mirror of
https://bitbucket.org/librepilot/librepilot.git
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385 lines
17 KiB
C++
385 lines
17 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectgeneratorgcs.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief produce gcs 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 "uavobjectgeneratorgcs.h"
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using namespace std;
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bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepath, QString outputpath)
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{
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fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
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"quint8" << "quint16" << "quint32" << "float" << "quint8";
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fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
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<< "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
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gcsCodePath = QDir(templatepath + QString(GCS_CODE_DIR));
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gcsOutputPath = QDir(outputpath + QString("gcs"));
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gcsOutputPath.mkpath(gcsOutputPath.absolutePath());
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gcsCodeTemplate = readFile(gcsCodePath.absoluteFilePath("uavobject.cpp.template"));
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gcsIncludeTemplate = readFile(gcsCodePath.absoluteFilePath("uavobject.h.template"));
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QString gcsInitTemplate = readFile(gcsCodePath.absoluteFilePath("uavobjectsinit.cpp.template"));
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if (gcsCodeTemplate.isEmpty() || gcsIncludeTemplate.isEmpty() || gcsInitTemplate.isEmpty()) {
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std::cerr << "Problem reading gcs code templates" << endl;
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return false;
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}
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QString objInc;
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QString gcsObjInit;
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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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gcsObjInit.append(" objMngr->registerObject( new " + info->name + "() );\n");
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objInc.append("#include \"" + info->namelc + ".h\"\n");
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}
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// Write the gcs object inialization files
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gcsInitTemplate.replace(QString("$(OBJINC)"), objInc);
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gcsInitTemplate.replace(QString("$(OBJINIT)"), gcsObjInit);
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bool res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
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if (!res) {
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cout << "Error: Could not write 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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/**
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* Generate the GCS object files
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*/
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bool UAVObjectGeneratorGCS::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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}
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// Prepare output strings
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QString outInclude = gcsIncludeTemplate;
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QString outCode = gcsCodeTemplate;
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// Replace common tags
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replaceCommonTags(outInclude, info);
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replaceCommonTags(outCode, info);
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// Replace the $(DATAFIELDS) tag
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QString type;
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QString fields;
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = fieldTypeStrCPP[info->fields[n]->type];
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// Append field
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if (info->fields[n]->numElements > 1) {
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fields.append(QString(" %1 %2[%3];\n").arg(type).arg(info->fields[n]->name)
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.arg(info->fields[n]->numElements));
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} else {
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fields.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name));
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}
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}
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outInclude.replace(QString("$(DATAFIELDS)"), fields);
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// Replace $(PROPERTIES) and related tags
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QString properties;
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QString propertiesImpl;
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QString propertyGetters;
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QString propertySetters;
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QString propertyNotifications;
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QString propertyNotificationsImpl;
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// to avoid name conflicts
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QStringList reservedProperties;
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reservedProperties << "Description" << "Metadata";
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for (int n = 0; n < info->fields.length(); ++n) {
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FieldInfo *field = info->fields[n];
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if (reservedProperties.contains(field->name)) {
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continue;
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}
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// Determine type
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type = fieldTypeStrCPP[field->type];
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// Append field
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if (field->numElements > 1) {
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// add both field(elementIndex)/setField(elemntIndex,value) and field_element properties
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// field_element is more convenient if only certain element is used
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// and much easier to use from the qml side
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propertyGetters +=
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QString(" Q_INVOKABLE %1 get%2(quint32 index) const;\n")
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.arg(type).arg(field->name);
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propertiesImpl +=
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QString("%1 %2::get%3(quint32 index) const\n"
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"{\n"
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" QMutexLocker locker(mutex);\n"
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" return data.%3[index];\n"
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"}\n")
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.arg(type).arg(info->name).arg(field->name);
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propertySetters +=
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QString(" void set%1(quint32 index, %2 value);\n")
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.arg(field->name).arg(type);
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propertiesImpl +=
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QString("void %1::set%2(quint32 index, %3 value)\n"
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"{\n"
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" mutex->lock();\n"
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" bool changed = data.%2[index] != value;\n"
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" data.%2[index] = value;\n"
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" mutex->unlock();\n"
