LibrePilot/ground/uavobjgenerator/uavobjectparser.cpp

/**
 ******************************************************************************
 *
 * @file       uavobjectparser.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Parses XML files and extracts object information.
 *
 * @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 "uavobjectparser.h"
#include <QDomDocument>
#include <QDomElement>
#include <QDebug>
/**
 * Constructor
 */
UAVObjectParser::UAVObjectParser()
{
    fieldTypeStrXML << "int8" << "int16" << "int32" << "uint8"
                    << "uint16" << "uint32" << "float" << "enum";

    updateModeStrXML << "manual" << "periodic" << "onchange" << "throttled";

    accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

    fieldTypeNumBytes << int(1) << int(2) << int(4) <<
        int(1) << int(2) << int(4) <<
        int(4) << int(1);

    accessModeStrXML << "readwrite" << "readonly";
}

/**
 * Get number of objects
 */
int UAVObjectParser::getNumObjects()
{
    return objInfo.length();
}

/**
 * Get the detailed object information
 */
QList<ObjectInfo *> UAVObjectParser::getObjectInfo()
{
    return objInfo;
}

ObjectInfo *UAVObjectParser::getObjectByIndex(int objIndex)
{
    return objInfo[objIndex];
}

/**
 * Get the name of the object
 */
QString UAVObjectParser::getObjectName(int objIndex)
{
    ObjectInfo *info = objInfo[objIndex];

    if (info == NULL) {
        return QString();
    }

    return info->name;
}

/**
 * Get the ID of the object
 */
quint32 UAVObjectParser::getObjectID(int objIndex)
{
    ObjectInfo *info = objInfo[objIndex];

    if (info == NULL) {
        return 0;
    }
    return info->id;
}

/**
 * Get the number of bytes in the data fields of this object
 */
int UAVObjectParser::getNumBytes(int objIndex)
{
    ObjectInfo *info = objInfo[objIndex];

    if (info == NULL) {
        return 0;
    } else {
        int numBytes = 0;
        for (int n = 0; n < info->fields.length(); ++n) {
            numBytes += info->fields[n]->numBytes * info->fields[n]->numElements;
        }
        return numBytes;
    }
}

bool fieldTypeLessThan(const FieldInfo *f1, const FieldInfo *f2)
{
    return f1->numBytes > f2->numBytes;
}

/**
 * Parse supplied XML file
 * @param xml The xml text
 * @param filename The xml filename
 * @returns Null QString() on success, error message on failure
 */
QString UAVObjectParser::parseXML(QString & xml, QString & filename)
{
    // Create DOM document and parse it
    QDomDocument doc("UAVObjects");
    bool parsed = doc.setContent(xml);

    if (!parsed) {
        return QString("Improperly formated XML file");
    }

    // Read all objects contained in the XML file, creating an new ObjectInfo for each
    QDomElement docElement = doc.documentElement();
    QDomNode node = docElement.firstChild();
    while (!node.isNull()) {
        // Create new object entry
        ObjectInfo *info = new ObjectInfo;

        info->filename = filename;
        // Process object attributes
        QString status = processObjectAttributes(node, info);
        if (!status.isNull()) {
            return status;
        }

        // Process child elements (fields and metadata)
        QDomNode childNode    = node.firstChild();
        bool fieldFound       = false;
        bool accessFound      = false;
        bool telGCSFound      = false;
        bool telFlightFound   = false;
        bool logFound = false;
        bool descriptionFound = false;
        while (!childNode.isNull()) {
            // Process element depending on its type
            if (childNode.nodeName().compare(QString("field")) == 0) {
                QString status = processObjectFields(childNode, info);
                if (!status.isNull()) {
                    return status;
                }

                fieldFound = true;
            } else if (childNode.nodeName().compare(QString("access")) == 0) {
                QString status = processObjectAccess(childNode, info);
                if (!status.isNull()) {
                    return status;
                }

                accessFound = true;
            } else if (childNode.nodeName().compare(QString("telemetrygcs")) == 0) {
                QString status = processObjectMetadata(childNode, &info->gcsTelemetryUpdateMode,
                                                       &info->gcsTelemetryUpdatePeriod, &info->gcsTelemetryAcked);
                if (!status.isNull()) {
                    return status;
                }

                telGCSFound = true;
            } else if (childNode.nodeName().compare(QString("telemetryflight")) == 0) {
                QString status = processObjectMetadata(childNode, &info->flightTelemetryUpdateMode,
                                                       &info->flightTelemetryUpdatePeriod, &info->flightTelemetryAcked);
                if (!status.isNull()) {
                    return status;
                }

                telFlightFound = true;
            } else if (childNode.nodeName().compare(QString("logging")) == 0) {
                QString status = processObjectMetadata(childNode, &info->loggingUpdateMode,
                                                       &info->loggingUpdatePeriod, NULL);
                if (!status.isNull()) {
                    return status;
                }

                logFound = true;
            } else if (childNode.nodeName().compare(QString("description")) == 0) {
                QString status = processObjectDescription(childNode, &info->description);

                if (!status.isNull()) {
                    return status;
                }

                descriptionFound = true;
            } else if (!childNode.isComment()) {
                return QString("Unknown object element");
            }

