Re-enabled MAVLinkgen as included widget, but now cleanly separated codebase

.gitignore

@@ -19,7 +19,7 @@ tmp
 debug
 release
 qgroundcontrol
-mavlinkgen
+mavlinkgen-build-desktop
 *.wav
 qgroundcontrol.xcodeproj/**
 doc/html

src/apps/mavlinkgen/MAVLinkGen.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class MAVLinkGen
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+#include <QFile>
+#include <QFlags>
+#include <QThread>
+#include <QSplashScreen>
+#include <QPixmap>
+#include <QDesktopWidget>
+#include <QPainter>
+#include <QStyleFactory>
+#include <QAction>
+#include <QSettings>
+#include <QFontDatabase>
+#include <QMainWindow>
+
+#include "MAVLinkGen.h"
+#include "XMLCommProtocolWidget.h"
+
+
+/**
+ * @brief Constructor for the main application.
+ *
+ * This constructor initializes and starts the whole application. It takes standard
+ * command-line parameters
+ *
+ * @param argc The number of command-line parameters
+ * @param argv The string array of parameters
+ **/
+
+MAVLinkGen::MAVLinkGen(int &argc, char* argv[]) : QApplication(argc, argv)
+{
+    this->setApplicationName("MAVLink Generator");
+    this->setApplicationVersion("v. 1.0.0 (Beta)");
+    this->setOrganizationName(QLatin1String("MAVLink Consortium"));
+    this->setOrganizationDomain("http://qgroundcontrol.org/mavlink");
+
+    QSettings::setDefaultFormat(QSettings::IniFormat);
+    // Exit main application when last window is closed
+    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
+
+    // Create main window
+    window = new QMainWindow();
+    window->setCentralWidget(new XMLCommProtocolWidget(window));
+    window->setWindowTitle(applicationName() + " " + applicationVersion());
+    window->resize(qMax(950, static_cast<int>(QApplication::desktop()->width()*0.7f)), qMax(600, static_cast<int>(QApplication::desktop()->height()*0.8f)));
+    window->show();
+}
+
+/**
+ * @brief Destructor
+ *
+ **/
+MAVLinkGen::~MAVLinkGen()
+{
+    window->hide();
+    delete window;
+}
+

src/apps/mavlinkgen/MAVLinkGen.h

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MAVLinkGen
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+
+#ifndef MAVLINKGEN_H
+#define MAVLINKGEN_H
+
+#include <QApplication>
+#include <QMainWindow>
+
+/**
+ * @brief The main application and management class.
+ *
+ * This class is started by the main method and provides
+ * the central management unit of the groundstation application.
+ *
+ **/
+class MAVLinkGen : public QApplication
+{
+    Q_OBJECT
+
+public:
+    MAVLinkGen(int &argc, char* argv[]);
+    ~MAVLinkGen();
+
+protected:
+    QMainWindow* window;
+
+private:
+};
+
+#endif /* MAVLINKGEN_H */

src/apps/mavlinkgen/README

+Code Generator for the MAVLink Micro Air Vehicle Message Marshalling Library
+
+This is a code generator for the library for lightweight communication between
+Micro Air Vehicles and/or ground control stations.
+It serializes C-structs for serial channels and can be used with
+any type of radio modem.
+
+**********
+*  NEWS  *
+**********
+
+MAVLink has been ported to Python and Java. MAVLinkGen will soon support the output of Python and Java code as well.
+
+
+
+For help, please visit the mailing list: http://groups.google.com/group/mavlink
+
+MAVLink is licensed under the terms of the Lesser General Public License of the Free Software Foundation (LGPL).
+
+MAVLink's reference implementation is done in the QGroundControl operator control unit. MAVLink is however not tied in any way to QGroundControl nor does it depend on it. Many other groundstations (APM Planner, HK GCS, Copter-GCS) support it and might be better suited for your application than QGC - check them out.
+
+Project:
+http://qgroundcontrol.org/mavlink
+
+Files:
+http://github.com/pixhawk/mavlinkgen
+http://github.com/pixhawk/mavlink
+
+(c) 2009-2011 Lorenz Meier <mail@qgroundcontrol.org>
\ No newline at end of file

