1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-11 19:24:10 +01:00
LibrePilot/ground/uavobjgenerator/uavobjectparser.cpp

525 lines
17 KiB
C++
Raw Normal View History

/**
******************************************************************************
*
* @file uavobjectparser.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Parses XML files and extracts object information.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectparser.h"
/**
* Constructor
*/
UAVObjectParser::UAVObjectParser()
{
fieldTypeStrXML << "int8" << "int16" << "int32" << "uint8"
<< "uint16" << "uint32" <<"float" << "enum";
updateModeStrXML << "periodic" << "onchange" << "manual" << "never";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";
fieldTypeNumBytes << int(1) << int(2) << int(4) <<
int(1) << int(2) << int(4) <<
int(4) << int(1);
accessModeStrXML << "readwrite" << "readonly";
}
/**
* Get number of objects
*/
int UAVObjectParser::getNumObjects()
{
return objInfo.length();
}
/**
* Get the detailed object information
*/
QList<ObjectInfo*> UAVObjectParser::getObjectInfo()
{
return objInfo;
}
ObjectInfo* UAVObjectParser::getObjectByIndex(int objIndex)
{
return objInfo[objIndex];
}
/**
* Get the name of the object
*/
QString UAVObjectParser::getObjectName(int objIndex)
{
ObjectInfo* info = objInfo[objIndex];
if (info == NULL)
return QString();
return info->name;
}
/**
* Get the ID of the object
*/
quint32 UAVObjectParser::getObjectID(int objIndex)
{
ObjectInfo* info = objInfo[objIndex];
if (info == NULL)
return 0;
return info->id;
}
/**
* Get the number of bytes in the data fields of this object
*/
int UAVObjectParser::getNumBytes(int objIndex)
{
ObjectInfo* info = objInfo[objIndex];
if (info == NULL)
{
return 0;
}
else
{
int numBytes = 0;
for (int n = 0; n < info->fields.length(); ++n)
{
numBytes += info->fields[n]->numBytes * info->fields[n]->numElements;
}
return numBytes;
}
}
/**
* Parse supplied XML file
* @param xml The xml text
* @param filename The xml filename
* @returns Null QString() on success, error message on failure
*/
QString UAVObjectParser::parseXML(QString& xml, QString& filename)
{
// Create DOM document and parse it
QDomDocument doc("UAVObjects");
bool parsed = doc.setContent(xml);
if (!parsed) return QString("Improperly formated XML file");
// Read all objects contained in the XML file, creating an new ObjectInfo for each
QDomElement docElement = doc.documentElement();
QDomNode node = docElement.firstChild();
while ( !node.isNull() ) {
// Create new object entry
ObjectInfo* info = new ObjectInfo;
info->filename=filename;
// Process object attributes
QString status = processObjectAttributes(node, info);
if (!status.isNull())
return status;
// Process child elements (fields and metadata)
QDomNode childNode = node.firstChild();
bool fieldFound = false;
bool accessFound = false;
bool telGCSFound = false;
bool telFlightFound = false;
bool logFound = false;
bool descriptionFound = false;
while ( !childNode.isNull() ) {
// Process element depending on its type
if ( childNode.nodeName().compare(QString("field")) == 0 ) {
QString status = processObjectFields(childNode, info);
if (!status.isNull())
return status;
fieldFound = true;
}
else if ( childNode.nodeName().compare(QString("access")) == 0 ) {
QString status = processObjectAccess(childNode, info);
if (!status.isNull())
return status;
accessFound = true;
}
else if ( childNode.nodeName().compare(QString("telemetrygcs")) == 0 ) {
QString status = processObjectMetadata(childNode, &info->gcsTelemetryUpdateMode,
&info->gcsTelemetryUpdatePeriod, &info->gcsTelemetryAcked);
if (!status.isNull())
return status;
telGCSFound = true;
}
else if ( childNode.nodeName().compare(QString("telemetryflight")) == 0 ) {
QString status = processObjectMetadata(childNode, &info->flightTelemetryUpdateMode,
&info->flightTelemetryUpdatePeriod, &info->flightTelemetryAcked);
if (!status.isNull())
return status;
telFlightFound = true;
}
else if ( childNode.nodeName().compare(QString("logging")) == 0 ) {
QString status = processObjectMetadata(childNode, &info->loggingUpdateMode,
&info->loggingUpdatePeriod, NULL);
if (!status.isNull())
return status;
logFound = true;
}
else if ( childNode.nodeName().compare(QString("description")) == 0 ) {
QString status = processObjectDescription(childNode, &info->description);
if (!status.isNull())
return status;
descriptionFound = true;
}
else if (!childNode.isComment()) {
return QString("Unknown object element");
}
// Get next element
childNode = childNode.nextSibling();
}
// Make sure that required elements were found
if ( !accessFound )
return QString("Object::access element is missing");
if ( !telGCSFound )
return QString("Object::telemetrygcs element is missing");
if ( !telFlightFound )
return QString("Object::telemetryflight element is missing");
if ( !logFound )
return QString("Object::logging element is missing");
// TODO: Make into error once all objects updated
if ( !descriptionFound )
return QString("Object::description element is missing");
// Calculate ID
calculateID(info);
// Add object
objInfo.append(info);
// Get next object
node = node.nextSibling();
}
all_units.removeDuplicates();
// Done, return null string
return QString();
}
/**
* Calculate the unique object ID based on the object information.
