mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-03 11:24:10 +01:00
362 lines
14 KiB
C++
362 lines
14 KiB
C++
/**
|
|
******************************************************************************
|
|
*
|
|
* @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/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;
|
|
}
|
|
|
|
|