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https://bitbucket.org/librepilot/librepilot.git
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61d8c23a51
Now they can include special chars like '.' (dot), '-' (dash), '/' (slash), ' ' (space). All such chars will be removed from autogenerated identifiers ("S.Bus" -> SBUS), but kept intact in text strings (to be displayed by the GCS).
This will not change any existing object IDs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2592 ebee16cc-31ac-478f-84a7-5cbb03baadba
338 lines
14 KiB
C++
338 lines
14 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectgeneratorjava.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief produce java 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 "uavobjectgeneratorjava.h"
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using namespace std;
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bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
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QDir javaTemplatePath = QDir( templatepath + QString(JAVA_TEMPLATE_DIR));
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javaCodePath = QDir ( outputpath + QString(JAVA_GENERATED_DIR));
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javaCodeTemplate = readFile( javaTemplatePath.absoluteFilePath("uavobjecttemplate.java") );
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QString javaInitCodeTemplate = readFile( javaTemplatePath.absoluteFilePath("uavobjectsinittemplate.java") );
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if (javaCodeTemplate.isEmpty() || javaInitCodeTemplate.isEmpty()) {
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std::cerr << "Problem reading java templates" << endl;
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return false;
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}
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QString javaObjInit,javaObjGetter;
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javaCodePath.mkpath(javaCodePath.absolutePath() + "/uavobjects");
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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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if (!javaObjInit.isNull())
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javaObjInit.append(",\n");
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javaObjInit.append(" new " + info->name + "()");
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javaObjGetter.append(QString(" public static %1 get%1() { return (%1)uavobjects[%2];}\n").arg( info->name).arg(objidx));
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}
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javaInitCodeTemplate.replace("$(OBJINIT)",javaObjInit);
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javaInitCodeTemplate.replace("$(OBJGETTER)",javaObjGetter);
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replaceCommonTags(javaInitCodeTemplate);
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// Write the java object inialization files
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bool res = writeFileIfDiffrent(javaCodePath.absolutePath() + "/UAVObjects.java", javaInitCodeTemplate );
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if (!res) {
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cerr << "Error: Could not write java init output files" << endl;
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return false;
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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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QString UAVObjectGeneratorJava::getFieldTypeStr(int type,bool as_obj) {
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switch(type) {
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case FIELDTYPE_INT8:
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return (QString(as_obj?"Byte":"byte"));
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case FIELDTYPE_INT16:
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case FIELDTYPE_INT32:
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case FIELDTYPE_UINT8:
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case FIELDTYPE_UINT16:
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return (QString(as_obj?"Integer":"int"));
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case FIELDTYPE_UINT32:
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return (QString(as_obj?"Long":"long"));
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case FIELDTYPE_FLOAT32:
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return (QString(as_obj?"Float":"float"));
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case FIELDTYPE_ENUM:
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return (QString(as_obj?"Byte":"byte"));
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default:
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return QString("error: unknown type");
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}
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}
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/**
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*
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* format a value from FieldInfo with a given index (idx) to a java code snippet
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*
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*/
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QString UAVObjectGeneratorJava::formatJavaValue(FieldInfo* info,int idx) {
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switch(info->type) {
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case FIELDTYPE_ENUM:
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return (info->name.toUpper() + QString("_") + info->defaultValues[idx].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""));
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case FIELDTYPE_FLOAT32:
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return QString("%1f").arg( info->defaultValues[idx].toFloat() );
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default:
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return QString("%1").arg( info->defaultValues[idx].toInt() );
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}
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}
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QString UAVObjectGeneratorJava::QStringList2JavaArray(QStringList strl) {
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QString csv=QString();
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for (int i = 0; i < strl.length(); i++){
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if (i!=0)
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csv.append(QString(","));
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csv.append(QString("\"%1\"").arg(strl[i]));
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}
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return QString("new String[] { %1 }").arg(csv);
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}
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QString UAVObjectGeneratorJava::serializeJavaValue(int type,QString name)
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{
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QString res;
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switch(type) {
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case FIELDTYPE_ENUM: // OK
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case FIELDTYPE_INT8:
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res=name;
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break;
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case FIELDTYPE_UINT8:
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res=QString("(byte)(%1&0xFF)").arg(name);