src/apps/mavlinkgen/generator/MAVLinkXMLParser.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 MAVLinkXMLParser
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef MAVLINKXMLPARSER_H
+#define MAVLINKXMLPARSER_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 MAVLinkXMLParser : public QObject
+{
+    Q_OBJECT
+public:
+    MAVLinkXMLParser(QDomDocument* document, QString outputDirectory, QObject* parent=0);
+    MAVLinkXMLParser(QString document, QString outputDirectory, QObject* parent=0);
+    ~MAVLinkXMLParser();
+
+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 // MAVLINKXMLPARSER_H

src/apps/mavlinkgen/main.cc

+/*=====================================================================
+
+PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+
+(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+
+This file is part of the PIXHAWK project
+
+    PIXHAWK 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.
+
+    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Main executable
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QtGui/QApplication>
+#include "MAVLinkGen.h"
+
+/**
+ * @brief Starts the application
+ *
+ * @param argc Number of commandline arguments
+ * @param argv Commandline arguments
+ * @return exit code, 0 for normal exit and !=0 for error cases
+ */
+int main(int argc, char *argv[])
+{
+
+    MAVLinkGen gen(argc, argv);
+    return gen.exec();
+}

src/apps/mavlinkgen/mavlinkgen.pri

+# MAVLink code generator
+# generates code in several languages for MAVLink encoding/decoding
+
+INCLUDEPATH += .\
+    ui \
+    generator
+
+FORMS += ui/XMLCommProtocolWidget.ui
+
+HEADERS += MAVLinkGen.h \
+    ui/XMLCommProtocolWidget.h \
+    generator/MAVLinkXMLParser.h \
+    ui/DomItem.h \
+    ui/DomModel.h \
+    ui/QGCMAVLinkTextEdit.h
+SOURCES += main.cc \
+    MAVLinkGen.cc \
+    ui/XMLCommProtocolWidget.cc \
+    ui/DomItem.cc \
+    ui/DomModel.cc \
+    generator/MAVLinkXMLParser.cc \
+    ui/QGCMAVLinkTextEdit.cc
+    
+RESOURCES = mavlinkgen.qrc

src/apps/mavlinkgen/mavlinkgen.pro

+# MAVLink code generator
+# generates code in several languages for MAVLink encoding/decoding
+
+QT       += svg xml
+
+TEMPLATE = app
+TARGET = mavlinkgen
+
+LANGUAGE = C++
+
+include(mavlinkgen.pri)
\ No newline at end of file

src/apps/mavlinkgen/mavlinkgen.qrc

+<RCC>
+    <qresource prefix="/">
+        <file>images/categories/applications-system.svg</file>
+        <file>images/status/folder-open.svg</file>
+    </qresource>
+</RCC>

src/apps/mavlinkgen/ui/DomItem.cc

+#include <QtXml>
+
+#include "DomItem.h"
+
+DomItem::DomItem(QDomNode &node, int row, DomItem *parent)
+{
+    domNode = node;
+    // Record the item's location within its parent.
+    rowNumber = row;
+    parentItem = parent;
+}
+
+DomItem::~DomItem()
+{
+    QHash<int,DomItem*>::iterator it;
+    for (it = childItems.begin(); it != childItems.end(); ++it)
+        delete it.value();
+}
+
+QDomNode DomItem::node() const
+{
+    return domNode;
+}
+
+DomItem *DomItem::parent()
+{
+    return parentItem;
+}
+
+DomItem *DomItem::child(int i)
+{
+    if (childItems.contains(i))
+        return childItems[i];
+
+    if (i >= 0 && i < domNode.childNodes().count()) {
+        QDomNode childNode = domNode.childNodes().item(i);
+        DomItem *childItem = new DomItem(childNode, i, this);
+        childItems[i] = childItem;
+        return childItem;
+    }
+    return 0;
+}
+
+int DomItem::row()
+{
+    return rowNumber;
+}

src/apps/mavlinkgen/ui/DomItem.h

+#ifndef DOMITEM_H
+#define DOMITEM_H
+
+#include <QDomNode>
+#include <QHash>
+
+class DomItem
+{
+public:
+    DomItem(QDomNode &node, int row, DomItem *parent = 0);
+    ~DomItem();
+    DomItem *child(int i);
+    DomItem *parent();
+    QDomNode node() const;
+    int row();
+
+private:
+    QDomNode domNode;
+    QHash<int,DomItem*> childItems;
+    DomItem *parentItem;
+    int rowNumber;
+};
+
+#endif

