diff --git a/ground/uavobjgenerator/main.cpp b/ground/uavobjgenerator/main.cpp
index 725d65cd3..8bce4fd09 100644
--- a/ground/uavobjgenerator/main.cpp
+++ b/ground/uavobjgenerator/main.cpp
@@ -161,6 +161,9 @@ int main(int argc, char *argv[])
QString res = parser->parseXML(xmlstr, filename);
if (!res.isNull()) {
+ if (!verbose) {
+ cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
+ }
cout << "Error parsing " << res.toStdString() << endl;
return RETURN_ERR_XML;
}
diff --git a/ground/uavobjgenerator/uavobjectparser.cpp b/ground/uavobjgenerator/uavobjectparser.cpp
index 73c4833b0..2d1d28c66 100644
--- a/ground/uavobjgenerator/uavobjectparser.cpp
+++ b/ground/uavobjgenerator/uavobjectparser.cpp
@@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Make sure that required elements were found
+ if ( !fieldFound )
+ return QString("Object::field element is missing");
+
if ( !accessFound )
return QString("Object::access element is missing");
@@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
// Get name attribute
QDomNamedNodeMap elemAttributes = childNode.attributes();
QDomNode elemAttr = elemAttributes.namedItem("name");
- if ( elemAttr.isNull() )
+ if (elemAttr.isNull()) {
return QString("Object:field:name attribute is missing");
+ }
+ QString name = elemAttr.nodeValue();
- field->name = elemAttr.nodeValue();
-
+ // Check to see is this field is a clone of another
+ // field that has already been declared
+ elemAttr = elemAttributes.namedItem("cloneof");
+ if (!elemAttr.isNull()) {
+ QString parentName = elemAttr.nodeValue();
+ if (!parentName.isEmpty()) {
+ foreach(FieldInfo * parent, info->fields) {
+ if (parent->name == parentName) {
+ // clone from this parent
+ *field = *parent; // safe shallow copy, no ptrs in struct
+ field->name = name; // set our name
+ // Add field to object
+ info->fields.append(field);
+ // Done
+ return QString();
+ }
+ }
+ return QString("Object:field::cloneof parent unknown");
+ }
+ else {
+ return QString("Object:field:cloneof attribute is empty");
+ }
+ }
+ else {
+ // this field is not a clone, so remember its name
+ field->name = name;
+ }
// Get units attribute
elemAttr = elemAttributes.namedItem("units");
@@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
}
// Get numelements or elementnames attribute
+ field->numElements = 0;
+ // Look for element names as an attribute first
elemAttr = elemAttributes.namedItem("elementnames");
if ( !elemAttr.isNull() ) {
// Get element names
@@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
field->defaultElementNames = false;
}
else {
+ // Look for a list of child elementname nodes
+ QDomNode listNode = childNode.firstChildElement("elementnames");
+ if (!listNode.isNull()) {
+ for (QDomElement node = listNode.firstChildElement("elementname");
+ !node.isNull(); node = node.nextSiblingElement("elementname")) {
+ QDomNode name = node.firstChild();
+ if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+ field->elementNames.append(name.nodeValue());
+ }
+ }
+ field->numElements = field->elementNames.length();
+ field->defaultElementNames = false;
+ }
+ }
+ // If no element names were found, then fall back to looking
+ // for the number of elements in the 'elements' attribute
+ if (field->numElements == 0) {
elemAttr = elemAttributes.namedItem("elements");
if ( elemAttr.isNull() ) {
- return QString("Object:field:elements and Object:field:elementnames attribute is missing");
+ return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
}
else {
field->numElements = elemAttr.nodeValue().toInt();
@@ -434,19 +483,34 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
field->defaultElementNames = true;
}
}
- // Get options attribute (only if an enum type)
+ // Get options attribute or child elements (only if an enum type)
if (field->type == FIELDTYPE_ENUM) {
- // Get options attribute
+ // Look for 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;
+ if (!elemAttr.isNull()) {
+ QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
+ for (int n = 0; n < options.length(); ++n) {
+ options[n] = options[n].trimmed();
+ }
+ field->options = options;
+ }
+ else {
+ // Look for a list of child 'option' nodes
+ QDomNode listNode = childNode.firstChildElement("options");
+ if (!listNode.isNull()) {
+ for (QDomElement node = listNode.firstChildElement("option");
+ !node.isNull(); node = node.nextSiblingElement("option")) {
+ QDomNode name = node.firstChild();
+ if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+ field->options.append(name.nodeValue());
+ }
+ }
+ }
+ }
+ if (field->options.length() == 0) {
+ return QString("Object:field:options attribute/element is missing");
+ }
}
// Get the default value attribute (required for settings objects, optional for the rest)
@@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
return QString("Object:field:incorrect number of default values");
/*support legacy single default for multiple elements
- We sould really issue a warning*/
+ We should really issue a warning*/
for(int ct=1; ct< field->numElements; ct++)
defaults.append(defaults[0]);
}
field->defaultValues = defaults;
}
+
+ // Limits attribute
elemAttr = elemAttributes.namedItem("limits");
if ( elemAttr.isNull() ) {
field->limitValues=QString();
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index 6e0d519f1..ffbc067f9 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -5,29 +5,76 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ ThrottleCurve1
+ ThrottleCurve2
+ Roll
+ Pitch
+ Yaw
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/shared/uavobjectdefinition/taskinfo.xml b/shared/uavobjectdefinition/taskinfo.xml
index 551167501..e4f2ae652 100644
--- a/shared/uavobjectdefinition/taskinfo.xml
+++ b/shared/uavobjectdefinition/taskinfo.xml
@@ -1,9 +1,76 @@