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break;
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case FIELDTYPE_INT16:
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case FIELDTYPE_UINT16:
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res=QString("(byte)(("+name+">>0)&0xFF) , (byte)(("+name+">>8)&0xFF)");
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break;
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case FIELDTYPE_UINT32:
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case FIELDTYPE_INT32:
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res=QString("(byte)(("+name+">>0)&0xFF) , (byte)(("+name+">>8)&0xFF) , (byte)(("+name+">>16)&0xFF) , (byte)(("+name+">>24)&0xFF)");
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break;
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case FIELDTYPE_FLOAT32:
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res=QString("(byte)((Float.floatToIntBits("+name+")>>0)&0xFF) , (byte)((Float.floatToIntBits("+name+")>>8)&0xFF) , (byte)((Float.floatToIntBits("+name+")>>16)&0xFF) , (byte)((Float.floatToIntBits("+name+")>>24)&0xFF) "); // OK
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break;
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default:
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res=QString("unresolved type");
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break;
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}
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return res;
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}
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/**
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* this function is used to build the deserializing code
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*/
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QString UAVObjectGeneratorJava::deSerializeJavaValue(int type,QString name)
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{
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switch(type) {
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case FIELDTYPE_ENUM: // OK
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case FIELDTYPE_INT8:
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return (name.append("=arr[pos++];\n"));
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case FIELDTYPE_UINT8:
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return (name.append("=arr[pos++];\n")); /*todo implement & check */
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case FIELDTYPE_INT16:
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case FIELDTYPE_UINT16:
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return (QString(" pos+=2;\n")); /*todo implement & check */
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case FIELDTYPE_UINT32:
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case FIELDTYPE_INT32:
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return (QString(" pos+=4;\n")); /*todo implement & test */
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case FIELDTYPE_FLOAT32:
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return (QString(" pos+=4;\n")); /*todo implement & test */
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default:
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cout << "Warning: unresolved type " << type << " for " << name.toStdString() << endl;
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return(QString("unresolved type")); // will throw an arr when compiling then
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}
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}
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/**
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* Generate the java object files
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*/
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bool UAVObjectGeneratorJava::process_object(ObjectInfo* info)
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{
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if (info == NULL) return false;
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// Prepare output strings
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QString outCode = javaCodeTemplate;
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// Replace common tags
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replaceCommonTags(outCode, info);
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QString type,fieldsinit,serialize_code,serialize_code_inner,deserialize_code,gettersetter;
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QString fielddesc=QString(" public final UAVObjectFieldDescription[] getFieldDescriptions() { return new UAVObjectFieldDescription[] {");
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QString fieldgetter=QString(" public Object getField(byte fieldid,byte arr_pos) { switch(fieldid) {\n");
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QString fieldsetter=QString(" public void setField(byte fieldid,byte arr_pos,Object obj) { switch(fieldid) {\n");
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for (int n = 0; n < info->fields.length(); ++n) {
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FieldInfo* act_field_info=info->fields[n];
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bool is_array = info->fields[n]->numElements > 1;
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type = getFieldTypeStr(act_field_info->type,false); // Determine type
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for (int enum_n = 0; enum_n < act_field_info->options.length(); ++enum_n)
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fieldsinit.append(QString(" public final static byte %1 = %2;\n").arg(act_field_info->name.toUpper() + QString("_") + act_field_info->options[enum_n].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "")).arg(enum_n) );
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fieldsinit.append(QString(" private ") + type);
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if ( is_array )
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fieldsinit.append(QString("[]"));
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fieldsinit.append(QString(" %1").arg(act_field_info->name));
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if (!info->fields[n]->defaultValues.isEmpty()) { // if we have default vals
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fieldsinit.append(QString("="));
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if ( is_array ) {
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fieldsinit.append(QString("{"));
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for (int val_n = 0; val_n < act_field_info->defaultValues.length(); ++val_n)
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fieldsinit.append( ((val_n>0)?QString(","):QString() ) + formatJavaValue(act_field_info,val_n) );
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fieldsinit.append(QString("}"));
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}
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else
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fieldsinit.append(formatJavaValue(act_field_info,0));
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}
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else {
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if ( is_array ) // when it is an array
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fieldsinit.append(QString("= new ") + type + QString("[%1]").arg(info->fields[n]->numElements));
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}
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fieldsinit.append(QString(";\n"));
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if (n!=0)