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" if (changed) emit %2Changed(index,value);\n"
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"}\n\n")
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.arg(info->name).arg(field->name).arg(type);
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propertyNotifications +=
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QString(" void %1Changed(quint32 index, %2 value);\n")
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.arg(field->name).arg(type);
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for (int elementIndex = 0; elementIndex < field->numElements; elementIndex++) {
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QString elementName = field->elementNames[elementIndex];
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properties += QString(" Q_PROPERTY(%1 %2 READ get%2 WRITE set%2 NOTIFY %2Changed);\n")
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.arg(type).arg(field->name + "_" + elementName);
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propertyGetters +=
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QString(" Q_INVOKABLE %1 get%2_%3() const;\n")
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.arg(type).arg(field->name).arg(elementName);
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propertiesImpl +=
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QString("%1 %2::get%3_%4() const\n"
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"{\n"
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" QMutexLocker locker(mutex);\n"
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" return data.%3[%5];\n"
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"}\n")
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.arg(type).arg(info->name).arg(field->name).arg(elementName).arg(elementIndex);
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propertySetters +=
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QString(" void set%1_%2(%3 value);\n")
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.arg(field->name).arg(elementName).arg(type);
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propertiesImpl +=
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QString("void %1::set%2_%3(%4 value)\n"
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"{\n"
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" mutex->lock();\n"
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" bool changed = data.%2[%5] != value;\n"
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" data.%2[%5] = value;\n"
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" mutex->unlock();\n"
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" if (changed) emit %2_%3Changed(value);\n"
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"}\n\n")
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.arg(info->name).arg(field->name).arg(elementName).arg(type).arg(elementIndex);
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propertyNotifications +=
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QString(" void %1_%2Changed(%3 value);\n")
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.arg(field->name).arg(elementName).arg(type);
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propertyNotificationsImpl +=
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QString(" //if (data.%1[%2] != oldData.%1[%2])\n"
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" emit %1_%3Changed(data.%1[%2]);\n")
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.arg(field->name).arg(elementIndex).arg(elementName);
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}
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} else {
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properties += QString(" Q_PROPERTY(%1 %2 READ get%2 WRITE set%2 NOTIFY %2Changed);\n")
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.arg(type).arg(field->name);
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propertyGetters +=
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QString(" Q_INVOKABLE %1 get%2() const;\n")
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.arg(type).arg(field->name);
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propertiesImpl +=
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QString("%1 %2::get%3() const\n"
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"{\n"
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" QMutexLocker locker(mutex);\n"
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" return data.%3;\n"
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"}\n")
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.arg(type).arg(info->name).arg(field->name);
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propertySetters +=
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QString(" void set%1(%2 value);\n")
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.arg(field->name).arg(type);
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propertiesImpl +=
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QString("void %1::set%2(%3 value)\n"
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"{\n"
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" mutex->lock();\n"
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" bool changed = data.%2 != value;\n"
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" data.%2 = value;\n"
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" mutex->unlock();\n"
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" if (changed) emit %2Changed(value);\n"
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"}\n\n")
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.arg(info->name).arg(field->name).arg(type);
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propertyNotifications +=
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QString(" void %1Changed(%2 value);\n")
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.arg(field->name).arg(type);
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propertyNotificationsImpl +=
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QString(" //if (data.%1 != oldData.%1)\n"
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" emit %1Changed(data.%1);\n")
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.arg(field->name);
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}
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}
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outInclude.replace(QString("$(PROPERTIES)"), properties);
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outInclude.replace(QString("$(PROPERTY_GETTERS)"), propertyGetters);
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outInclude.replace(QString("$(PROPERTY_SETTERS)"), propertySetters);
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outInclude.replace(QString("$(PROPERTY_NOTIFICATIONS)"), propertyNotifications);
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outCode.replace(QString("$(PROPERTIES_IMPL)"), propertiesImpl);
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outCode.replace(QString("$(NOTIFY_PROPERTIES_CHANGED)"), propertyNotificationsImpl);
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// Replace the $(FIELDSINIT) tag
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QString finit;
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for (int n = 0; n < info->fields.length(); ++n) {
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// Setup element names
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QString varElemName = info->fields[n]->name + "ElemNames";
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finit.append(QString(" QStringList %1;\n").arg(varElemName));
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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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finit.append(QString(" %1.append(\"%2\");\n")
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.arg(varElemName)
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.arg(elemNames[m]));
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}
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// Only for enum types
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if (info->fields[n]->type == FIELDTYPE_ENUM) {
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QString varOptionName = info->fields[n]->name + "EnumOptions";
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finit.append(QString(" QStringList %1;\n").arg(varOptionName));
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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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finit.append(QString(" %1.append(\"%2\");\n")
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.arg(varOptionName)
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.arg(options[m]));
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}