src/apps/mavlinkgen/ui/DomModel.cc

+#include <QtGui>
+#include <QtXml>
+
+#include "DomItem.h"
+#include "DomModel.h"
+
+DomModel::DomModel(QDomDocument document, QObject *parent)
+    : QAbstractItemModel(parent), domDocument(document)
+{
+    rootItem = new DomItem(domDocument, 0);
+}
+
+DomModel::~DomModel()
+{
+    delete rootItem;
+}
+
+int DomModel::columnCount(const QModelIndex &/*parent*/) const
+{
+    return 3;
+}
+
+QVariant DomModel::data(const QModelIndex &index, int role) const
+{
+    if (!index.isValid())
+        return QVariant();
+
+    if (role != Qt::DisplayRole)
+        return QVariant();
+
+    DomItem *item = static_cast<DomItem*>(index.internalPointer());
+
+    QDomNode node = item->node();
+    QStringList attributes;
+    QDomNamedNodeMap attributeMap = node.attributes();
+
+    switch (index.column()) {
+    case 0:
+        {
+            if (node.nodeName() == "message")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "field")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "enum")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "entry")
+            {
+                for (int i = 0; i < attributeMap.count(); ++i) {
+                    QDomNode attribute = attributeMap.item(i);
+                    if (attribute.nodeName() == "name") return attribute.nodeValue();
+                }
+            }
+            else if (node.nodeName() == "#text")
+            {
+                return node.nodeValue().split("\n").join(" ");
+            }
+            else
+            {
+                return node.nodeName();
+            }
+        }
+        break;
+    case 1:
+        if (node.nodeName() == "description")
+            {
+                return node.nodeValue().split("\n").join(" ");
+            }
+        else
+        {
+        for (int i = 0; i < attributeMap.count(); ++i) {
+            QDomNode attribute = attributeMap.item(i);
+
+            if (attribute.nodeName() == "id" || attribute.nodeName() == "index" || attribute.nodeName() == "value")
+            {
+                return QString("(# %1)").arg(attribute.nodeValue());
+            }
+            else  if (attribute.nodeName() == "type")
+            {
+                return attribute.nodeValue();
+            }
+        }
+    }
+        break;
+//    case 2:
+//        {
+////            if (node.nodeName() != "description")
+////            {
+////            for (int i = 0; i < attributeMap.count(); ++i) {
+////                QDomNode attribute = attributeMap.item(i);
+////                attributes << attribute.nodeName() + "=\""
+////                        +attribute.nodeValue() + "\"";
+////            }
+////            return attributes.join(" ");
+////            }
+////            else
+////            {
+////            return node.nodeValue().split("\n").join(" ");
+////        }
+//        }
+//        break;
+    }
+    // Return empty variant if no case applied
+    return QVariant();
+}
+
+Qt::ItemFlags DomModel::flags(const QModelIndex &index) const
+{
+    if (!index.isValid())
+        return 0;
+
+    return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
+}
+
+QVariant DomModel::headerData(int section, Qt::Orientation orientation,
+                              int role) const
+{
+    if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
+        switch (section) {
+        case 0:
+            return tr("Name                 ");
+        case 1:
+            return tr("Value");
+//        case 2:
+//            return tr("Description");
+        default:
+            return QVariant();
+        }
+    }
+
+    return QVariant();
+}
+
+QModelIndex DomModel::index(int row, int column, const QModelIndex &parent)
+        const
+{
+    if (!hasIndex(row, column, parent))
+        return QModelIndex();
+
+    DomItem *parentItem;
+
+    if (!parent.isValid())
+        parentItem = rootItem;
+    else
+        parentItem = static_cast<DomItem*>(parent.internalPointer());
+
+    DomItem *childItem = parentItem->child(row);
+    if (childItem)
+        return createIndex(row, column, childItem);
+    else
+        return QModelIndex();
+}
+
+QModelIndex DomModel::parent(const QModelIndex &child) const
+{
+    if (!child.isValid())
+        return QModelIndex();
+
+    DomItem *childItem = static_cast<DomItem*>(child.internalPointer());
+    DomItem *parentItem = childItem->parent();
+
+    if (!parentItem || parentItem == rootItem)
+        return QModelIndex();
+
+    return createIndex(parentItem->row(), 0, parentItem);
+}
+
+int DomModel::rowCount(const QModelIndex &parent) const
+{
+    if (parent.column() > 0)
+        return 0;
+
+    DomItem *parentItem;
+
+    if (!parent.isValid())
+        parentItem = rootItem;
+    else
+        parentItem = static_cast<DomItem*>(parent.internalPointer());
+
+    return parentItem->node().childNodes().count();
+}