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serialize_code_inner.append(QString(","));
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if ( is_array ) {
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for (int el=0;el<info->fields[n]->numElements;el++) {
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if (el!=0)
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serialize_code_inner.append(QString(","));
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serialize_code_inner.append(serializeJavaValue(info->fields[n]->type,info->fields[n]->name+ QString("[%1]").arg(el)));
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deserialize_code.append(deSerializeJavaValue(info->fields[n]->type,info->fields[n]->name+ QString("[%1]").arg(el)));
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}
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}
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else { // no array
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serialize_code_inner.append(serializeJavaValue(info->fields[n]->type,info->fields[n]->name));
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deserialize_code.append(deSerializeJavaValue(info->fields[n]->type,info->fields[n]->name));
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}
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serialize_code_inner.append(QString("//%1\n" ).arg(info->fields[n]->name));
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// Determine type
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type = getFieldTypeStr(act_field_info->type,false);
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QString typespec=type;
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if ( is_array ) {
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typespec.append(QString("[]"));
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fieldgetter.append(QString("case %1: return (Object)%2[arr_pos];\n").arg(n).arg(act_field_info->name));
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fieldsetter.append(QString("case %1: %2[arr_pos]=(%3)obj;break;\n").arg(n).arg(act_field_info->name).arg( getFieldTypeStr(act_field_info->type,true)));
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}
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else { // no array
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fieldgetter.append(QString("case %1: return (Object)%2;\n").arg(n).arg(act_field_info->name));
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fieldsetter.append(QString("case %1: %2=(%3)obj;break;\n").arg(n).arg(act_field_info->name).arg(getFieldTypeStr(act_field_info->type,true)));
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}
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if (!act_field_info->units.isEmpty()) // when we have unit info
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gettersetter.append(QString("\n /**\n * unit: %1\n */\n").arg(act_field_info->units));
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gettersetter.append(QString(" public void set%1( %2 _%1 ) { %1=_%1; }\n").arg(act_field_info->name).arg(typespec));
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if (n!=0)
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fielddesc.append(QString("\t,"));
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fielddesc.append(QString("new UAVObjectFieldDescription(\"%1\",this.getObjID(),(byte)%2,(byte)%3,\"%4\",%5,%6)\n").arg(act_field_info->name).arg(n).arg(act_field_info->type).arg(act_field_info->units).arg(QStringList2JavaArray( act_field_info->options)).arg(QStringList2JavaArray( act_field_info->elementNames)) );
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if (!act_field_info->units.isEmpty())
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gettersetter.append(QString("\n /**\n * unit: %1\n */\n").arg(act_field_info->units));
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gettersetter.append(QString(" public ") + typespec);
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gettersetter.append(QString(" get%1() { return %1; }\n").arg(act_field_info->name));
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if ( act_field_info->options.length()!=0) {
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QString enumOptionsGetter=QString(" public final static String[] get%1EnumOptions() { return new String[] {").arg(act_field_info->name);
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// gettersetter.append(QString(" get%1s() { return %1; }\n").arg(act_field_info->name));
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for (int enum_n = 0; enum_n < act_field_info->options.length(); ++enum_n) {
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if (enum_n!=0)
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enumOptionsGetter.append(QString(","));
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enumOptionsGetter.append(QString("\"")+act_field_info->options[enum_n] +QString("\""));
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}
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gettersetter.append(enumOptionsGetter+QString("};}\n"));
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}
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if ( is_array ) { // when it is an array create getter for the element names
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QString elementListGetter=QString(" public final static String[] get%1ElementNames() { return new String[] {").arg(act_field_info->name);
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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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gettersetter.append(QString(" public ") + type);
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gettersetter.append(QString(" get%1%2() { return %1[%3]; }\n").arg(act_field_info->name).arg(elemNames[m]).arg(m));
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if (m!=0)
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elementListGetter.append(QString(","));
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elementListGetter.append(QString("\"") + elemNames[m]+QString("\""));
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}
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gettersetter.append(elementListGetter+QString("};}\n"));
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}
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}
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serialize_code.append(QString(" public byte[] serialize() { return new byte[]{%1 } ;}; \n ").arg(serialize_code_inner));
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serialize_code.append(QString(" public void deserialize(byte[] arr,int offset) {\nsuper.deserialize(arr,offset);\n int pos=offset;\n%1 };\n").arg(deserialize_code));
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outCode.replace(QString("$(FIELDSINIT)"), fieldsinit);
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fielddesc.append(QString("};}"));
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fieldgetter.append(QString("};\n return null;\n}\n"));
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fieldsetter.append(QString("};\n}\n"));
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outCode.replace(QString("$(GETTERSETTER)"), gettersetter + serialize_code+ fielddesc + fieldgetter + fieldsetter);
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bool res = writeFileIfDiffrent(javaCodePath.absolutePath() + "/uavobjects/" + info->name + ".java", outCode );
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if (!res) {
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cerr << "Error: Could not write java init output file " << info->name.toStdString()<< 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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