mirror of
https://bitbucket.org/librepilot/librepilot.git
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616 lines
20 KiB
C++
616 lines
20 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectparser.cpp
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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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#include "uavobjectparser.h"
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/**
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* Constructor
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*/
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UAVObjectParser::UAVObjectParser()
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{
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fieldTypeStrXML << "int8" << "int16" << "int32" << "uint8"
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<< "uint16" << "uint32" <<"float" << "enum";
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updateModeStrXML << "manual" << "periodic" << "onchange" << "throttled";
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accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";
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fieldTypeNumBytes << int(1) << int(2) << int(4) <<
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int(1) << int(2) << int(4) <<
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int(4) << int(1);
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accessModeStrXML << "readwrite" << "readonly";
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}
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/**
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* Get number of objects
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*/
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int UAVObjectParser::getNumObjects()
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{
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return objInfo.length();
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}
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/**
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* Get the detailed object information
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*/
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QList<ObjectInfo*> UAVObjectParser::getObjectInfo()
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{
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return objInfo;
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}
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ObjectInfo* UAVObjectParser::getObjectByIndex(int objIndex)
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{
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return objInfo[objIndex];
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}
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/**
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* Get the name of the object
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*/
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QString UAVObjectParser::getObjectName(int objIndex)
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{
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ObjectInfo* info = objInfo[objIndex];
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if (info == NULL)
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return QString();
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return info->name;
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}
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/**
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* Get the ID of the object
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*/
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quint32 UAVObjectParser::getObjectID(int objIndex)
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{
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ObjectInfo* info = objInfo[objIndex];
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if (info == NULL)
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return 0;
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return info->id;
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}
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/**
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* Get the number of bytes in the data fields of this object
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*/
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int UAVObjectParser::getNumBytes(int objIndex)
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{
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ObjectInfo* info = objInfo[objIndex];
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if (info == NULL)
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{
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return 0;
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}
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else
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{
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int numBytes = 0;
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for (int n = 0; n < info->fields.length(); ++n)
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{
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numBytes += info->fields[n]->numBytes * info->fields[n]->numElements;
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}
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return numBytes;
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}
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}
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bool fieldTypeLessThan(const FieldInfo* f1, const FieldInfo* f2)
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{
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return f1->numBytes > f2->numBytes;
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}
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/**
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* Parse supplied XML file
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* @param xml The xml text
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* @param filename The xml filename
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* @returns Null QString() on success, error message on failure
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*/
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QString UAVObjectParser::parseXML(QString& xml, QString& filename)
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{
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// Create DOM document and parse it
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QDomDocument doc("UAVObjects");
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bool parsed = doc.setContent(xml);
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if (!parsed) return QString("Improperly formated XML file");
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// Read all objects contained in the XML file, creating an new ObjectInfo for each
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QDomElement docElement = doc.documentElement();
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QDomNode node = docElement.firstChild();
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while ( !node.isNull() ) {
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// Create new object entry
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ObjectInfo* info = new ObjectInfo;
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info->filename=filename;
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// Process object attributes
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QString status = processObjectAttributes(node, info);
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if (!status.isNull())
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return status;
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// Process child elements (fields and metadata)
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QDomNode childNode = node.firstChild();
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bool fieldFound = false;
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bool accessFound = false;
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bool telGCSFound = false;
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bool telFlightFound = false;
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bool logFound = false;
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bool descriptionFound = false;
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while ( !childNode.isNull() ) {
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// Process element depending on its type
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if ( childNode.nodeName().compare(QString("field")) == 0 ) {
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QString status = processObjectFields(childNode, info);
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if (!status.isNull())
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return status;
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fieldFound = true;
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}
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else if ( childNode.nodeName().compare(QString("access")) == 0 ) {
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QString status = processObjectAccess(childNode, info);
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if (!status.isNull())
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return status;
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accessFound = true;
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}
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else if ( childNode.nodeName().compare(QString("telemetrygcs")) == 0 ) {
