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LP-183 generated UAV objects are now more Qt and Qml friendly

Browse Source 
use lower camel case for properties and getters
introduce better enums and expose them to Qml
backward compatibilty is preserved for now
This commit is contained in:
Philippe Renon 2015-11-26 01:28:32 +01:00
parent 5bc247925a
commit 0017ce2acf
10 changed files with 635 additions and 311 deletions
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17
ground/gcs/src/plugins/uavobjects/uavobject.cpp.template
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@ -34,6 +34,8 @@
#include "$(NAMELC).h" #include "$(NAMELC).h"
#include "uavobjectfield.h" #include "uavobjectfield.h"
#include <QtQml>
const QString $(NAME)::NAME = QString("$(NAME)"); const QString $(NAME)::NAME = QString("$(NAME)");
const QString $(NAME)::DESCRIPTION = QString("$(DESCRIPTION)"); const QString $(NAME)::DESCRIPTION = QString("$(DESCRIPTION)");
const QString $(NAME)::CATEGORY = QString("$(CATEGORY)"); const QString $(NAME)::CATEGORY = QString("$(CATEGORY)");
@ -47,7 +49,7 @@ $(NAME)::$(NAME)(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
QList<UAVObjectField *> fields; QList<UAVObjectField *> fields;
$(FIELDSINIT) $(FIELDSINIT)
// Initialize object // Initialize object
initializeFields(fields, (quint8 *)&data, NUMBYTES); initializeFields(fields, (quint8 *)&data_, NUMBYTES);
// Set the default field values // Set the default field values
setDefaultFieldValues(); setDefaultFieldValues();
// Set the object description // Set the object description
@ -86,7 +88,7 @@ UAVObject::Metadata $(NAME)::getDefaultMetadata()
*/ */
void $(NAME)::setDefaultFieldValues() void $(NAME)::setDefaultFieldValues()
{ {
$(INITFIELDS) $(FIELDSDEFAULT)
} }
/** /**
@ -95,7 +97,7 @@ $(INITFIELDS)
$(NAME)::DataFields $(NAME)::getData() $(NAME)::DataFields $(NAME)::getData()
{ {
QMutexLocker locker(mutex); QMutexLocker locker(mutex);
return data; return data_;
} }
/** /**
@ -108,7 +110,7 @@ void $(NAME)::setData(const DataFields& data)
Metadata mdata = getMetadata(); Metadata mdata = getMetadata();
// Update object if the access mode permits // Update object if the access mode permits
if (UAVObject::GetGcsAccess(mdata) == ACCESS_READWRITE) { if (UAVObject::GetGcsAccess(mdata) == ACCESS_READWRITE) {
this->data = data; this->data_ = data;
emit objectUpdatedAuto(this); // trigger object updated event emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this); emit objectUpdated(this);
} }
@ -148,4 +150,11 @@ $(NAME) *$(NAME)::GetInstance(UAVObjectManager *objMngr, quint32 instID)
return dynamic_cast<$(NAME) *>(objMngr->getObject($(NAME)::OBJID, instID)); return dynamic_cast<$(NAME) *>(objMngr->getObject($(NAME)::OBJID, instID));
} }
/**
* Static function to register QML types.
*/
void $(NAME)::registerQMLTypes() {
$(REGISTER_QML_TYPES)
}
$(PROPERTIES_IMPL) $(PROPERTIES_IMPL)

6
ground/gcs/src/plugins/uavobjects/uavobject.h
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@ -37,9 +37,6 @@
#include <QList> #include <QList>
#include <QFile> #include <QFile>
#include <stdint.h> #include <stdint.h>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
#include "uavobjectfield.h" #include "uavobjectfield.h"
@ -53,6 +50,9 @@
#define UAVOBJ_UPDATE_MODE_MASK 0x3 #define UAVOBJ_UPDATE_MODE_MASK 0x3
class UAVObjectField; class UAVObjectField;
class QXmlStreamWriter;
class QXmlStreamReader;
class QJsonObject;
class UAVOBJECTS_EXPORT UAVObject : public QObject { class UAVOBJECTS_EXPORT UAVObject : public QObject {
Q_OBJECT Q_OBJECT

11
ground/gcs/src/plugins/uavobjects/uavobject.h.template
View File

@ -36,11 +36,18 @@
#include "uavdataobject.h" #include "uavdataobject.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
class UAVObjectManager;
$(ENUMS)
class UAVOBJECTS_EXPORT $(NAME): public UAVDataObject class UAVOBJECTS_EXPORT $(NAME): public UAVDataObject
{ {
Q_OBJECT Q_OBJECT
$(PROPERTIES) $(PROPERTIES)
// Deprecated properties
$(DEPRECATED_PROPERTIES)
public: public:
// Field structure // Field structure
typedef struct { typedef struct {
@ -70,6 +77,8 @@ $(DATAFIELDINFO)
static $(NAME)* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0); static $(NAME)* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
static void registerQMLTypes();
$(PROPERTY_GETTERS) $(PROPERTY_GETTERS)
public slots: public slots:
@ -82,7 +91,7 @@ private slots:
void emitNotifications(); void emitNotifications();
private: private:
DataFields data; DataFields data_;
void setDefaultFieldValues(); void setDefaultFieldValues();