* The ID will change if the object definition changes, this is intentional
* and is used to avoid connecting objects with incompatible configurations.
* The LSB is set to zero and is reserved for metadata
*/
void UAVObjectParser::calculateID(ObjectInfo* info)
{
// Hash object name
quint32 hash = updateHash(info->name, 0);
// Hash object attributes
hash = updateHash(info->isSettings, hash);
hash = updateHash(info->isSingleInst, hash);
// Hash field information
for (int n = 0; n < info->fields.length(); ++n) {
hash = updateHash(info->fields[n]->name, hash);
hash = updateHash(info->fields[n]->numElements, hash);
hash = updateHash(info->fields[n]->type, hash);
if(info->fields[n]->type == FIELDTYPE_ENUM) {
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); m++)
hash = updateHash(options[m], hash);
}
}
// Done
info->id = hash & 0xFFFFFFFE;
}
/**
* Shift-Add-XOR hash implementation. LSB is set to zero, it is reserved
* for the ID of the metaobject.
*
* http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx
*/
quint32 UAVObjectParser::updateHash(quint32 value, quint32 hash)
{
return (hash ^ ((hash<<5) + (hash>>2) + value));
}
/**
* Update the hash given a string
*/
quint32 UAVObjectParser::updateHash(QString& value, quint32 hash)
{
QByteArray bytes = value.toAscii();
quint32 hashout = hash;
for (int n = 0; n < bytes.length(); ++n)
hashout = updateHash(bytes[n], hashout);
return hashout;
}
/**
* Process the metadata part of the XML
*/
QString UAVObjectParser::processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked)
{
// Get updatemode attribute
QDomNamedNodeMap elemAttributes = childNode.attributes();
QDomNode elemAttr = elemAttributes.namedItem("updatemode");
if ( elemAttr.isNull() )
return QString("Object:telemetrygcs:updatemode attribute is missing");
int index = updateModeStrXML.indexOf( elemAttr.nodeValue() );
if (index<0)
return QString("Object:telemetrygcs:updatemode attribute value is invalid");
*mode = (UpdateMode)index;
// Get period attribute
elemAttr = elemAttributes.namedItem("period");
if ( elemAttr.isNull() )
return QString("Object:telemetrygcs:period attribute is missing");
*period = elemAttr.nodeValue().toInt();
// Get acked attribute (only if acked parameter is not null, not applicable for logging metadata)
if ( acked != NULL) {
elemAttr = elemAttributes.namedItem("acked");
if ( elemAttr.isNull())
return QString("Object:telemetrygcs:acked attribute is missing");
if ( elemAttr.nodeValue().compare(QString("true")) == 0 )
*acked = true;
else if ( elemAttr.nodeValue().compare(QString("false")) == 0 )
*acked = false;
else
return QString("Object:telemetrygcs:acked attribute value is invalid");
}
// Done
return QString();
}
/**
* Process the object access tag of the XML
*/
QString UAVObjectParser::processObjectAccess(QDomNode& childNode, ObjectInfo* info)
{
// Get gcs attribute
QDomNamedNodeMap elemAttributes = childNode.attributes();
QDomNode elemAttr = elemAttributes.namedItem("gcs");
if ( elemAttr.isNull() )
return QString("Object:access:gcs attribute is missing");
int index = accessModeStrXML.indexOf( elemAttr.nodeValue() );
if (index >= 0)
info->gcsAccess = (AccessMode)index;
else
return QString("Object:access:gcs attribute value is invalid");
// Get flight attribute
elemAttr = elemAttributes.namedItem("flight");
if ( elemAttr.isNull() )
return QString("Object:access:flight attribute is missing");
index = accessModeStrXML.indexOf( elemAttr.nodeValue() );
if (index >= 0)
info->flightAccess = (AccessMode)index;
else
return QString("Object:access:flight attribute value is invalid");
// Done
return QString();
}
/**
* Process the object fields of the XML
*/
QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* info)
{
// Create field
FieldInfo* field = new FieldInfo;
// Get name attribute
QDomNamedNodeMap elemAttributes = childNode.attributes();
QDomNode elemAttr = elemAttributes.namedItem("name");
if ( elemAttr.isNull() )
return QString("Object:field:name attribute is missing");
field->name = elemAttr.nodeValue();
// Get units attribute
elemAttr = elemAttributes.namedItem("units");
if ( elemAttr.isNull() )
return QString("Object:field:units attribute is missing");