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QString status = processObjectMetadata(childNode, &info->gcsTelemetryUpdateMode,
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&info->gcsTelemetryUpdatePeriod, &info->gcsTelemetryAcked);
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if (!status.isNull())
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return status;
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telGCSFound = true;
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}
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else if ( childNode.nodeName().compare(QString("telemetryflight")) == 0 ) {
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QString status = processObjectMetadata(childNode, &info->flightTelemetryUpdateMode,
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&info->flightTelemetryUpdatePeriod, &info->flightTelemetryAcked);
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if (!status.isNull())
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return status;
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telFlightFound = true;
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}
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else if ( childNode.nodeName().compare(QString("logging")) == 0 ) {
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QString status = processObjectMetadata(childNode, &info->loggingUpdateMode,
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&info->loggingUpdatePeriod, NULL);
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if (!status.isNull())
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return status;
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logFound = true;
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}
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else if ( childNode.nodeName().compare(QString("description")) == 0 ) {
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QString status = processObjectDescription(childNode, &info->description);
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if (!status.isNull())
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return status;
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descriptionFound = true;
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}
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else if (!childNode.isComment()) {
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return QString("Unknown object element");
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}
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// Get next element
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childNode = childNode.nextSibling();
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}
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// Sort all fields according to size
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qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
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// Sort all fields according to size
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qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
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// Make sure that required elements were found
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if ( !fieldFound )
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return QString("Object::field element is missing");
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if ( !accessFound )
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return QString("Object::access element is missing");
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if ( !telGCSFound )
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return QString("Object::telemetrygcs element is missing");
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if ( !telFlightFound )
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return QString("Object::telemetryflight element is missing");
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if ( !logFound )
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return QString("Object::logging element is missing");
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// TODO: Make into error once all objects updated
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if ( !descriptionFound )
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return QString("Object::description element is missing");
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// Calculate ID
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calculateID(info);
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// Add object
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objInfo.append(info);
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// Get next object
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node = node.nextSibling();
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}
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all_units.removeDuplicates();
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// Done, return null string
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return QString();
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}
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/**
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* Calculate the unique object ID based on the object information.
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* The ID will change if the object definition changes, this is intentional
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* and is used to avoid connecting objects with incompatible configurations.
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* The LSB is set to zero and is reserved for metadata
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*/
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void UAVObjectParser::calculateID(ObjectInfo* info)
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{
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// Hash object name
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quint32 hash = updateHash(info->name, 0);
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// Hash object attributes
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hash = updateHash(info->isSettings, hash);
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hash = updateHash(info->isSingleInst, hash);
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// Hash field information
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for (int n = 0; n < info->fields.length(); ++n) {
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hash = updateHash(info->fields[n]->name, hash);
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hash = updateHash(info->fields[n]->numElements, hash);
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hash = updateHash(info->fields[n]->type, hash);
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if(info->fields[n]->type == FIELDTYPE_ENUM) {
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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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hash = updateHash(options[m], hash);
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}
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}
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// Done
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info->id = hash & 0xFFFFFFFE;
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}
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/**
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* Shift-Add-XOR hash implementation. LSB is set to zero, it is reserved
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* for the ID of the metaobject.
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*
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* http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx
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*/
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quint32 UAVObjectParser::updateHash(quint32 value, quint32 hash)
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{
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return (hash ^ ((hash<<5) + (hash>>2) + value));
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}
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/**
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* Update the hash given a string
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*/
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quint32 UAVObjectParser::updateHash(QString& value, quint32 hash)
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{
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QByteArray bytes = value.toAscii();
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quint32 hashout = hash;
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for (int n = 0; n < bytes.length(); ++n)
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hashout = updateHash(bytes[n], hashout);
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return hashout;
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}
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/**
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* Process the metadata part of the XML
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*/
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QString UAVObjectParser::processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked)
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{
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// Get updatemode attribute
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QDomNamedNodeMap elemAttributes = childNode.attributes();
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QDomNode elemAttr = elemAttributes.namedItem("updatemode");