6
ground/gcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -26,9 +26,13 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include "uavobjectfield.h" #include "uavobjectfield.h"
#include <QtEndian> #include <QtEndian>
#include <QDebug> #include <QDebug>
#include <QtWidgets> #include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
#include <QJsonArray>
UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString &limits) UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString &limits)
{ {

8
ground/gcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -30,16 +30,18 @@
#include "uavobjects_global.h" #include "uavobjects_global.h"
#include "uavobject.h" #include "uavobject.h"
#include <QStringList> #include <QStringList>
#include <QVariant> #include <QVariant>
#include <QList> #include <QList>
#include <QMap> #include <QMap>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
class UAVObject; class UAVObject;
class QXmlStreamWriter;
class QXmlStreamReader;
class QJsonObject;
class UAVOBJECTS_EXPORT UAVObjectField : public QObject { class UAVOBJECTS_EXPORT UAVObjectField : public QObject {
Q_OBJECT Q_OBJECT

2
ground/gcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -3,6 +3,8 @@ TARGET = UAVObjects
DEFINES += UAVOBJECTS_LIBRARY DEFINES += UAVOBJECTS_LIBRARY
QT += qml
include(../../plugin.pri) include(../../plugin.pri)
include(uavobjects_dependencies.pri) include(uavobjects_dependencies.pri)

1
ground/gcs/src/plugins/uavobjects/uavobjectsplugin.cpp
View File

@ -27,6 +27,7 @@
*/ */
#include "uavobjectsplugin.h" #include "uavobjectsplugin.h"
#include "uavobjectsinit.h" #include "uavobjectsinit.h"
#include "uavobjectmanager.h"
UAVObjectsPlugin::UAVObjectsPlugin() UAVObjectsPlugin::UAVObjectsPlugin()
{} {}

2
ground/gcs/src/plugins/uavobjects/uavobjectsplugin.h
View File

@ -30,8 +30,8 @@
#include "uavobjects_global.h" #include "uavobjects_global.h"
#include <extensionsystem/iplugin.h> #include <extensionsystem/iplugin.h>
#include <QtPlugin> #include <QtPlugin>
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT UAVObjectsPlugin : class UAVOBJECTS_EXPORT UAVObjectsPlugin :
public ExtensionSystem::IPlugin { public ExtensionSystem::IPlugin {

