Commit 7ef517d4 authored by lm's avatar lm

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

parent c37b4af7
......@@ -19,7 +19,7 @@ tmp
debug
release
qgroundcontrol
mavlinkgen
mavlinkgen-build-desktop
*.wav
qgroundcontrol.xcodeproj/**
doc/html
......
/*=====================================================================
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;
}
/*=====================================================================
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 */
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
This diff is collapsed.
/*=====================================================================
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
This diff is collapsed.
This diff is collapsed.
/*=====================================================================
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();
}
# 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
# 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
<RCC>
<qresource prefix="/">
<file>images/categories/applications-system.svg</file>
<file>images/status/folder-open.svg</file>
</qresource>
</RCC>
#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;
}
#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
#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();
}
#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
This diff is collapsed.
// 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
};