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https://bitbucket.org/librepilot/librepilot.git
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Merge remote-tracking branch 'origin/hyper/uavobjectparser-tweaks' into next
Conflicts: shared/uavobjectdefinition/taskinfo.xml
This commit is contained in:
James Cotton
commit
684620dce6
@ -161,6 +161,9 @@ int main(int argc, char *argv[])
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QString res = parser->parseXML(xmlstr, filename);
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if (!res.isNull()) {
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if (!verbose) {
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cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
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}
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cout << "Error parsing " << res.toStdString() << endl;
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return RETURN_ERR_XML;
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}
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@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
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qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
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// Make sure that required elements were found
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if ( !fieldFound )
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return QString("Object::field element is missing");
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if ( !accessFound )
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return QString("Object::access element is missing");
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@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
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// Get name attribute
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QDomNamedNodeMap elemAttributes = childNode.attributes();
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QDomNode elemAttr = elemAttributes.namedItem("name");
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if ( elemAttr.isNull() )
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if (elemAttr.isNull()) {
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return QString("Object:field:name attribute is missing");
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}
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QString name = elemAttr.nodeValue();
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field->name = elemAttr.nodeValue();
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// Check to see is this field is a clone of another
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// field that has already been declared
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elemAttr = elemAttributes.namedItem("cloneof");
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if (!elemAttr.isNull()) {
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QString parentName = elemAttr.nodeValue();
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if (!parentName.isEmpty()) {
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foreach(FieldInfo * parent, info->fields) {
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if (parent->name == parentName) {
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// clone from this parent
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*field = *parent; // safe shallow copy, no ptrs in struct
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field->name = name; // set our name
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// Add field to object
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info->fields.append(field);
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// Done
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return QString();
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}
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}
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return QString("Object:field::cloneof parent unknown");
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}
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else {
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return QString("Object:field:cloneof attribute is empty");
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}
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}
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else {
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// this field is not a clone, so remember its name
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field->name = name;
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}
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// Get units attribute
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elemAttr = elemAttributes.namedItem("units");
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@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
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}
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// Get numelements or elementnames attribute
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field->numElements = 0;
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// Look for element names as an attribute first
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elemAttr = elemAttributes.namedItem("elementnames");
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if ( !elemAttr.isNull() ) {
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// Get element names
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@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
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field->defaultElementNames = false;
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}
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else {
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// Look for a list of child elementname nodes
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QDomNode listNode = childNode.firstChildElement("elementnames");
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if (!listNode.isNull()) {
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for (QDomElement node = listNode.firstChildElement("elementname");
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!node.isNull(); node = node.nextSiblingElement("elementname")) {
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QDomNode name = node.firstChild();
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if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
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field->elementNames.append(name.nodeValue());
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}
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}
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field->numElements = field->elementNames.length();
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field->defaultElementNames = false;
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}
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}
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// If no element names were found, then fall back to looking
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// for the number of elements in the 'elements' attribute
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if (field->numElements == 0) {
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elemAttr = elemAttributes.namedItem("elements");
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if ( elemAttr.isNull() ) {
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return QString("Object:field:elements and Object:field:elementnames attribute is missing");
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return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
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}
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else {
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field->numElements = elemAttr.nodeValue().toInt();
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@ -434,19 +483,34 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
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field->defaultElementNames = true;
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}
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}
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// Get options attribute (only if an enum type)
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// Get options attribute or child elements (only if an enum type)
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if (field->type == FIELDTYPE_ENUM) {
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// Get options attribute
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// Look for options attribute
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elemAttr = elemAttributes.namedItem("options");
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if ( elemAttr.isNull() )
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return QString("Object:field:options attribute is missing");
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QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
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for (int n = 0; n < options.length(); ++n)
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options[n] = options[n].trimmed();
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field->options = options;
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if (!elemAttr.isNull()) {
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QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
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for (int n = 0; n < options.length(); ++n) {
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options[n] = options[n].trimmed();
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}
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field->options = options;
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}
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else {
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// Look for a list of child 'option' nodes
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QDomNode listNode = childNode.firstChildElement("options");
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if (!listNode.isNull()) {
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for (QDomElement node = listNode.firstChildElement("option");
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!node.isNull(); node = node.nextSiblingElement("option")) {
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QDomNode name = node.firstChild();
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if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
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field->options.append(name.nodeValue());
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}
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}
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}
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}
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if (field->options.length() == 0) {
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return QString("Object:field:options attribute/element is missing");
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}
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}
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// Get the default value attribute (required for settings objects, optional for the rest)
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@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
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return QString("Object:field:incorrect number of default values");
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/*support legacy single default for multiple elements
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We sould really issue a warning*/
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We should really issue a warning*/
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for(int ct=1; ct< field->numElements; ct++)
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defaults.append(defaults[0]);
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}
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field->defaultValues = defaults;
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}
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// Limits attribute
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elemAttr = elemAttributes.namedItem("limits");
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if ( elemAttr.isNull() ) {
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field->limitValues=QString();
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@ -5,29 +5,76 @@
