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https://bitbucket.org/librepilot/librepilot.git
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205e09a8d1
The UAVObject generator is intended to be a standalone tool. As such, it doesn't belong under the openpilotgcs directory. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2525 ebee16cc-31ac-478f-84a7-5cbb03baadba
136 lines
4.5 KiB
C++
136 lines
4.5 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectparser.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Parses XML files and extracts object information.
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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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#ifndef UAVOBJECTPARSER_H
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#define UAVOBJECTPARSER_H
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#include <QString>
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#include <QStringList>
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#include <QList>
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#include <QDomDocument>
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#include <QDomElement>
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#include <QDomNode>
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#include <QByteArray>
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// Types
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typedef enum {
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FIELDTYPE_INT8 = 0,
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FIELDTYPE_INT16,
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FIELDTYPE_INT32,
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FIELDTYPE_UINT8,
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FIELDTYPE_UINT16,
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FIELDTYPE_UINT32,
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FIELDTYPE_FLOAT32,
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FIELDTYPE_ENUM
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} FieldType;
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typedef struct {
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QString name;
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QString units;
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FieldType type;
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int numElements;
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int numBytes;
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QStringList elementNames;
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QStringList options; // for enums only
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bool defaultElementNames;
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QStringList defaultValues;
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} FieldInfo;
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/**
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* Object update mode
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*/
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typedef enum {
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UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
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UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
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UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
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UPDATEMODE_NEVER /** Object is never updated */
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} UpdateMode;
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typedef enum {
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ACCESS_READWRITE = 0,
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ACCESS_READONLY = 1
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} AccessMode;
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typedef struct {
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QString name;
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QString namelc; /** name in lowercase */
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QString filename;
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quint32 id;
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bool isSingleInst;
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bool isSettings;
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AccessMode gcsAccess;
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AccessMode flightAccess;
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bool flightTelemetryAcked;
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UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
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int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
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bool gcsTelemetryAcked;
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UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
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int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
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UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
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int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
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QList<FieldInfo*> fields; /** The data fields for the object **/
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QString description; /** Description used for Doxygen **/
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} ObjectInfo;
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class UAVObjectParser
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{
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public:
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// Functions
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UAVObjectParser();
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QString parseXML(QString& xml, QString& filename);
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int getNumObjects();
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QList<ObjectInfo*> getObjectInfo();
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QString getObjectName(int objIndex);
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quint32 getObjectID(int objIndex);
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ObjectInfo* getObjectByIndex(int objIndex);
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int getNumBytes(int objIndex);
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QStringList all_units;
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private:
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QList<ObjectInfo*> objInfo;
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QStringList fieldTypeStrXML;
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QList<int> fieldTypeNumBytes;
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QStringList updateModeStr;
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QStringList updateModeStrXML;
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QStringList accessModeStr;
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QStringList accessModeStrXML;
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QString processObjectAttributes(QDomNode& node, ObjectInfo* info);
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QString processObjectFields(QDomNode& childNode, ObjectInfo* info);
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QString processObjectAccess(QDomNode& childNode, ObjectInfo* info);
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QString processObjectDescription(QDomNode& childNode, QString * description);
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QString processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked);
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void calculateID(ObjectInfo* info);
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quint32 updateHash(quint32 value, quint32 hash);
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quint32 updateHash(QString& value, quint32 hash);
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};
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#endif // UAVOBJECTPARSER_H
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