1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-04 12:24:11 +01:00
LibrePilot/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp

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/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;
}