/** ****************************************************************************** * * @file uavobjectgeneratorflight.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief produce flight 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 "uavobjectgeneratorflight.h" using namespace std; bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) { fieldTypeStrC << "int8_t" << "int16_t" << "int32_t" <<"uint8_t" <<"uint16_t" << "uint32_t" << "float" << "uint8_t"; QString flightObjInit,objInc,objFileNames,objNames; qint32 sizeCalc; flightCodePath = QDir( templatepath + QString("flight/targets/UAVObjects")); flightOutputPath = QDir( outputpath + QString("flight") ); flightOutputPath.mkpath(flightOutputPath.absolutePath()); flightCodeTemplate = readFile( flightCodePath.absoluteFilePath("uavobjecttemplate.c") ); flightIncludeTemplate = readFile( flightCodePath.absoluteFilePath("inc/uavobjecttemplate.h") ); flightInitTemplate = readFile( flightCodePath.absoluteFilePath("uavobjectsinittemplate.c") ); flightInitIncludeTemplate = readFile( flightCodePath.absoluteFilePath("inc/uavobjectsinittemplate.h") ); flightMakeTemplate = readFile( flightCodePath.absoluteFilePath("Makefiletemplate.inc") ); if ( flightCodeTemplate.isNull() || flightIncludeTemplate.isNull() || flightInitTemplate.isNull()) { cerr << "Error: Could not open flight template files." << endl; return false; } sizeCalc = 0; for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) { ObjectInfo* info=parser->getObjectByIndex(objidx); process_object(info); flightObjInit.append("#ifdef UAVOBJ_INIT_" + info->namelc +"\r\n"); flightObjInit.append(" " + info->name + "Initialize();\r\n"); flightObjInit.append("#endif\r\n"); objInc.append("#include \"" + info->namelc + ".h\"\r\n"); objFileNames.append(" " + info->namelc); objNames.append(" " + info->name); if (parser->getNumBytes(objidx)>sizeCalc) { sizeCalc = parser->getNumBytes(objidx); } } // Write the flight object inialization files flightInitTemplate.replace( QString("$(OBJINC)"), objInc); flightInitTemplate.replace( QString("$(OBJINIT)"), flightObjInit); bool res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/uavobjectsinit.c", flightInitTemplate ); if (!res) { cout << "Error: Could not write flight object init file" << endl; return false; } // Write the flight object initialization header flightInitIncludeTemplate.replace( QString("$(SIZECALCULATION)"), QString().setNum(sizeCalc)); res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/uavobjectsinit.h", flightInitIncludeTemplate ); if (!res) { cout << "Error: Could not write flight object init header file" << endl; return false; } // Write the flight object Makefile flightMakeTemplate.replace( QString("$(UAVOBJFILENAMES)"), objFileNames); flightMakeTemplate.replace( QString("$(UAVOBJNAMES)"), objNames); res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/Makefile.inc", flightMakeTemplate ); if (!res) { cout << "Error: Could not write flight Makefile" << endl; return false; } return true; // if we come here everything should be fine } /** * Generate the Flight object files **/ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info) { if (info == NULL) return false; // Prepare output strings QString outInclude = flightIncludeTemplate; QString outCode = flightCodeTemplate; // Replace common tags replaceCommonTags(outInclude, info); replaceCommonTags(outCode, info); // Replace the $(DATAFIELDS) tag QString type; QString fields; for (int n = 0; n < info->fields.length(); ++n) { // Determine type type = fieldTypeStrC[info->fields[n]->type]; // Append field if ( info->fields[n]->numElements > 1 ) { fields.append( QString(" %1 %2[%3];\r\n").arg(type) .arg(info->fields[n]->name).arg(info->fields[n]->numElements) ); } else { fields.append( QString(" %1 %2;\r\n").arg(type).arg(info->fields[n]->name) ); } } outInclude.replace(QString("$(DATAFIELDS)"), fields); // Replace the $(DATAFIELDINFO) tag QString enums; for (int n = 0; n < info->fields.length(); ++n) { enums.append(QString("// Field %1 information\r\n").arg(info->fields[n]->name)); // Only for enum types if (info->fields[n]->type == FIELDTYPE_ENUM) { enums.append(QString("/* Enumeration options for field %1 */\r\n").arg(info->fields[n]->name)); enums.append("typedef enum { "); // Go through each option QStringList options = info->fields[n]->options; for (int m = 0; m < options.length(); ++m) { QString s = (m == (options.length()-1)) ? "%1_%2_%3=%4" : "%1_%2_%3=%4, "; enums.append( s .arg( info->name.toUpper() ) .arg( info->fields[n]->name.toUpper() ) .arg( options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "") ) .arg(m) ); } enums.append( QString(" } %1%2Options;\r\n") .arg( info->name ) .arg( info->fields[n]->name ) ); } // Generate element names (only if field has more than one element) if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) { enums.append(QString("/* Array element names for field %1 */\r\n").arg(info->fields[n]->name)); enums.append("typedef enum { "); // Go through the element names QStringList elemNames = info->fields[n]->elementNames; for (int m = 0; m < elemNames.length(); ++m) { QString s = (m != (elemNames.length()-1)) ? "%1_%2_%3=%4, " : "%1_%2_%3=%4"; enums.append( s .arg( info->name.toUpper() ) .arg( info->fields[n]->name.toUpper() ) .arg( elemNames[m].toUpper() ) .arg(m) ); } enums.append( QString(" } %1%2Elem;\r\n") .arg( info->name ) .arg( info->fields[n]->name ) ); } // Generate array information if (info->fields[n]->numElements > 1) { enums.append(QString("/* Number of elements for field %1 */\r\n").arg(info->fields[n]->name)); enums.append( QString("#define %1_%2_NUMELEM %3\r\n") .arg( info->name.toUpper() ) .arg( info->fields[n]->name.toUpper() ) .arg( info->fields[n]->numElements ) ); } } outInclude.replace(QString("$(DATAFIELDINFO)"), enums); // Replace the $(INITFIELDS) tag QString initfields; for (int n = 0; n < info->fields.length(); ++n) { if (!info->fields[n]->defaultValues.isEmpty() ) { // For non-array fields if ( info->fields[n]->numElements == 1) { if ( info->fields[n]->type == FIELDTYPE_ENUM ) { initfields.append( QString("\tdata.%1 = %2;\r\n") .arg( info->fields[n]->name ) .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[0] ) ) ); } else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) { initfields.append( QString("\tdata.%1 = %2;\r\n") .arg( info->fields[n]->name ) .arg( info->fields[n]->defaultValues[0].toFloat() ) ); } else { initfields.append( QString("\tdata.%1 = %2;\r\n") .arg( info->fields[n]->name ) .arg( info->fields[n]->defaultValues[0].toInt() ) ); } } else { // Initialize all fields in the array for (int idx = 0; idx < info->fields[n]->numElements; ++idx) { if ( info->fields[n]->type == FIELDTYPE_ENUM ) { initfields.append( QString("\tdata.%1[%2] = %3;\r\n") .arg( info->fields[n]->name ) .arg( idx ) .arg( info->fields[n]->options.indexOf( info->fields[n]->defaultValues[idx] ) ) ); } else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 ) { initfields.append( QString("\tdata.%1[%2] = %3;\r\n") .arg( info->fields[n]->name ) .arg( idx ) .arg( info->fields[n]->defaultValues[idx].toFloat() ) ); } else { initfields.append( QString("\tdata.%1[%2] = %3;\r\n") .arg( info->fields[n]->name ) .arg( idx ) .arg( info->fields[n]->defaultValues[idx].toInt() ) ); } } } } } outCode.replace(QString("$(INITFIELDS)"), initfields); // Replace the $(SETGETFIELDS) tag QString setgetfields; 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) { /* Set */ setgetfields.append( QString("void %2%3Set( %1 *New%3 )\r\n") .arg( fieldTypeStrC[info->fields[n]->type] ) .arg( info->name ) .arg( info->fields[n]->name ) ); setgetfields.append( QString("{\r\n") ); setgetfields.append( QString("\tUAVObjSetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), sizeof(%3));\r\n") .arg( info->name ) .arg( info->fields[n]->name ) .arg( fieldTypeStrC[info->fields[n]->type] ) ); setgetfields.append( QString("}\r\n") ); /* GET */ setgetfields.append( QString("void %2%3Get( %1 *New%3 )\r\n") .arg( fieldTypeStrC[info->fields[n]->type] ) .arg( info->name ) .arg( info->fields[n]->name )); setgetfields.append( QString("{\r\n") ); setgetfields.append( QString("\tUAVObjGetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), sizeof(%3));\r\n") .arg( info->name ) .arg( info->fields[n]->name ) .arg( fieldTypeStrC[info->fields[n]->type] ) ); setgetfields.append( QString("}\r\n") ); } else { /* SET */ setgetfields.append( QString("void %2%3Set( %1 *New%3 )\r\n") .arg( fieldTypeStrC[info->fields[n]->type] ) .arg( info->name ) .arg( info->fields[n]->name ) ); setgetfields.append( QString("{\r\n") ); setgetfields.append( QString("\tUAVObjSetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), %3*sizeof(%4));\r\n") .arg( info->name ) .arg( info->fields[n]->name ) .arg( info->fields[n]->numElements ) .arg( fieldTypeStrC[info->fields[n]->type] ) ); setgetfields.append( QString("}\r\n") ); /* GET */ setgetfields.append( QString("void %2%3Get( %1 *New%3 )\r\n") .arg( fieldTypeStrC[info->fields[n]->type] ) .arg( info->name ) .arg( info->fields[n]->name ) ); setgetfields.append( QString("{\r\n") ); setgetfields.append( QString("\tUAVObjGetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), %3*sizeof(%4));\r\n") .arg( info->name ) .arg( info->fields[n]->name ) .arg( info->fields[n]->numElements ) .arg( fieldTypeStrC[info->fields[n]->type] ) ); setgetfields.append( QString("}\r\n") ); } } } outCode.replace(QString("$(SETGETFIELDS)"), setgetfields); // Replace the $(SETGETFIELDSEXTERN) tag QString setgetfieldsextern; for (int n = 0; n < info->fields.length(); ++n) { //if (!info->fields[n]->defaultValues.isEmpty() ) { /* SET */ setgetfieldsextern.append( QString("extern void %2%3Set( %1 *New%3 );\r\n") .arg( fieldTypeStrC[info->fields[n]->type] ) .arg( info->name ) .arg( info->fields[n]->name ) ); /* GET */ setgetfieldsextern.append( QString("extern void %2%3Get( %1 *New%3 );\r\n") .arg( fieldTypeStrC[info->fields[n]->type] ) .arg( info->name ) .arg( info->fields[n]->name ) ); } } outInclude.replace(QString("$(SETGETFIELDSEXTERN)"), setgetfieldsextern); // Write the flight code bool res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode ); if (!res) { cout << "Error: Could not write flight code files" << endl; return false; } res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude ); if (!res) { cout << "Error: Could not write flight include files" << endl; return false; } return true; }