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finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), QString(\"%2\"), UAVObjectField::ENUM, %3, %4, QString(\"%5\")));\n")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->units)
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.arg(varElemName)
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.arg(varOptionName)
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.arg(info->fields[n]->limitValues));
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}
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// For all other types
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else {
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finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), QString(\"%2\"), UAVObjectField::%3, %4, QStringList(), QString(\"%5\")));\n")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->units)
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.arg(fieldTypeStrCPPClass[info->fields[n]->type])
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.arg(varElemName)
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.arg(info->fields[n]->limitValues));
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}
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}
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outCode.replace(QString("$(FIELDSINIT)"), finit);
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// Replace the $(DATAFIELDINFO) tag
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QString name;
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QString enums;
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for (int n = 0; n < info->fields.length(); ++n) {
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enums.append(QString(" // Field %1 information\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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enums.append(QString(" /* Enumeration options for field %1 */\n").arg(info->fields[n]->name));
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enums.append(" typedef enum { ");
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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 s = (m != (options.length() - 1)) ? "%1_%2=%3, " : "%1_%2=%3";
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enums.append(s.arg(info->fields[n]->name.toUpper())
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.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
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.arg(m));
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}
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enums.append(QString(" } %1Options;\n")
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.arg(info->fields[n]->name));
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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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enums.append(QString(" /* Array element names for field %1 */\n").arg(info->fields[n]->name));
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enums.append(" typedef enum { ");
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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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QString s = (m != (elemNames.length() - 1)) ? "%1_%2=%3, " : "%1_%2=%3";
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enums.append(s.arg(info->fields[n]->name.toUpper())
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.arg(elemNames[m].toUpper())
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.arg(m));
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}
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enums.append(QString(" } %1Elem;\n")
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.arg(info->fields[n]->name));
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}
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// Generate array information
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if (info->fields[n]->numElements > 1) {
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enums.append(QString(" /* Number of elements for field %1 */\n").arg(info->fields[n]->name));
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enums.append(QString(" static const quint32 %1_NUMELEM = %2;\n")
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.arg(info->fields[n]->name.toUpper())
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.arg(info->fields[n]->numElements));
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}
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}
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outInclude.replace(QString("$(DATAFIELDINFO)"), enums);
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// Replace the $(INITFIELDS) tag
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QString initfields;
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for (int n = 0; n < info->fields.length(); ++n) {
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if (!info->fields[n]->defaultValues.isEmpty()) {
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// For non-array fields
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if (info->fields[n]->numElements == 1) {
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if (info->fields[n]->type == FIELDTYPE_ENUM) {
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initfields.append(QString(" data.%1 = %2;\n")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[0])));
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} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
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initfields.append(QString(" data.%1 = %2;\n")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->defaultValues[0].toFloat()));
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} else {
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initfields.append(QString(" data.%1 = %2;\n")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->defaultValues[0].toInt()));
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}
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} else {
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// Initialize all fields in the array
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for (int idx = 0; idx < info->fields[n]->numElements; ++idx) {
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if (info->fields[n]->type == FIELDTYPE_ENUM) {
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initfields.append(QString(" data.%1[%2] = %3;\n")
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.arg(info->fields[n]->name)
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.arg(idx)
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.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[idx])));
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} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
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initfields.append(QString(" data.%1[%2] = %3;\n")
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.arg(info->fields[n]->name)
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.arg(idx)
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.arg(info->fields[n]->defaultValues[idx].toFloat()));
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} else {
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initfields.append(QString(" data.%1[%2] = %3;\n")
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.arg(info->fields[n]->name)
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.arg(idx)
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.arg(info->fields[n]->defaultValues[idx].toInt()));
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}
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}
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}
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}
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}
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outCode.replace(QString("$(INITFIELDS)"), initfields);
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// Write the GCS code
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bool res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode);
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if (!res) {
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cout << "Error: Could not write gcs output files" << endl;
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return false;
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}
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res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
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if (!res) {
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cout << "Error: Could not write gcs 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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