rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-28 06:24:10 +01:00
Code Issues Releases Activity

added arduino support to uavobjgenerator

Browse Source
This commit is contained in:
Marcus Proest 2017-01-09 19:22:31 +01:00
parent c2cf44f8d8
commit 9ff48731c1
7 changed files with 324 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
.gitignore vendored
View File

@ -40,6 +40,7 @@ ground/gcs/.settings
*.exe
*.log
*.opl
*.autosave
/ground/gcs/share/translations/extract-mimetypes.xq
/ground/gcs/src/experimental/tools/DocumentationHelper/ui_mainwindow.h
/ground/gcs/src/libs/qextserialport/.hg

4
Makefile
View File

@ -1,6 +1,6 @@
#
# Top level Makefile for the LibrePilot Project build system.
# Copyright (c) 2015, The LibrePilot Project, http://www.librepilot.org
# Copyright (c) 2015-2017, The LibrePilot Project, http://www.librepilot.org
# Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
# Use 'make help' for instructions.
#
@ -195,7 +195,7 @@ $(UAVOBJGENERATOR): | $(UAVOBJGENERATOR_DIR)
CONFIG+='$(GCS_BUILD_CONF) $(GCS_EXTRA_CONF)' ) && \
$(MAKE) --no-print-directory -w
UAVOBJ_TARGETS := gcs flight python matlab java wireshark
UAVOBJ_TARGETS := gcs flight arduino python matlab java wireshark
.PHONY: uavobjects
uavobjects: $(addprefix uavobjects_, $(UAVOBJ_TARGETS))

84
arduino/uavobjects/inc/uavobject.h.template Normal file
View File

@ -0,0 +1,84 @@
/**
******************************************************************************
* @addtogroup UAVObjects LibrePilot UAVObjects
* @{
* @addtogroup $(NAME) $(NAME)
* @brief $(DESCRIPTION)
*
* Autogenerated files and functions for $(NAME) Object
*
* @{
*
* @file $(NAMELC).h
*
* @author The LibrePilot Project, https://www.librepilot.org, (C) 2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
*
* @brief Arduino Header of the $(NAME) object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: $(XMLFILE).
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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
*/
#ifndef $(NAMEUC)_H
#define $(NAMEUC)_H
#include <stdbool.h>
/* Object constants */
#define $(NAMEUC)_OBJID $(OBJIDHEX)
#define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST)
#define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
#define $(NAMEUC)_ISPRIORITY $(ISPRIORITY)
#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
$(DATAFIELDINFO)
$(DATASTRUCTURES)
/*
* Packed Object data (unaligned).
* Should only be used where 4 byte alignment can be guaranteed
* (eg a single instance on the heap)
*/
typedef struct {
$(DATAFIELDS)
} __attribute__((packed)) $(NAME)DataPacked;
/*
* Packed Object data.
* Alignment is forced to 4 bytes
*/
typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data;
/*
* Union to apply the data array to and to use as structured object data
*/
union {
$(NAME)DataPacked data;
byte arr[$(NAMEUC)_NUMBYTES];
} $(NAME)DataUnion;
#endif // $(NAMEUC)_H
/**
* @}
* @}
*/

178
ground/uavobjgenerator/generators/arduino/uavobjectgeneratorarduino.cpp Normal file
View File