882
ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
View File

@ -25,16 +25,521 @@
*/ */
#include "uavobjectgeneratorgcs.h" #include "uavobjectgeneratorgcs.h"
#define VERBOSE false
#define DEPRECATED true
#define DEFAULT_ENUM_PREFIX "E_"
using namespace std; using namespace std;
void error(QString msg)
{
cerr << "error: " << msg.toStdString() << endl;
}
void warning(ObjectInfo *object, QString msg)
{
cerr << "warning: " << object->filename.toStdString() << ": " << msg.toStdString() << endl;
}
void info(ObjectInfo *object, QString msg)
{
if (VERBOSE) {
cout << "info: " << object->filename.toStdString() << ": " << msg.toStdString() << endl;
}
}
struct Context {
ObjectInfo *object;
// enums
QString enums;
QString registerImpl;
// interface
QString fields;
QString fieldsInfo;
QString properties;
QString deprecatedProperties;
QString getters;
QString setters;
QString notifications;
// implementation
QString fieldsInit;
QString fieldsDefault;
QString propertiesImpl;
QString notificationsImpl;
};
struct FieldContext {
FieldInfo *field;
// field
QString fieldName;
QString fieldType;
// property
QString propName;
QString ucPropName;
QString propType;
QString propRefType;
// deprecation
bool hasDeprecatedProperty;
bool hasDeprecatedGetter;
bool hasDeprecatedSetter;
bool hasDeprecatedNotification;
};
QString fieldTypeStrCPP(int type)
{
QStringList fieldTypeStrCPP;
fieldTypeStrCPP << "qint8" << "qint16" << "qint32" << "quint8" << "quint16" << "quint32" << "float" << "quint8";
return fieldTypeStrCPP[type];
}
QString fieldTypeStrCPPClass(int type)
{
QStringList fieldTypeStrCPPClass;
fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32" << "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
return fieldTypeStrCPPClass[type];
}
QString toPropertyName(const QString & name)
{
QString str = name;
// make sure 1st letter is upper case
str[0] = str[0].toUpper();
// handle underscore
int p = str.indexOf('_');
while (p != -1) {
str.remove(p, 1);
str[p] = str[p].toUpper();
p = str.indexOf('_', p);
}
return str;
}
/*
* Convert a string to lower camel case.
* Handles following cases :
* - Property -> property
* - MyProperty -> myProperty
* - MYProperty -> myProperty
* - MY_Property -> my_Property
* - MY -> my
*/
QString toLowerCamelCase(const QString & name)
{
QString str = name;
for (int i = 0; i < str.length(); ++i) {
if (str[i].isLower() || !str[i].isLetter()) {
break;
}
if (i > 0 && i < str.length() - 1) {
// after first, look ahead one
if (str[i + 1].isLower()) {
break;
}
}
str[i] = str[i].toLower();
}
return str;
}
QString toEnumName(ObjectInfo *object, FieldInfo *field, int index)
{
QString option = field->options[index];
if (option.contains(QRegExp(ENUM_SPECIAL_CHARS))) {
info(object, "Enumeration value \"" + option + "\" contains special chars, cleaning.");
option.replace(QRegExp(ENUM_SPECIAL_CHARS), "");
}
if (option[0].isDigit()) {
info(object, "Enumeration value \"" + option + "\" starts with a digit, prefixing with \"" + DEFAULT_ENUM_PREFIX "\".");
option = DEFAULT_ENUM_PREFIX + option;
}
if (option == option.toLower()) {
warning(object, "Enumeration value \"" + option + "\" is all lower case, consider capitalizing.");
}
if (option[0].isLower()) {
warning(object, "Enumeration value \"" + option + "\" does not start with an upper case letter.");
option[0] = option[0].toUpper();
}
if (option == "FALSE") {
warning(object, "Invalid enumeration name FALSE, converting to False.");
option = "False";
}
if (option == "TRUE") {
warning(object, "Invalid enumeration name TRUE, converting to True.");
option = "True";
}
return option;
}
QString toEnumStringList(ObjectInfo *object, FieldInfo *field)
{
QString enumListString;
for (int m = 0; m < field->options.length(); ++m) {
if (m > 0) {
enumListString.append(", ");
}
QString option = toEnumName(object, field, m);
enumListString.append(option);
}
return enumListString;
}
QString generate(Context &ctxt, const QString &fragment)
{
QString str = fragment;
str.replace(":ClassName", ctxt.object->name);
str.replace(":className", ctxt.object->namelc);
return str;
}
QString generate(Context &ctxt, FieldContext &fieldCtxt, const QString &fragment)
{
QString str = generate(ctxt, fragment);
str.replace(":PropName", fieldCtxt.ucPropName);
str.replace(":propName", fieldCtxt.propName);
str.replace(":propType", fieldCtxt.propType);
str.replace(":propRefType", fieldCtxt.propRefType);
str.replace(":fieldName", fieldCtxt.fieldName);
str.replace(":fieldType", fieldCtxt.fieldType);
str.replace(":fieldDesc", fieldCtxt.field->description);
str.replace(":fieldUnits", fieldCtxt.field->units);
str.replace(":fieldLimitValues", fieldCtxt.field->limitValues);
str.replace(":elementCount", QString::number(fieldCtxt.field->numElements));
return str;
}
void generateFieldInfo(Context &ctxt, FieldContext &fieldCtxt)
{
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " // :fieldName\n");
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
QStringList options = fieldCtxt.field->options;
ctxt.fieldsInfo += " typedef enum { ";
for (int m = 0; m < options.length(); ++m) {
if (m > 0) {
ctxt.fieldsInfo.append(", ");
}
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, "%1_%2=%3")
.arg(fieldCtxt.field->name.toUpper())
.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
.arg(m);
}
