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
+    };
+