            // Get next element
            childNode = childNode.nextSibling();
        }

        // Sort all fields according to size
        qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);

        // Make sure that required elements were found
        if (!fieldFound) {
            return QString("Object::field element is missing");
        }

        if (!accessFound) {
            return QString("Object::access element is missing");
        }

        if (!telGCSFound) {
            return QString("Object::telemetrygcs element is missing");
        }

        if (!telFlightFound) {
            return QString("Object::telemetryflight element is missing");
        }

        if (!logFound) {
            return QString("Object::logging element is missing");
        }

        // TODO: Make into error once all objects updated
        if (!descriptionFound) {
            return QString("Object::description element is missing");
        }

        // Calculate ID
        calculateID(info);

        // Add object
        objInfo.append(info);

        // Get next object
        node = node.nextSibling();
    }

    all_units.removeDuplicates();
    // Done, return null string
    return QString();
}

/**
 * Calculate the unique object ID based on the object information.
 * The ID will change if the object definition changes, this is intentional
 * and is used to avoid connecting objects with incompatible configurations.
 * The LSB is set to zero and is reserved for metadata
 */
void UAVObjectParser::calculateID(ObjectInfo *info)
{
    // Hash object name
    quint32 hash = updateHash(info->name, 0);

    // Hash object attributes
    hash = updateHash(info->isSettings, hash);
    hash = updateHash(info->isSingleInst, hash);
    // Hash field information
    for (int n = 0; n < info->fields.length(); ++n) {
        hash = updateHash(info->fields[n]->name, hash);
        hash = updateHash(info->fields[n]->numElements, hash);
        hash = updateHash(info->fields[n]->type, hash);
        if (info->fields[n]->type == FIELDTYPE_ENUM) {
            QStringList options = info->fields[n]->options;
            for (int m = 0; m < options.length(); m++) {
                hash = updateHash(options[m], hash);
            }
        }
    }
    // Done
    info->id = hash & 0xFFFFFFFE;
}

/**
 * Shift-Add-XOR hash implementation. LSB is set to zero, it is reserved
 * for the ID of the metaobject.
 *
 * http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx
 */
quint32 UAVObjectParser::updateHash(quint32 value, quint32 hash)
{
    return hash ^ ((hash << 5) + (hash >> 2) + value);
}

/**
 * Update the hash given a string
 */
quint32 UAVObjectParser::updateHash(QString & value, quint32 hash)
{
    QByteArray bytes = value.toLatin1();
    quint32 hashout  = hash;

    for (int n = 0; n < bytes.length(); ++n) {
        hashout = updateHash(bytes[n], hashout);
    }

    return hashout;
}

/**
 * Process the metadata part of the XML
 */
QString UAVObjectParser::processObjectMetadata(QDomNode & childNode, UpdateMode *mode, int *period, bool *acked)
{
    // Get updatemode attribute
    QDomNamedNodeMap elemAttributes = childNode.attributes();
    QDomNode elemAttr = elemAttributes.namedItem("updatemode");

    if (elemAttr.isNull()) {
        return QString("Object:telemetrygcs:updatemode attribute is missing");
    }

    int index = updateModeStrXML.indexOf(elemAttr.nodeValue());

    if (index < 0) {
        return QString("Object:telemetrygcs:updatemode attribute value is invalid");
    }

    *mode    = (UpdateMode)index;

    // Get period attribute
    elemAttr = elemAttributes.namedItem("period");
    if (elemAttr.isNull()) {
        return QString("Object:telemetrygcs:period attribute is missing");
    }

    *period = elemAttr.nodeValue().toInt();


    // Get acked attribute (only if acked parameter is not null, not applicable for logging metadata)
    if (acked != NULL) {
        elemAttr = elemAttributes.namedItem("acked");
        if (elemAttr.isNull()) {
            return QString("Object:telemetrygcs:acked attribute is missing");
        }

        if (elemAttr.nodeValue().compare(QString("true")) == 0) {
            *acked = true;
        } else if (elemAttr.nodeValue().compare(QString("false")) == 0) {
            *acked = false;
        } else {
            return QString("Object:telemetrygcs:acked attribute value is invalid");
        }
    }
    // Done
    return QString();
}