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " } :fieldNameOptions;\n");
}
// Generate element names (only if field has more than one element)
if (fieldCtxt.field->numElements > 1 && !fieldCtxt.field->defaultElementNames) {
QStringList elemNames = fieldCtxt.field->elementNames;
ctxt.fieldsInfo += " typedef enum { ";
for (int m = 0; m < elemNames.length(); ++m) {
if (m > 0) {
ctxt.fieldsInfo.append(", ");
}
ctxt.fieldsInfo += QString("%1_%2=%3")
.arg(fieldCtxt.field->name.toUpper())
.arg(elemNames[m].toUpper())
.arg(m);
}
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " } :fieldNameElem;\n");
}
// Generate array information
if (fieldCtxt.field->numElements > 1) {
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " static const quint32 %1_NUMELEM = :elementCount;\n")
.arg(fieldCtxt.field->name.toUpper());
}
}
void generateFieldInit(Context &ctxt, FieldContext &fieldCtxt)
{
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " // :fieldName\n");
// Setup element names
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " QStringList :fieldNameElemNames;\n");
QStringList elemNames = fieldCtxt.field->elementNames;
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " :fieldNameElemNames");
for (int m = 0; m < elemNames.length(); ++m) {
ctxt.fieldsInit += QString(" << \"%1\"").arg(elemNames[m]);
}
ctxt.fieldsInit += ";\n";
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " QStringList :fieldNameEnumOptions;\n");
QStringList options = fieldCtxt.field->options;
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " :fieldNameEnumOptions");
for (int m = 0; m < options.length(); ++m) {
ctxt.fieldsInit += QString(" << \"%1\"").arg(options[m]);
}
ctxt.fieldsInit += ";\n";
ctxt.fieldsInit += generate(ctxt, fieldCtxt,
" fields.append(new UAVObjectField(\":fieldName\", tr(\":fieldDesc\"), \":fieldUnits\", UAVObjectField::ENUM, :fieldNameElemNames, :fieldNameEnumOptions, \":fieldLimitValues\"));\n");
} else {
ctxt.fieldsInit += generate(ctxt, fieldCtxt,
" fields.append(new UAVObjectField(\":fieldName\", tr(\":fieldDesc\"), \":fieldUnits\", UAVObjectField::%1, :fieldNameElemNames, QStringList(), \":fieldLimitValues\"));\n")
.arg(fieldTypeStrCPPClass(fieldCtxt.field->type));
}
}
void generateFieldDefault(Context &ctxt, FieldContext &fieldCtxt)
{
if (!fieldCtxt.field->defaultValues.isEmpty()) {
// For non-array fields
if (fieldCtxt.field->numElements == 1) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " // :fieldName\n");
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName = %1;\n")
.arg(fieldCtxt.field->options.indexOf(fieldCtxt.field->defaultValues[0]));
} else if (fieldCtxt.field->type == FIELDTYPE_FLOAT32) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName = %1;\n")
.arg(fieldCtxt.field->defaultValues[0].toFloat());
} else {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName = %1;\n")
.arg(fieldCtxt.field->defaultValues[0].toInt());
}
} else {
// Initialize all fields in the array
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " // :fieldName\n");
for (int idx = 0; idx < fieldCtxt.field->numElements; ++idx) {
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName[%1] = %2;\n")
.arg(idx)
.arg(fieldCtxt.field->options.indexOf(fieldCtxt.field->defaultValues[idx]));
} else if (fieldCtxt.field->type == FIELDTYPE_FLOAT32) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName[%1] = %2;\n")
.arg(idx)
.arg(fieldCtxt.field->defaultValues[idx].toFloat());
} else {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName[%1] = %2;\n")
.arg(idx)
.arg(fieldCtxt.field->defaultValues[idx].toInt());
}
}
}
}
}
void generateField(Context &ctxt, FieldContext &fieldCtxt)
{
if (fieldCtxt.field->numElements > 1) {
ctxt.fields += generate(ctxt, fieldCtxt, " :fieldType :fieldName[:elementCount];\n");
} else {
ctxt.fields += generate(ctxt, fieldCtxt, " :fieldType :fieldName;\n");
}
generateFieldInfo(ctxt, fieldCtxt);
generateFieldInit(ctxt, fieldCtxt);
generateFieldDefault(ctxt, fieldCtxt);
}
void generateEnum(Context &ctxt, FieldContext &fieldCtxt)
{
Q_ASSERT(fieldCtxt.field->type == FIELDTYPE_ENUM);
QString enumStringList = toEnumStringList(ctxt.object, fieldCtxt.field);
ctxt.enums += generate(ctxt, fieldCtxt,
"class :ClassName_:PropName : public QObject {\n"
" Q_OBJECT\n"
"public:\n"
" enum Enum { %1 };\n"
" Q_ENUMS(Enum) // TODO switch to Q_ENUM once on Qt 5.5\n"
"};\n\n").arg(enumStringList);
ctxt.registerImpl += generate(ctxt, fieldCtxt,
" qmlRegisterType<:ClassName_:PropName>(\"%1.:ClassName\", 1, 0, \":PropName\");\n").arg("UAVTalk");
}
void generateBaseProperty(Context &ctxt, FieldContext &fieldCtxt)
{
ctxt.properties += generate(ctxt, fieldCtxt,
" Q_PROPERTY(:propType :propName READ :propName WRITE set:PropName NOTIFY :propNameChanged)\n");
ctxt.getters += generate(ctxt, fieldCtxt, " :propType :propName() const;\n");
ctxt.setters += generate(ctxt, fieldCtxt, " void set:PropName(const :propRefType value);\n");
ctxt.notifications += generate(ctxt, fieldCtxt, " void :propNameChanged(const :propRefType value);\n");
ctxt.notificationsImpl += generate(ctxt, fieldCtxt, " emit :propNameChanged(:propName());\n");
if (DEPRECATED) {
// generate deprecated property for retro compatibility
if (fieldCtxt.hasDeprecatedProperty) {
ctxt.deprecatedProperties += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ Q_PROPERTY(:fieldType :fieldName READ get:fieldName WRITE set:fieldName NOTIFY :fieldNameChanged);\n");
