10
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef MAVLINKXMLPARSERV10_H
+#define MAVLINKXMLPARSERV10_H
+
+#include <QObject>
+#include <QDomDocument>
+#include <QString>
+
+/**
+ * @brief MAVLink micro air vehicle protocol generator
+ *
+ * MAVLink is a generic communication protocol for micro air vehicles.
+ * for more information, please see the official website.
+ * @ref http://pixhawk.ethz.ch/software/mavlink/
+ **/
+class MAVLinkXMLParserV10 : public QObject
+{
+    Q_OBJECT
+public:
+    MAVLinkXMLParserV10(QDomDocument* document, QString outputDirectory, QObject* parent=0);
+    MAVLinkXMLParserV10(QString document, QString outputDirectory, QObject* parent=0);
+    ~MAVLinkXMLParserV10();
+
+public slots:
+    /** @brief Parse XML and generate C files */
+    bool generate();
+
+signals:
+    /** @brief Status message on the parsing */
+    void parseState(QString message);
+
+protected:
+    QDomDocument* doc;
+    QString outputDirName;
+    QString fileName;
+};
+
+#endif // MAVLINKXMLPARSERV10_H

src/apps/mavlinkgen/mavlinkgen.pri

@@ -29,6 +29,7 @@ FORMS += ui/XMLCommProtocolWidget.ui
 HEADERS += \
     ui/XMLCommProtocolWidget.h \
     generator/MAVLinkXMLParser.h \
+    generator/MAVLinkXMLParserV10.h \
     ui/DomItem.h \
     ui/DomModel.h \
     ui/QGCMAVLinkTextEdit.h
@@ -37,6 +38,7 @@ SOURCES += \
     ui/DomItem.cc \
     ui/DomModel.cc \
     generator/MAVLinkXMLParser.cc \
+    generator/MAVLinkXMLParserV10.cc \
     ui/QGCMAVLinkTextEdit.cc
 
 RESOURCES += mavlinkgen.qrc

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc

@@ -6,6 +6,7 @@
 #include "XMLCommProtocolWidget.h"
 #include "ui_XMLCommProtocolWidget.h"
 #include "MAVLinkXMLParser.h"
+#include "MAVLinkXMLParserV10.h"
 
 #include <QDebug>
 #include <iostream>
@@ -131,18 +132,37 @@ void XMLCommProtocolWidget::generate()
         // Syntax check already gives output
         return;
     }
-	
-    MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
-    connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
-    bool result = parser->generate();
-    if (result) {
+
+    MAVLinkXMLParser* parser = NULL;
+    MAVLinkXMLParserV10* parserV10 = NULL;
+
+    bool result = false;
+
+    if (m_ui->versionComboBox->currentIndex() == 0)
+    {
+        MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parser->generate();
+    }
+    else if (m_ui->versionComboBox->currentIndex() == 1)
+    {
+        MAVLinkXMLParserV10* parserV10 = new MAVLinkXMLParserV10(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
+        connect(parserV10, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
+        result = parserV10->generate();
+    }
+
+    if (result)
+    {
         QMessageBox msgBox;
         msgBox.setText(QString("The C code / headers have been generated in folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()));
         msgBox.exec();
-    } else {
+    }
+    else
+    {
         QMessageBox::critical(this, tr("C code generation failed, please see the compile log for further information"), QString("The C code / headers could not be written to folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()), QMessageBox::Ok);
     }
-    delete parser;
+    if (parser) delete parser;
+    if (parserV10) delete parserV10;
 }
 
 void XMLCommProtocolWidget::save()

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1" columnstretch="1,1,1,100">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1,0" columnstretch="1,1,1,100">
    <property name="topMargin">
     <number>6</number>
    </property>
@@ -51,12 +51,12 @@
       <string>Select input file</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="0" column="3" rowspan="6">
+   <item row="0" column="3" rowspan="7">
     <widget class="QGCMAVLinkTextEdit" name="xmlTextView">
      <property name="minimumSize">
       <size>
@@ -97,49 +97,70 @@
       <string>Select directory</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="2" column="0" colspan="3">
+   <item row="3" column="0" colspan="3">
     <widget class="QTreeView" name="xmlTreeView"/>
    </item>
-   <item row="3" column="0" colspan="2">
+   <item row="4" column="0" colspan="2">
     <widget class="QLabel" name="label">
      <property name="text">
       <string>Compile Output</string>
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="3">
+   <item row="5" column="0" colspan="3">
     <widget class="QPlainTextEdit" name="compileLog"/>
    </item>
-   <item row="5" column="0">
+   <item row="6" column="0">
     <widget class="QLabel" name="validXMLLabel">
      <property name="text">
       <string>No file loaded</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="1">
+   <item row="6" column="1">
     <widget class="QPushButton" name="saveButton">
      <property name="text">
       <string>Save file</string>
      </property>
     </widget>
    </item>
-   <item row="5" column="2">
+   <item row="6" column="2">
     <widget class="QPushButton" name="generateButton">
      <property name="text">
       <string>Save and generate</string>
      </property>
      <property name="icon">
-      <iconset resource="../mavlinkgen.qrc">
+      <iconset resource="../../../../qgroundcontrol.qrc">
        <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
      </property>
     </widget>
    </item>
+   <item row="2" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Select MAVLink Version</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QComboBox" name="versionComboBox">
+     <item>
+      <property name="text">
+       <string>MAVLink v0.9 (-Aug'10)</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>MAVLink v1.0 (Sept'10+)</string>
+      </property>
+     </item>
+    </widget>
+   </item>
   </layout>
  </widget>
  <customwidgets>
@@ -150,7 +171,7 @@
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="../mavlinkgen.qrc"/>
+  <include location="../../../../qgroundcontrol.qrc"/>
  </resources>
  <connections/>
 </ui>