/**
 * Process the object access tag of the XML
 */
QString UAVObjectParser::processObjectAccess(QDomNode & childNode, ObjectInfo *info)
{
    // Get gcs attribute
    QDomNamedNodeMap elemAttributes = childNode.attributes();
    QDomNode elemAttr = elemAttributes.namedItem("gcs");

    if (elemAttr.isNull()) {
        return QString("Object:access:gcs attribute is missing");
    }

    int index = accessModeStrXML.indexOf(elemAttr.nodeValue());
    if (index >= 0) {
        info->gcsAccess = (AccessMode)index;
    } else {
        return QString("Object:access:gcs attribute value is invalid");
    }

    // Get flight attribute
    elemAttr = elemAttributes.namedItem("flight");
    if (elemAttr.isNull()) {
        return QString("Object:access:flight attribute is missing");
    }

    index = accessModeStrXML.indexOf(elemAttr.nodeValue());
    if (index >= 0) {
        info->flightAccess = (AccessMode)index;
    } else {
        return QString("Object:access:flight attribute value is invalid");
    }

    // Done
    return QString();
}

/**
 * Process the object fields of the XML
 */
QString UAVObjectParser::processObjectFields(QDomNode & childNode, ObjectInfo *info)
{
    // Create field
    FieldInfo *field  = new FieldInfo;
    // Get name attribute
    QDomNamedNodeMap elemAttributes = childNode.attributes();
    QDomNode elemAttr = elemAttributes.namedItem("name");

    if (elemAttr.isNull()) {
        return QString("Object:field:name attribute is missing");
    }
    QString name = elemAttr.nodeValue();

    // Check to see is this field is a clone of another
    // field that has already been declared
    elemAttr = elemAttributes.namedItem("cloneof");
    if (!elemAttr.isNull()) {
        QString parentName = elemAttr.nodeValue();
        if (!parentName.isEmpty()) {
            foreach(FieldInfo * parent, info->fields) {
                if (parent->name == parentName) {
                    // clone from this parent
                    *field = *parent; // safe shallow copy, no ptrs in struct
                    field->name = name; // set our name
                    // Add field to object
                    info->fields.append(field);
                    // Done
                    return QString();
                }
            }
            return QString("Object:field::cloneof parent unknown");
        } else {
            return QString("Object:field:cloneof attribute is empty");
        }
    } else {
        // this field is not a clone, so remember its name
        field->name = name;
    }

    // Get description attribute if any
    elemAttr = elemAttributes.namedItem("description");
    if (!elemAttr.isNull()) {
        field->description = elemAttr.nodeValue();
    } else {
        // Look for a child description node
        QDomNode node = childNode.firstChildElement("description");
        if (!node.isNull()) {
            QDomNode description = node.firstChild();
            if (!description.isNull()) {
                field->description = description.nodeValue();
            }
        }
    }

    // Get units attribute
    elemAttr = elemAttributes.namedItem("units");
    if (elemAttr.isNull()) {
        return QString("Object:field:units attribute is missing");
    }

    field->units = elemAttr.nodeValue();
    all_units << field->units;

    // Get type attribute
    elemAttr = elemAttributes.namedItem("type");
    if (elemAttr.isNull()) {
        return QString("Object:field:type attribute is missing");
    }

    int index = fieldTypeStrXML.indexOf(elemAttr.nodeValue());
    if (index >= 0) {
        field->type     = (FieldType)index;
        field->numBytes = fieldTypeNumBytes[index];
    } else {
        return QString("Object:field:type attribute value is invalid");
    }

    // Get numelements or elementnames attribute
    field->numElements = 0;
    // Look for element names as an attribute first
    elemAttr = elemAttributes.namedItem("elementnames");
    if (!elemAttr.isNull()) {
        // Get element names
        QStringList names = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
        for (int n = 0; n < names.length(); ++n) {
            names[n] = names[n].trimmed();
        }

        field->elementNames = names;
        field->numElements  = names.length();
        field->defaultElementNames = false;
    } else {
        // Look for a list of child elementname nodes
        QDomNode listNode = childNode.firstChildElement("elementnames");
        if (!listNode.isNull()) {
            for (QDomElement node = listNode.firstChildElement("elementname");
                 !node.isNull(); node = node.nextSiblingElement("elementname")) {
                QDomNode name = node.firstChild();
                if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
                    field->elementNames.append(name.nodeValue());
                }
            }
            field->numElements = field->elementNames.length();
            field->defaultElementNames = false;
        }
    }
    // If no element names were found, then fall back to looking
    // for the number of elements in the 'elements' attribute
    if (field->numElements == 0) {
        elemAttr = elemAttributes.namedItem("elements");
        if (elemAttr.isNull()) {
            return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
        } else {
            field->numElements = elemAttr.nodeValue().toInt();
            for (int n = 0; n < field->numElements; ++n) {
                field->elementNames.append(QString("%1").arg(n));
            }