}
if (fieldCtxt.hasDeprecatedGetter) {
ctxt.getters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ Q_INVOKABLE :fieldType get:fieldName() const { return static_cast<:fieldType>(:propName()); }\n");
}
if (fieldCtxt.hasDeprecatedSetter) {
ctxt.setters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void set:fieldName(:fieldType value) { set:fieldName(static_cast<:propType>(value)); }\n");
}
if (fieldCtxt.hasDeprecatedNotification) {
ctxt.notifications += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void :fieldNameChanged(:fieldType value);\n");
ctxt.notificationsImpl += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ emit :fieldNameChanged(get:fieldName());\n");
}
}
}
void generateSimpleProperty(Context &ctxt, FieldContext &fieldCtxt)
{
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
generateEnum(ctxt, fieldCtxt);
}
generateBaseProperty(ctxt, fieldCtxt);
// getter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
":propType :ClassName:::propName() const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return static_cast<:propType>(data_.:fieldName);\n"
"}\n");
// emitters
QString emitters = generate(ctxt, fieldCtxt, "emit :propNameChanged(value);");
if (fieldCtxt.hasDeprecatedNotification) {
emitters += " ";
emitters += generate(ctxt, fieldCtxt, "emit :fieldNameChanged(static_cast<:fieldType>(value));");
}
// setter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
"void :ClassName::set:PropName(const :propRefType value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = (data_.:fieldName != static_cast<:fieldType>(value));\n"
" data_.:fieldName = static_cast<:fieldType>(value);\n"
" mutex->unlock();\n"
" if (changed) { %1 }\n"
"}\n\n").arg(emitters);
}
void generateIndexedProperty(Context &ctxt, FieldContext &fieldCtxt)
{
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
generateEnum(ctxt, fieldCtxt);
}
// indexed getter/setter
ctxt.getters += generate(ctxt, fieldCtxt, " Q_INVOKABLE :propType :propName(quint32 index) const;\n");
ctxt.setters += generate(ctxt, fieldCtxt, " Q_INVOKABLE void set:PropName(quint32 index, const :propRefType value);\n");
// getter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
":propType :ClassName:::propName(quint32 index) const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return static_cast<:propType>(data_.:fieldName[index]);\n"
"}\n");
// emitters
QString emitters = generate(ctxt, fieldCtxt, "emit :propNameChanged(index, value);");
if (fieldCtxt.hasDeprecatedNotification) {
emitters += " ";
emitters += generate(ctxt, fieldCtxt, "emit :fieldNameChanged(index, static_cast<:fieldType>(value));");
}
// setter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
"void :ClassName::set:PropName(quint32 index, const :propRefType value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = (data_.:fieldName[index] != static_cast<:fieldType>(value));\n"
" data_.:fieldName[index] = static_cast<:fieldType>(value);\n"
" mutex->unlock();\n"
" if (changed) { %1 }\n"
"}\n\n").arg(emitters);
ctxt.notifications += generate(ctxt, fieldCtxt, " void :propNameChanged(quint32 index, const :propRefType value);\n");
if (DEPRECATED) {
// backward compatibility
if (fieldCtxt.hasDeprecatedGetter) {
ctxt.getters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ Q_INVOKABLE :fieldType get:fieldName(quint32 index) const { return static_cast<:fieldType>(:propName(index)); }\n");
}
if (fieldCtxt.hasDeprecatedSetter) {
ctxt.setters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void set:fieldName(quint32 index, :fieldType value) { set:fieldName(index, static_cast<:propType>(value)); }\n");
}
if (fieldCtxt.hasDeprecatedNotification) {
ctxt.notifications += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void :fieldNameChanged(quint32 index, :fieldType value);\n");
}
}
for (int elementIndex = 0; elementIndex < fieldCtxt.field->numElements; elementIndex++) {
QString elementName = fieldCtxt.field->elementNames[elementIndex];
FieldContext elementCtxt;
elementCtxt.field = fieldCtxt.field;
elementCtxt.fieldName = fieldCtxt.fieldName + "_" + elementName;
elementCtxt.fieldType = fieldCtxt.fieldType;
elementCtxt.propName = fieldCtxt.propName + elementName;
elementCtxt.ucPropName = fieldCtxt.ucPropName + elementName;
elementCtxt.propType = fieldCtxt.propType;
elementCtxt.propRefType = fieldCtxt.propRefType;
// deprecation
elementCtxt.hasDeprecatedProperty = (elementCtxt.fieldName != elementCtxt.propName) && DEPRECATED;
elementCtxt.hasDeprecatedGetter = DEPRECATED;
elementCtxt.hasDeprecatedSetter = ((elementCtxt.fieldName != elementCtxt.ucPropName) || (elementCtxt.fieldType != elementCtxt.propType)) && DEPRECATED;
elementCtxt.hasDeprecatedNotification = ((elementCtxt.fieldName != elementCtxt.propName) || (elementCtxt.fieldType != elementCtxt.propType)) && DEPRECATED;
generateBaseProperty(ctxt, elementCtxt);
ctxt.propertiesImpl += generate(ctxt, elementCtxt,
":propType :ClassName:::propName() const { return %1(%2); }\n").arg(fieldCtxt.propName).arg(elementIndex);
ctxt.propertiesImpl += generate(ctxt, elementCtxt,
"void :ClassName::set:PropName(const :propRefType value) { set%1(%2, value); }\n").arg(fieldCtxt.ucPropName).arg(elementIndex);
}
}
void generateProperty(Context &ctxt, FieldContext &fieldCtxt)
{