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<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
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<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
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<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
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<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
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<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
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<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
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<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
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<field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
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<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
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<field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
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<options>
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<option>Throttle</option>
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<option>Roll</option>
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<option>Pitch</option>
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<option>Yaw</option>
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<option>Collective</option>
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<option>Accessory0</option>
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<option>Accessory1</option>
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<option>Accessory2</option>
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<option>Accessory3</option>
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<option>Accessory4</option>
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<option>Accessory5</option>
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</options>
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</field>
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<field name="ThrottleCurve2" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
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<field name="Mixer1Type" units="" type="enum" elements="1" defaultvalue="Disabled">
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<options>
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<option>Disabled</option>
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<option>Motor</option>
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<option>Servo</option>
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<option>CameraRoll</option>
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<option>CameraPitch</option>
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<option>CameraYaw</option>
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<option>Accessory0</option>
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<option>Accessory1</option>
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<option>Accessory2</option>
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<option>Accessory3</option>
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<option>Accessory4</option>
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<option>Accessory5</option>
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</options>
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</field>
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<field name="Mixer1Vector" units="" type="int8" defaultvalue="0">
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<elementnames>
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<elementname>ThrottleCurve1</elementname>
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<elementname>ThrottleCurve2</elementname>
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<elementname>Roll</elementname>
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<elementname>Pitch</elementname>
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<elementname>Yaw</elementname>
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</elementnames>
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</field>
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<field name="Mixer2Type" cloneof="Mixer1Type"/>
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<field name="Mixer2Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer3Type" cloneof="Mixer1Type"/>
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<field name="Mixer3Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer4Type" cloneof="Mixer1Type"/>
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<field name="Mixer4Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer5Type" cloneof="Mixer1Type"/>
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<field name="Mixer5Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer6Type" cloneof="Mixer1Type"/>
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<field name="Mixer6Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer7Type" cloneof="Mixer1Type"/>
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<field name="Mixer7Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer8Type" cloneof="Mixer1Type"/>
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<field name="Mixer8Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer9Type" cloneof="Mixer1Type"/>
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<field name="Mixer9Vector" cloneof="Mixer1Vector"/>
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<field name="Mixer10Type" cloneof="Mixer1Type"/>
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<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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@ -1,9 +1,79 @@
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<xml>
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<object name="TaskInfo" singleinstance="true" settings="false">
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<description>Task information</description>
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<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
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<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
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<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
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<field name="StackRemaining" units="bytes" type="uint16">
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<elementnames>
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<elementname>System</elementname>
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<elementname>Actuator</elementname>
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<elementname>Attitude</elementname>
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<elementname>Sensors</elementname>
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<elementname>TelemetryTx</elementname>
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<elementname>TelemetryTxPri</elementname>
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<elementname>TelemetryRx</elementname>
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<elementname>GPS</elementname>
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<elementname>ManualControl</elementname>
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<elementname>Altitude</elementname>
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<elementname>Stabilization</elementname>
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<elementname>AltitudeHold</elementname>
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<elementname>Guidance</elementname>
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<elementname>FlightPlan</elementname>
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<elementname>Com2UsbBridge</elementname>
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<elementname>Usb2ComBridge</elementname>
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<elementname>OveroSync</elementname>
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<elementname>Autotune</elementname>
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<elementname>EventDispatcher</elementname>
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</elementnames>
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</field>
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<field name="Running" units="bool" type="enum">
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<elementnames>
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<elementname>System</elementname>
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<elementname>Actuator</elementname>
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<elementname>Attitude</elementname>
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<elementname>Sensors</elementname>
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<elementname>TelemetryTx</elementname>
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<elementname>TelemetryTxPri</elementname>
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<elementname>TelemetryRx</elementname>
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<elementname>GPS</elementname>
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<elementname>ManualControl</elementname>
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<elementname>Altitude</elementname>
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<elementname>Stabilization</elementname>
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<elementname>AltitudeHold</elementname>
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<elementname>Guidance</elementname>
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<elementname>FlightPlan</elementname>
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<elementname>Com2UsbBridge</elementname>
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<elementname>Usb2ComBridge</elementname>
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<elementname>OveroSync</elementname>
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<elementname>Autotune</elementname>
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<elementname>EventDispatcher</elementname>
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</elementnames>
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<options>
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<option>False</option>
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<option>True</option>
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</options>
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</field>
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<field name="RunningTime" units="%" type="uint8">
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<elementnames>
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<elementname>System</elementname>
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<elementname>Actuator</elementname>
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<elementname>Attitude</elementname>
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<elementname>Sensors</elementname>
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<elementname>TelemetryTx</elementname>
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<elementname>TelemetryTxPri</elementname>
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<elementname>TelemetryRx</elementname>
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<elementname>GPS</elementname>
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<elementname>ManualControl</elementname>
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<elementname>Altitude</elementname>
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<elementname>Stabilization</elementname>
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<elementname>AltitudeHold</elementname>
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<elementname>Guidance</elementname>
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<elementname>FlightPlan</elementname>
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<elementname>Com2UsbBridge</elementname>
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<elementname>Usb2ComBridge</elementname>
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<elementname>OveroSync</elementname>
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<elementname>Autotune</elementname>
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<elementname>EventDispatcher</elementname>
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</elementnames>
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</field>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="periodic" period="10000"/>
|
||||
|
||||
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