            field->defaultElementNames = true;
        }
    }
    // Get options attribute or child elements (only if an enum type)
    if (field->type == FIELDTYPE_ENUM) {
        // Look for options attribute
        elemAttr = elemAttributes.namedItem("options");
        if (!elemAttr.isNull()) {
            QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
            for (int n = 0; n < options.length(); ++n) {
                options[n] = options[n].trimmed();
            }
            field->options = options;
        } else {
            // Look for a list of child 'option' nodes
            QDomNode listNode = childNode.firstChildElement("options");
            if (!listNode.isNull()) {
                for (QDomElement node = listNode.firstChildElement("option");
                     !node.isNull(); node = node.nextSiblingElement("option")) {
                    QDomNode name = node.firstChild();
                    if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
                        field->options.append(name.nodeValue());
                    }
                }
            }
        }
        if (field->options.length() == 0) {
            return QString("Object:field:options attribute/element is missing");
        }
    }

    // Get the default value attribute (required for settings objects, optional for the rest)
    elemAttr = elemAttributes.namedItem("defaultvalue");
    if (elemAttr.isNull()) {
        if (info->isSettings) {
            return QString("Object:field:defaultvalue attribute is missing (required for settings objects)");
        }
        field->defaultValues = QStringList();
    } else {
        QStringList defaults = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
        for (int n = 0; n < defaults.length(); ++n) {
            defaults[n] = defaults[n].trimmed();
        }

        if (defaults.length() != field->numElements) {
            if (defaults.length() != 1) {
                return QString("Object:field:incorrect number of default values");
            }

            /*support legacy single default for multiple elements
               We should really issue a warning*/
            for (int ct = 1; ct < field->numElements; ct++) {
                defaults.append(defaults[0]);
            }
        }
        field->defaultValues = defaults;
    }

    // Limits attribute
    elemAttr = elemAttributes.namedItem("limits");
    if (elemAttr.isNull()) {
        field->limitValues = QString();
    } else {
        field->limitValues = elemAttr.nodeValue();
    }
    // Add field to object
    info->fields.append(field);
    // Done
    return QString();
}

/**
 * Process the object attributes from the XML
 */
QString UAVObjectParser::processObjectAttributes(QDomNode & node, ObjectInfo *info)
{
    // Get name attribute
    QDomNamedNodeMap attributes = node.attributes();
    QDomNode attr = attributes.namedItem("name");

    if (attr.isNull()) {
        return QString("Object:name attribute is missing");
    }

    info->name   = attr.nodeValue();
    info->namelc = attr.nodeValue().toLower();

    // Get category attribute if present
    attr = attributes.namedItem("category");
    if (!attr.isNull()) {
        info->category = attr.nodeValue();
    }

    // Get singleinstance attribute
    attr = attributes.namedItem("singleinstance");
    if (attr.isNull()) {
        return QString("Object:singleinstance attribute is missing");
    }

    if (attr.nodeValue().compare(QString("true")) == 0) {
        info->isSingleInst = true;
    } else if (attr.nodeValue().compare(QString("false")) == 0) {
        info->isSingleInst = false;
    } else {
        return QString("Object:singleinstance attribute value is invalid");
    }

    // Get settings attribute
    attr = attributes.namedItem("settings");
    if (attr.isNull()) {
        return QString("Object:settings attribute is missing");
    }

    if (attr.nodeValue().compare(QString("true")) == 0) {
        info->isSettings = true;
    } else if (attr.nodeValue().compare(QString("false")) == 0) {
        info->isSettings = false;
    } else {
        return QString("Object:settings attribute value is invalid (true|false)");
    }

    // Get priority attribute
    attr = attributes.namedItem("priority");
    info->isPriority = false;
    if (!attr.isNull()) {
        if (attr.nodeValue().compare(QString("true")) == 0) {
            info->isPriority = true;
        } else if (attr.nodeValue().compare(QString("false")) != 0) {
            return QString("Object:priority attribute value is invalid (true|false)");
        }
    }

    // Settings objects can only have a single instance
    if (info->isSettings && !info->isSingleInst) {
        return QString("Object: Settings objects can not have multiple instances");
    }

    // Done
    return QString();
}

/**
 * Process the description field from the XML file
 */
QString UAVObjectParser::processObjectDescription(QDomNode & childNode, QString *description)
{
    description->append(childNode.firstChild().nodeValue());
    return QString();
}