// do some checks
QString fieldName = fieldCtxt.fieldName;
if (fieldName[0].isLower()) {
info(ctxt.object, "Field \"" + fieldName + "\" does not start with an upper case letter.");
}
// generate all properties
if (fieldCtxt.field->numElements > 1) {
generateIndexedProperty(ctxt, fieldCtxt);
} else {
generateSimpleProperty(ctxt, fieldCtxt);
}
}
bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepath, QString outputpath) bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepath, QString outputpath)
{ {
fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
"quint8" << "quint16" << "quint32" << "float" << "quint8";
fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
<< "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
gcsCodePath = QDir(templatepath + QString(GCS_CODE_DIR)); gcsCodePath = QDir(templatepath + QString(GCS_CODE_DIR));
gcsOutputPath = QDir(outputpath); gcsOutputPath = QDir(outputpath);
gcsOutputPath.mkpath(gcsOutputPath.absolutePath()); gcsOutputPath.mkpath(gcsOutputPath.absolutePath());
@ -44,7 +549,7 @@ bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepa
QString gcsInitTemplate = readFile(gcsCodePath.absoluteFilePath("uavobjectsinit.cpp.template")); QString gcsInitTemplate = readFile(gcsCodePath.absoluteFilePath("uavobjectsinit.cpp.template"));
if (gcsCodeTemplate.isEmpty() || gcsIncludeTemplate.isEmpty() || gcsInitTemplate.isEmpty()) { if (gcsCodeTemplate.isEmpty() || gcsIncludeTemplate.isEmpty() || gcsInitTemplate.isEmpty()) {
std::cerr << "Problem reading gcs code templates" << endl; error("Error: Failed to read gcs code templates.");
return false; return false;
} }
@ -52,29 +557,42 @@ bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepa
QString gcsObjInit; QString gcsObjInit;
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) { for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo *info = parser->getObjectByIndex(objidx); ObjectInfo *object = parser->getObjectByIndex(objidx);
process_object(info); process_object(object);
gcsObjInit.append(" objMngr->registerObject( new " + info->name + "() );\n"); Context ctxt;
objInc.append("#include \"" + info->namelc + ".h\"\n"); ctxt.object = object;
objInc.append(QString("#include \"%1.h\"\n").arg(object->namelc));
gcsObjInit += ::generate(ctxt, " objMngr->registerObject( new :ClassName() );\n");
gcsObjInit += ::generate(ctxt, " :ClassName::registerQMLTypes();\n");
} }
// Write the gcs object inialization files // Write the gcs object initialization files
gcsInitTemplate.replace(QString("$(OBJINC)"), objInc); gcsInitTemplate.replace("$(OBJINC)", objInc);
gcsInitTemplate.replace(QString("$(OBJINIT)"), gcsObjInit); gcsInitTemplate.replace("$(OBJINIT)", gcsObjInit);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate); bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
if (!res) { if (!res) {
cout << "Error: Could not write output files" << endl; error("Error: Could not write output files");
return false; return false;
} }
return true; // if we come here everything should be fine return true;
} }
/** /**
* Generate the GCS object files * Generate the GCS object files
*
* TODO add getter to get enum names
*
* TODO handle "char" unit
* TODO handle "bool" unit
* TODO handle "hex" unit
* TODO handle Vector
*/ */
bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info) bool UAVObjectGeneratorGCS::process_object(ObjectInfo *object)
{ {
if (info == NULL) { if (info == NULL) {
return false; return false;
@ -85,300 +603,80 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
QString outCode = gcsCodeTemplate; QString outCode = gcsCodeTemplate;
// Replace common tags // Replace common tags
replaceCommonTags(outInclude, info); replaceCommonTags(outInclude, object);
replaceCommonTags(outCode, info); replaceCommonTags(outCode, object);
// Replace the $(DATAFIELDS) tag
QString type;
QString fields;
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrCPP[info->fields[n]->type];
// Append field
if (info->fields[n]->numElements > 1) {
fields.append(QString(" %1 %2[%3];\n").arg(type).arg(info->fields[n]->name)
.arg(info->fields[n]->numElements));
} else {
fields.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name));
}
}
outInclude.replace(QString("$(DATAFIELDS)"), fields);
// Replace $(PROPERTIES) and related tags
QString properties;
QString propertiesImpl;
QString propertyGetters;
QString propertySetters;
QString propertyNotifications;
QString propertyNotificationsImpl;
// to avoid name conflicts // to avoid name conflicts
QStringList reservedProperties; QStringList reservedProperties;
reservedProperties << "Description" << "Metadata"; reservedProperties << "Description" << "Metadata";
for (int n = 0; n < info->fields.length(); ++n) { Context ctxt;
FieldInfo *field = info->fields[n]; ctxt.object = object;
ctxt.registerImpl += ::generate(ctxt,
" qmlRegisterType<:ClassName>(\"%1.:ClassName\", 1, 0, \":ClassName\");\n").arg("UAVTalk");
for (int n = 0; n < object->fields.length(); ++n) {
FieldInfo *field = object->fields[n];
// field context
FieldContext fieldCtxt;
fieldCtxt.field = field;
// field properties
fieldCtxt.fieldName = field->name;
fieldCtxt.fieldType = fieldTypeStrCPP(field->type);
fieldCtxt.ucPropName = toPropertyName(field->name);
fieldCtxt.propName = toLowerCamelCase(fieldCtxt.ucPropName);
fieldCtxt.propType = fieldCtxt.fieldType;