@ -0,0 +1,178 @@
/**
******************************************************************************
*
* @file uavobjectgeneratorarduino.cpp
* @author The LibrePilot Project, https://www.librepilot.org, Copyright (C) 2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief produce arduino code for uavobjects
*
* @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 "uavobjectgeneratorarduino.h"
using namespace std;
bool UAVObjectGeneratorArduino::generate(UAVObjectParser *parser, QString templatepath, QString outputpath)
{
fieldTypeStrC << "int8_t" << "int16_t" << "int32_t" << "uint8_t"
<< "uint16_t" << "uint32_t" << "float" << "uint8_t";
arduinoCodePath = QDir(templatepath + QString(ARDUINO_CODE_DIR));
arduinoOutputPath = QDir(outputpath);
arduinoOutputPath.mkpath(arduinoOutputPath.absolutePath());
arduinoIncludeTemplate = readFile(arduinoCodePath.absoluteFilePath("inc/uavobject.h.template"));
if (arduinoIncludeTemplate.isNull()) {
cerr << "Error: Could not open arduino template files." << endl;
return false;
}
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo *info = parser->getObjectByIndex(objidx);
process_object(info);
}
return true; // if we come here everything should be fine
}
/**
* Generate the Arduino object files
**/
bool UAVObjectGeneratorArduino::process_object(ObjectInfo *info)
{
if (info == NULL) {
return false;
}
// Prepare output strings
QString outInclude = arduinoIncludeTemplate;
// Replace common tags
replaceCommonTags(outInclude, info);
// Use the appropriate typedef for enums where we find them. Set up
// that StringList here for use below.
QStringList typeList;
for (int n = 0; n < info->fields.length(); ++n) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
typeList << QString("%1%2Options").arg(info->name).arg(info->fields[n]->name);
} else {
typeList << fieldTypeStrC[info->fields[n]->type];
}
}
// Replace the $(DATAFIELDS) tag
QString fields;
QString dataStructures;
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
QString type = typeList[n];
// Append field
// Check if it is a named set and create structures accordingly
if (info->fields[n]->numElements > 1) {
if (info->fields[n]->elementNames[0].compare("0") != 0) {
QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
QString structType = "typedef struct __attribute__ ((__packed__)) {\n";
for (int f = 0; f < info->fields[n]->elementNames.count(); f++) {
structType.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->elementNames[f]));
}
structType.append(QString("} %1 ;\n").arg(structTypeName));
structType.append("typedef struct __attribute__ ((__packed__)) {\n");
structType.append(QString(" %1 array[%2];\n").arg(type).arg(info->fields[n]->elementNames.count()));
structType.append(QString("} %1Array ;\n").arg(structTypeName));
structType.append(QString("#define %1%2ToArray( var ) UAVObjectFieldToArray( %3, var )\n\n").arg(info->name).arg(info->fields[n]->name).arg(structTypeName));
dataStructures.append(structType);
fields.append(QString(" %1 %2;\n").arg(structTypeName)
.arg(info->fields[n]->name));
} else {
fields.append(QString(" %1 %2[%3];\n").arg(type)
.arg(info->fields[n]->name).arg(info->fields[n]->numElements));
}
} else {
fields.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name));
}
}
outInclude.replace("$(DATAFIELDS)", fields);
outInclude.replace("$(DATASTRUCTURES)", dataStructures);
// Replace the $(DATAFIELDINFO) tag
QString enums;
for (int n = 0; n < info->fields.length(); ++n) {
enums.append(QString("/* Field %1 information */\n").arg(info->fields[n]->name));
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString("\n// Enumeration options for field %1\n").arg(info->fields[n]->name));
enums.append("typedef enum __attribute__ ((__packed__)) {\n");
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
QString s = (m == (options.length() - 1)) ? " %1_%2_%3=%4\n" : " %1_%2_%3=%4,\n";
enums.append(s
.arg(info->name.toUpper())
.arg(info->fields[n]->name.toUpper())
.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
.arg(m));
}
enums.append(QString("} %1%2Options;\n")
.arg(info->name)
.arg(info->fields[n]->name));
}
// Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) {
enums.append(QString("\n// Array element names for field %1\n").arg(info->fields[n]->name));
enums.append("typedef enum {\n");
// Go through the element names
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
QString s = (m != (elemNames.length() - 1)) ? " %1_%2_%3=%4,\n" : " %1_%2_%3=%4\n";
enums.append(s
.arg(info->name.toUpper())
.arg(info->fields[n]->name.toUpper())
.arg(elemNames[m].toUpper())
.arg(m));
}
enums.append(QString("} %1%2Elem;\n")
.arg(info->name)
.arg(info->fields[n]->name));
}
// Generate array information
if (info->fields[n]->numElements > 1) {
enums.append(QString("\n// Number of elements for field %1\n").arg(info->fields[n]->name));
enums.append(QString("#define %1_%2_NUMELEM %3\n")
.arg(info->name.toUpper())
.arg(info->fields[n]->name.toUpper())
.arg(info->fields[n]->numElements));
}
enums.append("\n");
}
outInclude.replace("$(DATAFIELDINFO)", enums);
// Write the arduino code
bool res = writeFileIfDifferent(arduinoOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write arduino include files" << endl;
return false;
}
return true;
}