src/apps/mavlinkgen/ui/DomModel.h

+#ifndef DOMMODEL_H
+#define DOMMODEL_H
+
+#include <QAbstractItemModel>
+#include <QDomDocument>
+#include <QModelIndex>
+#include <QVariant>
+
+class DomItem;
+
+class DomModel : public QAbstractItemModel
+{
+    Q_OBJECT
+
+public:
+    DomModel(QDomDocument document, QObject *parent = 0);
+    ~DomModel();
+
+    QVariant data(const QModelIndex &index, int role) const;
+    Qt::ItemFlags flags(const QModelIndex &index) const;
+    QVariant headerData(int section, Qt::Orientation orientation,
+                        int role = Qt::DisplayRole) const;
+    QModelIndex index(int row, int column,
+                      const QModelIndex &parent = QModelIndex()) const;
+    QModelIndex parent(const QModelIndex &child) const;
+    int rowCount(const QModelIndex &parent = QModelIndex()) const;
+    int columnCount(const QModelIndex &parent = QModelIndex()) const;
+
+private:
+    QDomDocument domDocument;
+    DomItem *rootItem;
+};
+
+#endif

src/apps/mavlinkgen/ui/QGCMAVLinkTextEdit.h

+
+// Based on: Syntax highlighting from:
+// http://code.google.com/p/fop-miniscribus/
+// (GPL v2) thanks!
+
+#ifndef QGCMAVLINKTEXTEDIT_H
+#define QGCMAVLINKTEXTEDIT_H
+
+#include <QSyntaxHighlighter>
+#include <QTextCharFormat>
+#include <QColor>
+#include <QDomDocument>
+#include <QTextEdit>
+
+//class QGCMAVLinkTextEdit : public QTextEdit
+//{
+//public:
+//    QGCMAVLinkTextEdit();
+//};
+
+class XmlHighlighter : public QSyntaxHighlighter
+{
+public:
+    XmlHighlighter(QObject* parent);
+    XmlHighlighter(QTextDocument* parent);
+    XmlHighlighter(QTextEdit* parent);
+    ~XmlHighlighter();
+
+    enum HighlightType
+    {
+        SyntaxChar,
+        ElementName,
+        Comment,
+        AttributeName,
+        AttributeValue,
+        Error,
+        Other
+    };
+
+    void setHighlightColor(HighlightType type, QColor color, bool foreground = true);
+    void setHighlightFormat(HighlightType type, QTextCharFormat format);
+
+protected:
+    void highlightBlock(const QString& rstrText);
+    int  processDefaultText(int i, const QString& rstrText);
+
+private:
+    void init();
+
+    QTextCharFormat fmtSyntaxChar;
+    QTextCharFormat fmtElementName;
+    QTextCharFormat fmtComment;
+    QTextCharFormat fmtAttributeName;
+    QTextCharFormat fmtAttributeValue;
+    QTextCharFormat fmtError;
+    QTextCharFormat fmtOther;
+
+    enum ParsingState
+    {
+        NoState = 0,
+        ExpectElementNameOrSlash,
+        ExpectElementName,
+        ExpectAttributeOrEndOfElement,
+        ExpectEqual,
+        ExpectAttributeValue
+    };
+
+    enum BlockState
+    {
+        NoBlock = -1,
+        InComment,
+        InElement
+    };
+
+    ParsingState state;
+};
+
+
+
+
+
+class QGCMAVLinkTextEdit : public QTextEdit
+{
+    Q_OBJECT
+    //
+public:
+    QGCMAVLinkTextEdit( QWidget * parent = 0 );
+    bool Conform();
+    QDomDocument xml_document();
+    inline QString text() const
+    {
+        return QTextEdit::toPlainText();
+    }
+    QMenu *createOwnStandardContextMenu();
+protected:
+    void contextMenuEvent ( QContextMenuEvent * e );
+    bool event( QEvent *event );
+private:
+    XmlHighlighter *highlight;
+signals:
+public slots:
+    bool syntaxcheck();
+    void setPlainText( const QString txt );
+};
+
+#endif // QGCMAVLINKTEXTEDIT_H