fieldCtxt.propRefType = fieldCtxt.fieldType;
if (field->type == FIELDTYPE_ENUM) {
QString enumClassName = object->name + "_" + fieldCtxt.ucPropName;
fieldCtxt.propType = enumClassName + "::Enum";
fieldCtxt.propRefType = fieldCtxt.propType;
}
// deprecation
fieldCtxt.hasDeprecatedProperty = (fieldCtxt.fieldName != fieldCtxt.propName) && DEPRECATED;
fieldCtxt.hasDeprecatedGetter = DEPRECATED;
fieldCtxt.hasDeprecatedSetter = ((fieldCtxt.fieldName != fieldCtxt.ucPropName) || (fieldCtxt.fieldType != fieldCtxt.propType)) && DEPRECATED;
fieldCtxt.hasDeprecatedNotification = ((fieldCtxt.fieldName != fieldCtxt.propName) || (fieldCtxt.fieldType != fieldCtxt.propType)) && DEPRECATED;
generateField(ctxt, fieldCtxt);
if (reservedProperties.contains(field->name)) { if (reservedProperties.contains(field->name)) {
warning(object, "Ignoring reserved property " + field->name + ".");
continue; continue;
} }
// Determine type generateProperty(ctxt, fieldCtxt);
type = fieldTypeStrCPP[field->type];
// Append field
if (field->numElements > 1) {
// add both field(elementIndex)/setField(elemntIndex,value) and field_element properties
// field_element is more convenient if only certain element is used
// and much easier to use from the qml side
propertyGetters +=
QString(" Q_INVOKABLE %1 get%2(quint32 index) const;\n")
.arg(type).arg(field->name);
propertiesImpl +=
QString("%1 %2::get%3(quint32 index) const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return data.%3[index];\n"
"}\n")
.arg(type).arg(info->name).arg(field->name);
propertySetters +=
QString(" void set%1(quint32 index, %2 value);\n")
.arg(field->name).arg(type);
propertiesImpl +=
QString("void %1::set%2(quint32 index, %3 value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = data.%2[index] != value;\n"
" data.%2[index] = value;\n"
" mutex->unlock();\n"
" if (changed) emit %2Changed(index,value);\n"
"}\n\n")
.arg(info->name).arg(field->name).arg(type);
propertyNotifications +=
QString(" void %1Changed(quint32 index, %2 value);\n")
.arg(field->name).arg(type);
for (int elementIndex = 0; elementIndex < field->numElements; elementIndex++) {
QString elementName = field->elementNames[elementIndex];
properties += QString(" Q_PROPERTY(%1 %2 READ get%2 WRITE set%2 NOTIFY %2Changed);\n")
.arg(type).arg(field->name + "_" + elementName);
propertyGetters +=
QString(" Q_INVOKABLE %1 get%2_%3() const;\n")
.arg(type).arg(field->name).arg(elementName);
propertiesImpl +=
QString("%1 %2::get%3_%4() const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return data.%3[%5];\n"
"}\n")
.arg(type).arg(info->name).arg(field->name).arg(elementName).arg(elementIndex);
propertySetters +=
QString(" void set%1_%2(%3 value);\n")
.arg(field->name).arg(elementName).arg(type);
propertiesImpl +=
QString("void %1::set%2_%3(%4 value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = data.%2[%5] != value;\n"
" data.%2[%5] = value;\n"
" mutex->unlock();\n"
" if (changed) emit %2_%3Changed(value);\n"
"}\n\n")
.arg(info->name).arg(field->name).arg(elementName).arg(type).arg(elementIndex);
propertyNotifications +=
QString(" void %1_%2Changed(%3 value);\n")
.arg(field->name).arg(elementName).arg(type);
propertyNotificationsImpl +=
QString(" //if (data.%1[%2] != oldData.%1[%2])\n"
" emit %1_%3Changed(data.%1[%2]);\n")
.arg(field->name).arg(elementIndex).arg(elementName);
}
} else {
properties += QString(" Q_PROPERTY(%1 %2 READ get%2 WRITE set%2 NOTIFY %2Changed);\n")
.arg(type).arg(field->name);
propertyGetters +=
QString(" Q_INVOKABLE %1 get%2() const;\n")
.arg(type).arg(field->name);
propertiesImpl +=
QString("%1 %2::get%3() const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return data.%3;\n"
"}\n")
.arg(type).arg(info->name).arg(field->name);
propertySetters +=
QString(" void set%1(%2 value);\n")
.arg(field->name).arg(type);
propertiesImpl +=
QString("void %1::set%2(%3 value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = data.%2 != value;\n"
" data.%2 = value;\n"
" mutex->unlock();\n"
" if (changed) emit %2Changed(value);\n"
"}\n\n")
.arg(info->name).arg(field->name).arg(type);
propertyNotifications +=
QString(" void %1Changed(%2 value);\n")
.arg(field->name).arg(type);
propertyNotificationsImpl +=
QString(" //if (data.%1 != oldData.%1)\n"
" emit %1Changed(data.%1);\n")
.arg(field->name);
}
} }
outInclude.replace(QString("$(PROPERTIES)"), properties); outInclude.replace("$(ENUMS)", ctxt.enums);
outInclude.replace(QString("$(PROPERTY_GETTERS)"), propertyGetters); outInclude.replace("$(DATAFIELDS)", ctxt.fields);
outInclude.replace(QString("$(PROPERTY_SETTERS)"), propertySetters); outInclude.replace("$(DATAFIELDINFO)", ctxt.fieldsInfo);
outInclude.replace(QString("$(PROPERTY_NOTIFICATIONS)"), propertyNotifications); outInclude.replace("$(PROPERTIES)", ctxt.properties);
outInclude.replace("$(DEPRECATED_PROPERTIES)", ctxt.deprecatedProperties);
outInclude.replace("$(PROPERTY_GETTERS)", ctxt.getters);
outInclude.replace("$(PROPERTY_SETTERS)", ctxt.setters);
outInclude.replace("$(PROPERTY_NOTIFICATIONS)", ctxt.notifications);
outCode.replace(QString("$(PROPERTIES_IMPL)"), propertiesImpl); outCode.replace("$(FIELDSINIT)", ctxt.fieldsInit);
outCode.replace(QString("$(NOTIFY_PROPERTIES_CHANGED)"), propertyNotificationsImpl); outCode.replace("$(FIELDSDEFAULT)", ctxt.fieldsDefault);
outCode.replace("$(PROPERTIES_IMPL)", ctxt.propertiesImpl);