field->units = elemAttr.nodeValue();
all_units << field->units;
// Get type attribute
elemAttr = elemAttributes.namedItem("type");
if ( elemAttr.isNull() )
return QString("Object:field:type attribute is missing");
int index = fieldTypeStrXML.indexOf(elemAttr.nodeValue());
if (index >= 0) {
field->type = (FieldType)index;
field->numBytes = fieldTypeNumBytes[index];
}
else {
return QString("Object:field:type attribute value is invalid");
}
// Get numelements or elementnames attribute
elemAttr = elemAttributes.namedItem("elementnames");
if ( !elemAttr.isNull() ) {
// Get element names
QStringList names = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
for (int n = 0; n < names.length(); ++n)
names[n] = names[n].trimmed();
field->elementNames = names;
field->numElements = names.length();
field->defaultElementNames = false;
}
else {
elemAttr = elemAttributes.namedItem("elements");
if ( elemAttr.isNull() ) {
return QString("Object:field:elements and Object:field:elementnames attribute is missing");
}
else {
field->numElements = elemAttr.nodeValue().toInt();
for (int n = 0; n < field->numElements; ++n)
field->elementNames.append(QString("%1").arg(n));
field->defaultElementNames = true;
}
}
// Get options attribute (only if an enum type)
if (field->type == FIELDTYPE_ENUM) {
// Get options attribute
elemAttr = elemAttributes.namedItem("options");
if ( elemAttr.isNull() )
return QString("Object:field:options attribute is missing");
QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
for (int n = 0; n < options.length(); ++n)
options[n] = options[n].trimmed();
field->options = options;
}
// Get the default value attribute (required for settings objects, optional for the rest)
elemAttr = elemAttributes.namedItem("defaultvalue");
if ( elemAttr.isNull() ) {
if ( info->isSettings )
return QString("Object:field:defaultvalue attribute is missing (required for settings objects)");
field->defaultValues = QStringList();
}
else {
QStringList defaults = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
for (int n = 0; n < defaults.length(); ++n)
defaults[n] = defaults[n].trimmed();
if(defaults.length() != field->numElements) {
if(defaults.length() != 1)
return QString("Object:field:incorrect number of default values");
/*support legacy single default for multiple elements
We sould really issue a warning*/
for(int ct=1; ct< field->numElements; ct++)
defaults.append(defaults[0]);
}
field->defaultValues = defaults;
}
// Add field to object
info->fields.append(field);
// Done
return QString();
}
/**
* Process the object attributes from the XML
*/
QString UAVObjectParser::processObjectAttributes(QDomNode& node, ObjectInfo* info)
{
// Get name attribute
QDomNamedNodeMap attributes = node.attributes();
QDomNode attr = attributes.namedItem("name");
if ( attr.isNull() )
return QString("Object:name attribute is missing");
info->name = attr.nodeValue();
info->namelc = attr.nodeValue().toLower();
// Get singleinstance attribute
attr = attributes.namedItem("singleinstance");
if ( attr.isNull() )
return QString("Object:singleinstance attribute is missing");
if ( attr.nodeValue().compare(QString("true")) == 0 )
info->isSingleInst = true;
else if ( attr.nodeValue().compare(QString("false")) == 0 )
info->isSingleInst = false;
else
return QString("Object:singleinstance attribute value is invalid");
// Get settings attribute
attr = attributes.namedItem("settings");
if ( attr.isNull() )
return QString("Object:settings attribute is missing");
if ( attr.nodeValue().compare(QString("true")) == 0 )
info->isSettings = true;
else if ( attr.nodeValue().compare(QString("false")) == 0 )
info->isSettings = false;
else
return QString("Object:settings attribute value is invalid");
// Settings objects can only have a single instance
if ( info->isSettings && !info->isSingleInst )
return QString("Object: Settings objects can not have multiple instances");
// Done
return QString();
}
/**
* Process the description field from the XML file
*/
QString UAVObjectParser::processObjectDescription(QDomNode& childNode, QString * description)
{
description->append(childNode.firstChild().nodeValue());
return QString();
}