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if ( elemAttr.isNull() )
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return QString("Object:telemetrygcs:updatemode attribute is missing");
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int index = updateModeStrXML.indexOf( elemAttr.nodeValue() );
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if (index<0)
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return QString("Object:telemetrygcs:updatemode attribute value is invalid");
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*mode = (UpdateMode)index;
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// Get period attribute
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elemAttr = elemAttributes.namedItem("period");
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if ( elemAttr.isNull() )
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return QString("Object:telemetrygcs:period attribute is missing");
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*period = elemAttr.nodeValue().toInt();
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// Get acked attribute (only if acked parameter is not null, not applicable for logging metadata)
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if ( acked != NULL) {
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elemAttr = elemAttributes.namedItem("acked");
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if ( elemAttr.isNull())
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return QString("Object:telemetrygcs:acked attribute is missing");
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if ( elemAttr.nodeValue().compare(QString("true")) == 0 )
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*acked = true;
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else if ( elemAttr.nodeValue().compare(QString("false")) == 0 )
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*acked = false;
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else
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return QString("Object:telemetrygcs:acked attribute value is invalid");
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}
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// Done
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return QString();
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}
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/**
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* Process the object access tag of the XML
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*/
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QString UAVObjectParser::processObjectAccess(QDomNode& childNode, ObjectInfo* info)
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{
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// Get gcs attribute
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QDomNamedNodeMap elemAttributes = childNode.attributes();
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QDomNode elemAttr = elemAttributes.namedItem("gcs");
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if ( elemAttr.isNull() )
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return QString("Object:access:gcs attribute is missing");
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int index = accessModeStrXML.indexOf( elemAttr.nodeValue() );
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if (index >= 0)
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info->gcsAccess = (AccessMode)index;
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else
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return QString("Object:access:gcs attribute value is invalid");
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// Get flight attribute
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elemAttr = elemAttributes.namedItem("flight");
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if ( elemAttr.isNull() )
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return QString("Object:access:flight attribute is missing");
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index = accessModeStrXML.indexOf( elemAttr.nodeValue() );
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if (index >= 0)
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info->flightAccess = (AccessMode)index;
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else
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return QString("Object:access:flight attribute value is invalid");
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// Done
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return QString();
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}
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/**
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* Process the object fields of the XML
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*/
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QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* info)
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{
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// Create field
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FieldInfo* field = new FieldInfo;
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// Get name attribute
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QDomNamedNodeMap elemAttributes = childNode.attributes();
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QDomNode elemAttr = elemAttributes.namedItem("name");
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if (elemAttr.isNull()) {
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return QString("Object:field:name attribute is missing");
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}
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QString name = elemAttr.nodeValue();
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// Check to see is this field is a clone of another
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// field that has already been declared
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elemAttr = elemAttributes.namedItem("cloneof");
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if (!elemAttr.isNull()) {
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QString parentName = elemAttr.nodeValue();
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if (!parentName.isEmpty()) {
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foreach(FieldInfo * parent, info->fields) {
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if (parent->name == parentName) {
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// clone from this parent
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*field = *parent; // safe shallow copy, no ptrs in struct
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field->name = name; // set our name
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// Add field to object
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info->fields.append(field);
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// Done
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return QString();
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}
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}
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return QString("Object:field::cloneof parent unknown");
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}
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else {
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return QString("Object:field:cloneof attribute is empty");
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}
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}
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else {
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// this field is not a clone, so remember its name
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field->name = name;
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}
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// Get units attribute
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elemAttr = elemAttributes.namedItem("units");
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if ( elemAttr.isNull() )
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return QString("Object:field:units attribute is missing");
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field->units = elemAttr.nodeValue();
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all_units << field->units;
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// Get type attribute
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elemAttr = elemAttributes.namedItem("type");
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if ( elemAttr.isNull() )
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return QString("Object:field:type attribute is missing");
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int index = fieldTypeStrXML.indexOf(elemAttr.nodeValue());
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if (index >= 0) {
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field->type = (FieldType)index;
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field->numBytes = fieldTypeNumBytes[index];
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}
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else {
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return QString("Object:field:type attribute value is invalid");
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}
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// Get numelements or elementnames attribute
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field->numElements = 0;
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// Look for element names as an attribute first
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elemAttr = elemAttributes.namedItem("elementnames");