47
ground/uavobjgenerator/generators/arduino/uavobjectgeneratorarduino.h Normal file
View File

@ -0,0 +1,47 @@
/**
******************************************************************************
*
* @file uavobjectgeneratorarduino.h
* @author The LibrePilot Project, https://www.librepilot.org Copyright (C) 2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief produce arduino code for uavobjects
*
* @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
*/
#ifndef UAVOBJECTGENERATORARDUINO_H
#define UAVOBJECTGENERATORARDUINO_H
#define ARDUINO_CODE_DIR "arduino/uavobjects"
#include "../generator_common.h"
class UAVObjectGeneratorArduino {
public:
bool generate(UAVObjectParser *gen, QString templatepath, QString outputpath);
QStringList fieldTypeStrC;
QString arduinoIncludeTemplate;
QDir arduinoCodePath;
QDir arduinoOutputPath;
private:
bool process_object(ObjectInfo *info);
};
#endif

10
ground/uavobjgenerator/main.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file main.cpp
* @author The LibrePilot Team http://www.librepilot.org Copyright (C) 2015.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief UAVObjectGenerator main.
*
@ -32,6 +32,7 @@
#include "generators/java/uavobjectgeneratorjava.h"
#include "generators/flight/uavobjectgeneratorflight.h"
#include "generators/arduino/uavobjectgeneratorarduino.h"
#include "generators/gcs/uavobjectgeneratorgcs.h"
#include "generators/matlab/uavobjectgeneratormatlab.h"
#include "generators/python/uavobjectgeneratorpython.h"
@ -52,6 +53,7 @@ void usage()
cout << "Languages: " << endl;
cout << "\t-gcs build groundstation code" << endl;
cout << "\t-flight build flight code" << endl;
cout << "\t-arduino build arduino code" << endl;
cout << "\t-java build java code" << endl;
cout << "\t-python build python code" << endl;
cout << "\t-matlab build matlab code" << endl;
@ -105,6 +107,7 @@ int main(int argc, char *argv[])
bool verbose = (arguments_stringlist.removeAll("-v") > 0);
bool do_gcs = (arguments_stringlist.removeAll("-gcs") > 0);
bool do_flight = (arguments_stringlist.removeAll("-flight") > 0);
bool do_arduino = (arguments_stringlist.removeAll("-arduino") > 0);
bool do_java = (arguments_stringlist.removeAll("-java") > 0);
bool do_python = (arguments_stringlist.removeAll("-python") > 0);
bool do_matlab = (arguments_stringlist.removeAll("-matlab") > 0);
@ -208,6 +211,11 @@ int main(int argc, char *argv[])
cout << "generating flight code" << endl;
UAVObjectGeneratorFlight flightgen;
flightgen.generate(parser, templatepath, outputpath);
} else if (do_arduino) {
// generate arduino code if wanted
cout << "generating arduino code" << endl;
UAVObjectGeneratorArduino arduinogen;
arduinogen.generate(parser, templatepath, outputpath);
} else if (do_gcs) {
// generate gcs code if wanted
cout << "generating gcs code" << endl;

3
ground/uavobjgenerator/uavobjgenerator.pro
View File

@ -1,5 +1,6 @@
#
# Qmake project for UAVObjGenerator.
# Copyright (c) 2017, The LibrePilot Project, https://www.librepilot.org
# Copyright (c) 2010-2013, The OpenPilot Team, http://www.openpilot.org
#
@ -27,6 +28,7 @@ SOURCES += main.cpp \
generators/generator_io.cpp \
generators/java/uavobjectgeneratorjava.cpp \
generators/flight/uavobjectgeneratorflight.cpp \
generators/arduino/uavobjectgeneratorarduino.cpp \
generators/gcs/uavobjectgeneratorgcs.cpp \
generators/matlab/uavobjectgeneratormatlab.cpp \
generators/python/uavobjectgeneratorpython.cpp \
@ -36,6 +38,7 @@ HEADERS += uavobjectparser.h \
generators/generator_io.h \
generators/java/uavobjectgeneratorjava.h \
generators/gcs/uavobjectgeneratorgcs.h \
generators/arduino/uavobjectgeneratorarduino.h \
generators/matlab/uavobjectgeneratormatlab.h \
generators/python/uavobjectgeneratorpython.h \
generators/wireshark/uavobjectgeneratorwireshark.h \