/** ****************************************************************************** * * @file uavobjectgeneratorgcs.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief produce gcs 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 "uavobjectgeneratorgcs.h" using namespace std; 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)); gcsOutputPath = QDir(outputpath + QString("gcs")); gcsOutputPath.mkpath(gcsOutputPath.absolutePath()); gcsCodeTemplate = readFile(gcsCodePath.absoluteFilePath("uavobject.cpp.template")); gcsIncludeTemplate = readFile(gcsCodePath.absoluteFilePath("uavobject.h.template")); QString gcsInitTemplate = readFile(gcsCodePath.absoluteFilePath("uavobjectsinit.cpp.template")); if (gcsCodeTemplate.isEmpty() || gcsIncludeTemplate.isEmpty() || gcsInitTemplate.isEmpty()) { std::cerr << "Problem reading gcs code templates" << endl; return false; } QString objInc; QString gcsObjInit; for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) { ObjectInfo *info = parser->getObjectByIndex(objidx); process_object(info); gcsObjInit.append(" objMngr->registerObject( new " + info->name + "() );\n"); objInc.append("#include \"" + info->namelc + ".h\"\n"); } // Write the gcs object inialization files gcsInitTemplate.replace(QString("$(OBJINC)"), objInc); gcsInitTemplate.replace(QString("$(OBJINIT)"), gcsObjInit); bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate); if (!res) { cout << "Error: Could not write output files" << endl; return false; } return true; // if we come here everything should be fine } /** * Generate the GCS object files */ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info) { if (info == NULL) { return false; } // Prepare output strings QString outInclude = gcsIncludeTemplate; QString outCode = gcsCodeTemplate; // Replace common tags replaceCommonTags(outInclude, info); replaceCommonTags(outCode, info); // 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 QStringList reservedProperties; reservedProperties << "Description" << "Metadata"; for (int n = 0; n < info->fields.length(); ++n) { FieldInfo *field = info->fields[n]; if (reservedProperties.contains(field->name)) { continue; } // Determine type 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(QString("$(PROPERTY_GETTERS)"), propertyGetters); outInclude.replace(QString("$(PROPERTY_SETTERS)"), propertySetters); outInclude.replace(QString("$(PROPERTY_NOTIFICATIONS)"), propertyNotifications); outCode.replace(QString("$(PROPERTIES_IMPL)"), propertiesImpl); outCode.replace(QString("$(NOTIFY_PROPERTIES_CHANGED)"), propertyNotificationsImpl); // Replace the $(FIELDSINIT) tag QString finit; for (int n = 0; n < info->fields.length(); ++n) { // Setup element names QString varElemName = info->fields[n]->name + "ElemNames"; finit.append(QString(" QStringList %1;\n").arg(varElemName)); QStringList elemNames = info->fields[n]->elementNames; for (int m = 0; m < elemNames.length(); ++m) { finit.append(QString(" %1.append(\"%2\");\n") .arg(varElemName) .arg(elemNames[m])); } // Only for enum types if (info->fields[n]->type == FIELDTYPE_ENUM) { QString varOptionName = info->fields[n]->name + "EnumOptions"; finit.append(QString(" QStringList %1;\n").arg(varOptionName)); QStringList options = info->fields[n]->options; for (int m = 0; m < options.length(); ++m) { finit.append(QString(" %1.append(\"%2\");\n") .arg(varOptionName) .arg(options[m])); } finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::ENUM, %4, %5, QString(\"%6\")));\n") .arg(info->fields[n]->name) .arg(info->fields[n]->description) .arg(info->fields[n]->units) .arg(varElemName) .arg(varOptionName) .arg(info->fields[n]->limitValues)); } // For all other types else { finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::%4, %5, QStringList(), QString(\"%6\")));\n") .arg(info->fields[n]->name) .arg(info->fields[n]->description) .arg(info->fields[n]->units) .arg(fieldTypeStrCPPClass[info->fields[n]->type]) .arg(varElemName) .arg(info->fields[n]->limitValues)); } } outCode.replace(QString("$(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 bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode); if (!res) { cout << "Error: Could not write gcs output files" << endl; return false; } res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude); if (!res) { cout << "Error: Could not write gcs output files" << endl; return false; } return true; }