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc

+#include <QFileDialog>
+#include <QTextBrowser>
+#include <QMessageBox>
+#include <QSettings>
+
+#include "XMLCommProtocolWidget.h"
+#include "ui_XMLCommProtocolWidget.h"
+#include "MAVLinkXMLParser.h"
+
+#include <QDebug>
+#include <iostream>
+
+XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
+    QWidget(parent),
+    model(NULL),
+m_ui(new Ui::XMLCommProtocolWidget)
+{
+    m_ui->setupUi(this);
+	
+    connect(m_ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectXMLFile()));
+    connect(m_ui->selectOutputButton, SIGNAL(clicked()), this, SLOT(selectOutputDirectory()));
+    connect(m_ui->generateButton, SIGNAL(clicked()), this, SLOT(generate()));
+    connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(save()));
+	
+    // Make sure text background is white
+    m_ui->xmlTextView->setStyleSheet("QGCMAVLinkTextEdit { background-color: #FFFFFF; }");
+}
+
+void XMLCommProtocolWidget::selectXMLFile()
+{
+    QSettings settings("MAVLink Consortium", "MAVLink Generator");
+    const QString mavlinkXML = "MAVLINK_XML_FILE";
+    QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
+    QFileInfo dir(dirPath);
+    QFileDialog dialog;
+    dialog.setDirectory(dir.absoluteDir());
+    dialog.setFileMode(QFileDialog::AnyFile);
+    dialog.setFilter(tr("MAVLink XML (*.xml)"));
+    dialog.setViewMode(QFileDialog::Detail);
+    QStringList fileNames;
+    if (dialog.exec()) {
+        fileNames = dialog.selectedFiles();
+    }
+	
+    if (fileNames.size() > 0) {
+        m_ui->fileNameLabel->setText(fileNames.first());
+        QFile file(fileNames.first());
+		
+        if (file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+            const QString instanceText(QString::fromUtf8(file.readAll()));
+            setXML(instanceText);
+            // Store filename for next time
+            settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath());
+            settings.sync();
+        } else {
+            QMessageBox msgBox;
+            msgBox.setText("Could not read XML file. Permission denied");
+            msgBox.exec();
+        }
+    }
+}
+
+void XMLCommProtocolWidget::setXML(const QString& xml)
+{
+    m_ui->xmlTextView->setText(xml);
+    QDomDocument doc;
+	
+    if (doc.setContent(xml)) {
+        m_ui->validXMLLabel->setText(tr("<font color=\"green\">Valid XML file</font>"));
+    } else {
+        m_ui->validXMLLabel->setText(tr("<font color=\"red\">File is NOT valid XML, please fix in editor</font>"));
+    }
+	
+    if (model != NULL) {
+        m_ui->xmlTreeView->reset();
+        //delete model;
+    }
+    model = new DomModel(doc, this);
+    m_ui->xmlTreeView->setModel(model);
+    // Expand the tree so that message names are visible
+    m_ui->xmlTreeView->expandToDepth(1);
+    m_ui->xmlTreeView->hideColumn(2);
+    m_ui->xmlTreeView->repaint();
+}
+
+void XMLCommProtocolWidget::selectOutputDirectory()
+{
+    QSettings settings("MAVLink Consortium", "MAVLink Generator");
+    const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
+    QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
+    QFileDialog dialog;
+    dialog.setDirectory(dirPath);
+    dialog.setFileMode(QFileDialog::Directory);
+    dialog.setViewMode(QFileDialog::Detail);
+    QStringList fileNames;
+    if (dialog.exec()) {
+        fileNames = dialog.selectedFiles();
+    }
+	
+    if (fileNames.size() > 0) {
+        m_ui->outputDirNameLabel->setText(fileNames.first());
+        // Store directory for next time
+        settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
+        settings.sync();
+        //QFile file(fileName);
+    }
+}
+
+void XMLCommProtocolWidget::generate()
+{
+    // Check if input file is present
+    if (!QFileInfo(m_ui->fileNameLabel->text().trimmed()).isFile()) {
+        QMessageBox::critical(this, tr("Please select an XML input file first"), tr("You have to select an input XML file before generating C files."), QMessageBox::Ok);
+        return;
+    }
+	
+    // Check if output dir is selected
+    if (!QFileInfo(m_ui->outputDirNameLabel->text().trimmed()).isDir()) {
+        QMessageBox::critical(this, tr("Please select output directory first"), tr("You have to select an output directory before generating C files."), QMessageBox::Ok);
+        return;
+    }
+	
+    // First save file
+    save();
+    // Clean log
+    m_ui->compileLog->clear();
+	
+    // Check XML validity
+    if (!m_ui->xmlTextView->syntaxcheck())
+    {
+        // 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) {
+        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 {
+        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;
+}
+
+void XMLCommProtocolWidget::save()
+{
+    QFile file(m_ui->fileNameLabel->text().trimmed());
+    setXML(m_ui->xmlTextView->document()->toPlainText().toUtf8());
+    file.open(QIODevice::WriteOnly | QIODevice::Text);
+    file.write(m_ui->xmlTextView->document()->toPlainText().toUtf8());
+}
+
+XMLCommProtocolWidget::~XMLCommProtocolWidget()
+{
+    if (model) delete model;
+    delete m_ui;
+}
+
+void XMLCommProtocolWidget::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+		case QEvent::LanguageChange:
+			m_ui->retranslateUi(this);
+			break;
+		default:
+			break;
+    }
+}

