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b084ea7ea1
Warning: The memory utilization when importing objects is unacceptably high making it unusable in the flight code at this point. It can be however used with the SITL simulator. Some more investigation is needed to understand why several kb of memory are used each time a module is imported (even before any functions are called or objects from the module are created). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2938 ebee16cc-31ac-478f-84a7-5cbb03baadba
123 lines
4.8 KiB
C++
123 lines
4.8 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectgeneratorpython.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief produce python code for uavobjects
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "uavobjectgeneratorpython.h"
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using namespace std;
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bool UAVObjectGeneratorPython::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
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// Load template and setup output directory
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pythonCodePath = QDir( templatepath + QString("flight/Modules/FlightPlan/lib"));
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pythonOutputPath = QDir( outputpath + QString("python") );
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pythonOutputPath.mkpath(pythonOutputPath.absolutePath());
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pythonCodeTemplate = readFile( pythonCodePath.absoluteFilePath("uavobjecttemplate.pyt") );
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if (pythonCodeTemplate.isEmpty()) {
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std::cerr << "Problem reading python templates" << endl;
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return false;
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}
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// Process each object
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for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
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ObjectInfo* info=parser->getObjectByIndex(objidx);
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process_object(info);
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}
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return true; // if we come here everything should be fine
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}
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/**
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* Generate the python object files
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*/
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bool UAVObjectGeneratorPython::process_object(ObjectInfo* info)
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{
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if (info == NULL)
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return false;
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// Prepare output strings
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QString outCode = pythonCodeTemplate;
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// Replace common tags
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replaceCommonTags(outCode, info);
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// Replace the ($DATAFIELDS) tag
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QString datafields;
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for (int n = 0; n < info->fields.length(); ++n)
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{
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// Class header
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datafields.append(QString("# Field %1 definition\n").arg(info->fields[n]->name));
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datafields.append(QString("class %1Field(UAVObjectField):\n").arg(info->fields[n]->name));
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// Only for enum types
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if (info->fields[n]->type == FIELDTYPE_ENUM)
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{
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datafields.append(QString("\t# Enumeration options\n"));
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// Go through each option
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QStringList options = info->fields[n]->options;
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for (int m = 0; m < options.length(); ++m) {
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QString name = options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "");
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if (name[0].isDigit())
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name = QString("N%1").arg(name);
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datafields.append(QString("\t%1 = %2\n").arg(name).arg(m));
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}
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}
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// Generate element names (only if field has more than one element)
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if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames)
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{
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datafields.append(QString("\t# Array element names\n"));
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// Go through the element names
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QStringList elemNames = info->fields[n]->elementNames;
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for (int m = 0; m < elemNames.length(); ++m)
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{
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QString name = elemNames[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "");
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if (name[0].isDigit())
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name = QString("N%1").arg(name);
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datafields.append(QString("\t%1 = %2\n").arg(name).arg(m));
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}
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}
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// Constructor
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datafields.append(QString("\tdef __init__(self):\n"));
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datafields.append(QString("\t\tUAVObjectField.__init__(self, %1, %2)\n\n").arg(info->fields[n]->type).arg(info->fields[n]->numElements));
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}
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outCode.replace(QString("$(DATAFIELDS)"), datafields);
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// Replace the $(DATAFIELDINIT) tag
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QString fields;
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for (int n = 0; n < info->fields.length(); ++n)
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{
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fields.append(QString("\t\tself.%1 = %1Field()\n").arg(info->fields[n]->name));
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fields.append(QString("\t\tself.addField(self.%1)\n").arg(info->fields[n]->name));
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}
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outCode.replace(QString("$(DATAFIELDINIT)"), fields);
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// Write the Python code
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bool res = writeFileIfDiffrent( pythonOutputPath.absolutePath() + "/" + info->namelc + ".py", outCode );
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if (!res) {
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cout << "Error: Could not write Python output files" << endl;
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return false;
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}
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return true;
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}
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