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Commit 7d87188d authored by pixhawk's avatar pixhawk
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Added ENUMs to MAVLink generator. Try with message_definitions/pixhawk.xml

parent 15caabd1
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Showing with 134 additions and 43 deletions
src/comm/MAVLinkXMLParser.cc
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/*===================================================================== /*=====================================================================
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/>.
======================================================================*/ ======================================================================*/
/** /**
...@@ -88,6 +68,7 @@ bool MAVLinkXMLParser::generate() ...@@ -88,6 +68,7 @@ bool MAVLinkXMLParser::generate()
// Sanity check variables // Sanity check variables
QList<int>* usedMessageIDs = new QList<int>(); QList<int>* usedMessageIDs = new QList<int>();
QMap<QString, QString>* usedMessageNames = new QMap<QString, QString>(); QMap<QString, QString>* usedMessageNames = new QMap<QString, QString>();
QMap<QString, QString>* usedEnumNames = new QMap<QString, QString>();
QList< QPair<QString, QString> > cFiles; QList< QPair<QString, QString> > cFiles;
QString lcmStructDefs = ""; QString lcmStructDefs = "";
...@@ -118,6 +99,8 @@ bool MAVLinkXMLParser::generate() ...@@ -118,6 +99,8 @@ bool MAVLinkXMLParser::generate()
mainHeader += "\n#include \"../protocol.h\"\n"; mainHeader += "\n#include \"../protocol.h\"\n";
mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n"; mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
QString enums;
// Run through root children // Run through root children
while(!n.isNull()) while(!n.isNull())
...@@ -168,23 +151,23 @@ bool MAVLinkXMLParser::generate() ...@@ -168,23 +151,23 @@ bool MAVLinkXMLParser::generate()
// OLD MODE: MERGE BOTH FILES // OLD MODE: MERGE BOTH FILES
// const QString instanceText(QString::fromUtf8(file.readAll())); // const QString instanceText(QString::fromUtf8(file.readAll()));
// includeDoc.setContent(instanceText); // includeDoc.setContent(instanceText);
// // Get all messages // // Get all messages
// QDomNode in = includeDoc.documentElement().firstChild(); // QDomNode in = includeDoc.documentElement().firstChild();
// QDomElement ie = in.toElement(); // QDomElement ie = in.toElement();
// if (!ie.isNull()) // if (!ie.isNull())
// { // {
// if (ie.tagName() == "messages" || ie.tagName() == "include") // if (ie.tagName() == "messages" || ie.tagName() == "include")
// { // {
// QDomNode ref = n.parentNode().insertAfter(in, n); // QDomNode ref = n.parentNode().insertAfter(in, n);
// if (ref.isNull()) // 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)); // emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
// return false; // 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));
} }
...@@ -196,6 +179,107 @@ bool MAVLinkXMLParser::generate() ...@@ -196,6 +179,107 @@ bool MAVLinkXMLParser::generate()
} }
} }
// 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 = "};\n\n";
comment = e.text();
int nextEnumValue = 0;
// Get the message 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)
{
fieldComment = " // " + e2.text();
}
currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n";
}
else if(!e.isNull() && e.tagName() == "description")
{
comment = e.text() + comment;
}
f = f.nextSibling();
}
}
// Add the last parsed enum
// Remove the last comma, as the last value has none
int commaPosition = currEnum.lastIndexOf(",");
currEnum.remove(commaPosition, 1);
enums += "/**" + 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 // Handle all message tags
else if (e.tagName() == "messages") else if (e.tagName() == "messages")
{ {
...@@ -338,7 +422,7 @@ bool MAVLinkXMLParser::generate() ...@@ -338,7 +422,7 @@ bool MAVLinkXMLParser::generate()
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));
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);
// decodeLines += ""; // decodeLines += "";
prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength)); prepends += QString("+sizeof(%1)*%2").arg(arrayType, QString::number(arrayLength));
} }
...@@ -358,7 +442,7 @@ bool MAVLinkXMLParser::generate() ...@@ -358,7 +442,7 @@ bool MAVLinkXMLParser::generate()
commentLines += commentEntry.arg(fieldName, fieldText); commentLines += commentEntry.arg(fieldName, fieldText);
// //
// QString unpackingCode; // QString unpackingCode;
if (fieldType == "uint8_t" || fieldType == "int8_t") if (fieldType == "uint8_t" || fieldType == "int8_t")
{ {
...@@ -438,6 +522,7 @@ bool MAVLinkXMLParser::generate() ...@@ -438,6 +522,7 @@ bool MAVLinkXMLParser::generate()
} // Check if e = NULL } // Check if e = NULL
n = n.nextSibling(); n = n.nextSibling();
} // While through include and messages } // While through include and messages
// One up - current node = parent
n = p; n = p;
} // Check if tag = mavlink } // Check if tag = mavlink
...@@ -445,7 +530,13 @@ bool MAVLinkXMLParser::generate() ...@@ -445,7 +530,13 @@ bool MAVLinkXMLParser::generate()
n = n.nextSibling(); n = n.nextSibling();
} // While through root children } // While through root children
// 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 // Create directory if it doesn't exist, report result in success
if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName); if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName);
for (int i = 0; i < cFiles.size(); i++) for (int i = 0; i < cFiles.size(); i++)
...@@ -482,10 +573,10 @@ bool MAVLinkXMLParser::generate() ...@@ -482,10 +573,10 @@ bool MAVLinkXMLParser::generate()
mavlinkHeader.close(); mavlinkHeader.close();
// Write C structs / lcm definitions // Write C structs / lcm definitions
// QFile lcmStructs(outputDirName + "/mavlink.lcm"); // QFile lcmStructs(outputDirName + "/mavlink.lcm");
// ok = lcmStructs.open(QIODevice::WriteOnly | QIODevice::Text); // ok = lcmStructs.open(QIODevice::WriteOnly | QIODevice::Text);
// success = success && ok; // success = success && ok;
// lcmStructs.write(lcmStructDefs.toLatin1()); // lcmStructs.write(lcmStructDefs.toLatin1());
return success; return success;
} }
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