// Replace the $(FIELDSINIT) tag outCode.replace("$(NOTIFY_PROPERTIES_CHANGED)", ctxt.notificationsImpl);
QString finit; outCode.replace("$(REGISTER_QML_TYPES)", ctxt.registerImpl);
for (int n = 0; n < info->fields.length(); ++n) {
// Setup element names
QString varElemName = info->fields[n]->name + "ElemNames";
finit.append(QString(" QStringList %1;\n").arg(varElemName));
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
finit.append(QString(" %1.append(\"%2\");\n")
.arg(varElemName)
.arg(elemNames[m]));
}
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
QString varOptionName = info->fields[n]->name + "EnumOptions";
finit.append(QString(" QStringList %1;\n").arg(varOptionName));
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
finit.append(QString(" %1.append(\"%2\");\n")
.arg(varOptionName)
.arg(options[m]));
}
finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::ENUM, %4, %5, QString(\"%6\")));\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->description)
.arg(info->fields[n]->units)
.arg(varElemName)
.arg(varOptionName)
.arg(info->fields[n]->limitValues));
}
// For all other types
else {
finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::%4, %5, QStringList(), QString(\"%6\")));\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->description)
.arg(info->fields[n]->units)
.arg(fieldTypeStrCPPClass[info->fields[n]->type])
.arg(varElemName)
.arg(info->fields[n]->limitValues));
}
}
outCode.replace(QString("$(FIELDSINIT)"), finit);
// Replace the $(DATAFIELDINFO) tag
QString name;
QString enums;
for (int n = 0; n < info->fields.length(); ++n) {
enums.append(QString(" // Field %1 information\n").arg(info->fields[n]->name));
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString(" /* Enumeration options for field %1 */\n").arg(info->fields[n]->name));
enums.append(" typedef enum { ");
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
QString s = (m != (options.length() - 1)) ? "%1_%2=%3, " : "%1_%2=%3";
enums.append(s.arg(info->fields[n]->name.toUpper())
.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
.arg(m));
}
enums.append(QString(" } %1Options;\n")
.arg(info->fields[n]->name));
}
// Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) {
enums.append(QString(" /* Array element names for field %1 */\n").arg(info->fields[n]->name));
enums.append(" typedef enum { ");
// Go through the element names
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
QString s = (m != (elemNames.length() - 1)) ? "%1_%2=%3, " : "%1_%2=%3";
enums.append(s.arg(info->fields[n]->name.toUpper())
.arg(elemNames[m].toUpper())
.arg(m));
}
enums.append(QString(" } %1Elem;\n")
.arg(info->fields[n]->name));
}
// Generate array information
if (info->fields[n]->numElements > 1) {
enums.append(QString(" /* Number of elements for field %1 */\n").arg(info->fields[n]->name));
enums.append(QString(" static const quint32 %1_NUMELEM = %2;\n")
.arg(info->fields[n]->name.toUpper())
.arg(info->fields[n]->numElements));
}
}
outInclude.replace(QString("$(DATAFIELDINFO)"), enums);
// Replace the $(INITFIELDS) tag
QString initfields;
for (int n = 0; n < info->fields.length(); ++n) {
if (!info->fields[n]->defaultValues.isEmpty()) {
// For non-array fields
if (info->fields[n]->numElements == 1) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[0])));
} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->defaultValues[0].toFloat()));
} else {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->defaultValues[0].toInt()));
}
} else {
// Initialize all fields in the array
for (int idx = 0; idx < info->fields[n]->numElements; ++idx) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
initfields.append(QString(" data.%1[%2] = %3;\n")
.arg(info->fields[n]->name)
.arg(idx)
.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[idx])));
} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
initfields.append(QString(" data.%1[%2] = %3;\n")
.arg(info->fields[n]->name)
.arg(idx)
.arg(info->fields[n]->defaultValues[idx].toFloat()));
} else {
initfields.append(QString(" data.%1[%2] = %3;\n")
.arg(info->fields[n]->name)
.arg(idx)
.arg(info->fields[n]->defaultValues[idx].toInt()));
}
}
}
}
}
outCode.replace(QString("$(INITFIELDS)"), initfields);
// Write the GCS code // Write the GCS code
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode); bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + object->namelc + ".cpp", outCode);
if (!res) { if (!res) {
cout << "Error: Could not write gcs output files" << endl; error("Error: Could not write gcs output files");
return false; return false;
} }
res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude); res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + object->namelc + ".h", outInclude);
if (!res) { if (!res) {
cout << "Error: Could not write gcs output files" << endl; error("Error: Could not write gcs output files");
return false; return false;
} }

1
ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.h
View File

@ -39,7 +39,6 @@ private:
bool process_object(ObjectInfo *info); bool process_object(ObjectInfo *info);
QString gcsCodeTemplate, gcsIncludeTemplate; QString gcsCodeTemplate, gcsIncludeTemplate;
QStringList fieldTypeStrCPP, fieldTypeStrCPPClass;
QDir gcsCodePath; QDir gcsCodePath;
QDir gcsOutputPath; QDir gcsOutputPath;
}; };