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.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 XMLCommProtocolWidget
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef XMLCOMMPROTOCOLWIDGET_H
+#define XMLCOMMPROTOCOLWIDGET_H
+
+#include <QtGui/QWidget>
+#include "DomModel.h"
+
+namespace Ui
+{
+class XMLCommProtocolWidget;
+}
+
+/**
+ * @brief Tool to generate MAVLink code out of XML protocol definitions
+ * @see http://doc.trolltech.com/4.6/itemviews-simpledommodel.html for a XML view tutorial
+ */
+class XMLCommProtocolWidget : public QWidget
+{
+    Q_OBJECT
+public:
+    XMLCommProtocolWidget(QWidget *parent = 0);
+    ~XMLCommProtocolWidget();
+
+protected slots:
+    /** @brief Select input XML protocol definition */
+    void selectXMLFile();
+    /** @brief Select output directory for generated .h files */
+    void selectOutputDirectory();
+    /** @brief Set the XML this widget currently operates on */
+    void setXML(const QString& xml);
+    /** @brief Parse XML file and generate .h files */
+    void generate();
+    /** @brief Save the edited file */
+    void save();
+
+protected:
+    DomModel* model;
+    void changeEvent(QEvent *e);
+
+private:
+    Ui::XMLCommProtocolWidget *m_ui;
+};
+
+#endif // XMLCOMMPROTOCOLWIDGET_H

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>XMLCommProtocolWidget</class>
+ <widget class="QWidget" name="XMLCommProtocolWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>846</width>
+    <height>480</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1" columnstretch="1,1,1,100">
+   <property name="topMargin">
+    <number>6</number>
+   </property>
+   <property name="rightMargin">
+    <number>6</number>
+   </property>
+   <property name="bottomMargin">
+    <number>6</number>
+   </property>
+   <property name="spacing">
+    <number>12</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QLabel" name="fileNameLabel">
+     <property name="maximumSize">
+      <size>
+       <width>300</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Select input file</string>
+     </property>
+     <property name="scaledContents">
+      <bool>true</bool>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QPushButton" name="selectFileButton">
+     <property name="text">
+      <string>Select input file</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../mavlinkgen.qrc">
+       <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="3" rowspan="6">
+    <widget class="QGCMAVLinkTextEdit" name="xmlTextView">
+     <property name="minimumSize">
+      <size>
+       <width>400</width>
+       <height>300</height>
+      </size>
+     </property>
+     <property name="baseSize">
+      <size>
+       <width>800</width>
+       <height>600</height>
+      </size>
+     </property>
+     <property name="readOnly">
+      <bool>false</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="2">
+    <widget class="QLabel" name="outputDirNameLabel">
+     <property name="maximumSize">
+      <size>
+       <width>400</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Select output directory</string>
+     </property>
+     <property name="scaledContents">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="selectOutputButton">
+     <property name="text">
+      <string>Select directory</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../mavlinkgen.qrc">
+       <normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0" colspan="3">
+    <widget class="QTreeView" name="xmlTreeView"/>
+   </item>
+   <item row="3" 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">
+    <widget class="QPlainTextEdit" name="compileLog"/>
+   </item>
+   <item row="5" column="0">
+    <widget class="QLabel" name="validXMLLabel">
+     <property name="text">
+      <string>No file loaded</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QPushButton" name="saveButton">
+     <property name="text">
+      <string>Save file</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="2">
+    <widget class="QPushButton" name="generateButton">
+     <property name="text">
+      <string>Save and generate</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../mavlinkgen.qrc">
+       <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QGCMAVLinkTextEdit</class>
+   <extends>QTextEdit</extends>
+   <header location="global">QGCMAVLinkTextEdit.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="../mavlinkgen.qrc"/>
+ </resources>
+ <connections/>
+</ui>