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if ( !elemAttr.isNull() ) {
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// Get element names
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QStringList names = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
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for (int n = 0; n < names.length(); ++n)
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names[n] = names[n].trimmed();
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field->elementNames = names;
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field->numElements = names.length();
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field->defaultElementNames = false;
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}
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else {
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// Look for a list of child elementname nodes
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QDomNode listNode = childNode.firstChildElement("elementnames");
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if (!listNode.isNull()) {
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for (QDomElement node = listNode.firstChildElement("elementname");
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!node.isNull(); node = node.nextSiblingElement("elementname")) {
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QDomNode name = node.firstChild();
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if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
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field->elementNames.append(name.nodeValue());
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}
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}
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field->numElements = field->elementNames.length();
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field->defaultElementNames = false;
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}
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}
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// If no element names were found, then fall back to looking
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// for the number of elements in the 'elements' attribute
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if (field->numElements == 0) {
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elemAttr = elemAttributes.namedItem("elements");
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if ( elemAttr.isNull() ) {
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return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
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}
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else {
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field->numElements = elemAttr.nodeValue().toInt();
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for (int n = 0; n < field->numElements; ++n)
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field->elementNames.append(QString("%1").arg(n));
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field->defaultElementNames = true;
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}
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}
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// Get options attribute or child elements (only if an enum type)
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if (field->type == FIELDTYPE_ENUM) {
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// Look for options attribute
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elemAttr = elemAttributes.namedItem("options");
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if (!elemAttr.isNull()) {
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QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
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for (int n = 0; n < options.length(); ++n) {
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options[n] = options[n].trimmed();
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}
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field->options = options;
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}
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else {
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// Look for a list of child 'option' nodes
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QDomNode listNode = childNode.firstChildElement("options");
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if (!listNode.isNull()) {
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for (QDomElement node = listNode.firstChildElement("option");
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!node.isNull(); node = node.nextSiblingElement("option")) {
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QDomNode name = node.firstChild();
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if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
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field->options.append(name.nodeValue());
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}
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}
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}
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}
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if (field->options.length() == 0) {
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return QString("Object:field:options attribute/element is missing");
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}
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}
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// Get the default value attribute (required for settings objects, optional for the rest)
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elemAttr = elemAttributes.namedItem("defaultvalue");
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if ( elemAttr.isNull() ) {
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if ( info->isSettings )
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return QString("Object:field:defaultvalue attribute is missing (required for settings objects)");
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field->defaultValues = QStringList();
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}
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else {
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QStringList defaults = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
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for (int n = 0; n < defaults.length(); ++n)
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defaults[n] = defaults[n].trimmed();
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if(defaults.length() != field->numElements) {
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if(defaults.length() != 1)
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return QString("Object:field:incorrect number of default values");
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/*support legacy single default for multiple elements
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We should really issue a warning*/
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for(int ct=1; ct< field->numElements; ct++)
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defaults.append(defaults[0]);
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}
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field->defaultValues = defaults;
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}
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|
|
// Limits attribute
|
|
elemAttr = elemAttributes.namedItem("limits");
|
|
if ( elemAttr.isNull() ) {
|
|
field->limitValues=QString();
|
|
}
|
|
else{
|
|
field->limitValues=elemAttr.nodeValue();
|
|
}
|
|
// Add field to object
|
|
info->fields.append(field);
|
|
// Done
|
|
return QString();
|
|
}
|
|
|
|
/**
|
|
* Process the object attributes from the XML
|
|
*/
|
|
QString UAVObjectParser::processObjectAttributes(QDomNode& node, ObjectInfo* info)
|
|
{
|
|
// Get name attribute
|
|
QDomNamedNodeMap attributes = node.attributes();
|
|
QDomNode attr = attributes.namedItem("name");
|
|
if ( attr.isNull() )
|
|
return QString("Object:name attribute is missing");
|
|
|
|
info->name = attr.nodeValue();
|
|
info->namelc = attr.nodeValue().toLower();
|
|
|
|
// Get category attribute if present
|
|
attr = attributes.namedItem("category");
|
|
if ( !attr.isNull() )
|
|
{
|
|
info->category = attr.nodeValue();
|
|
}
|
|
|
|
// Get singleinstance attribute
|
|
attr = attributes.namedItem("singleinstance");
|
|
if ( attr.isNull() )
|
|
return QString("Object:singleinstance attribute is missing");
|
|
|
|
if ( attr.nodeValue().compare(QString("true")) == 0 )
|
|
info->isSingleInst = true;
|
|
else if ( attr.nodeValue().compare(QString("false")) == 0 )
|
|
info->isSingleInst = false;
|
|
else
|
|
return QString("Object:singleinstance attribute value is invalid");
|
|
|
|
// Get settings attribute
|
|
attr = attributes.namedItem("settings");
|
|
if ( attr.isNull() )
|
|
return QString("Object:settings attribute is missing");
|
|
|
|
if ( attr.nodeValue().compare(QString("true")) == 0 )
|
|
info->isSettings = true;
|
|
else if ( attr.nodeValue().compare(QString("false")) == 0 )
|
|
info->isSettings = false;
|
|
else
|
|
return QString("Object:settings attribute value is invalid");
|
|
|
|
|
|
// Settings objects can only have a single instance
|
|
if ( info->isSettings && !info->isSingleInst )
|
|
return QString("Object: Settings objects can not have multiple instances");
|
|
|
|
// Done
|
|
return QString();
|
|
}
|
|
|
|
/**
|
|
* Process the description field from the XML file
|
|
*/
|
|
QString UAVObjectParser::processObjectDescription(QDomNode& childNode, QString * description)
|
|
{
|
|
description->append(childNode.firstChild().nodeValue());
|
|
return QString();
|
|
}
|