mirror of
https://bitbucket.org/librepilot/librepilot.git
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61d8c23a51
Now they can include special chars like '.' (dot), '-' (dash), '/' (slash), ' ' (space). All such chars will be removed from autogenerated identifiers ("S.Bus" -> SBUS), but kept intact in text strings (to be displayed by the GCS).
This will not change any existing object IDs.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2592 ebee16cc-31ac-478f-84a7-5cbb03baadba
242 lines
9.7 KiB
C++
242 lines
9.7 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectgeneratorflight.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief produce flight 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 "uavobjectgeneratorflight.h"
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using namespace std;
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bool UAVObjectGeneratorFlight::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
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fieldTypeStrC << "int8_t" << "int16_t" << "int32_t" <<"uint8_t"
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<<"uint16_t" << "uint32_t" << "float" << "uint8_t";
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QString flightObjInit,objInc;
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flightCodePath = QDir( templatepath + QString("flight/UAVObjects"));
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flightOutputPath = QDir( outputpath + QString("flight") );
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flightOutputPath.mkpath(flightOutputPath.absolutePath());
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flightCodeTemplate = readFile( flightCodePath.absoluteFilePath("uavobjecttemplate.c") );
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flightIncludeTemplate = readFile( flightCodePath.absoluteFilePath("inc/uavobjecttemplate.h") );
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flightInitTemplate = readFile( flightCodePath.absoluteFilePath("uavobjectsinittemplate.c") );
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if ( flightCodeTemplate.isNull() || flightIncludeTemplate.isNull() || flightInitTemplate.isNull()) {
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cerr << "Error: Could not open flight template files." << endl;
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return false;
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}
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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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flightObjInit.append(" " + info->name + "Initialize();\n");
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objInc.append("#include \"" + info->namelc + ".h\"\n");
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}
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// Write the flight object inialization files
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flightInitTemplate.replace( QString("$(OBJINC)"), objInc);
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flightInitTemplate.replace( QString("$(OBJINIT)"), flightObjInit);
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bool res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/uavobjectsinit.c",
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flightInitTemplate );
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if (!res) {
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cout << "Error: Could not write flight object init 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 Flight object files
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**/
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bool UAVObjectGeneratorFlight::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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// Prepare output strings
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QString outInclude = flightIncludeTemplate;
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QString outCode = flightCodeTemplate;
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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 $(DATAFIELDS) tag
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QString type;
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QString fields;
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for (int n = 0; n < info->fields.length(); ++n)
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{
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// Determine type
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type = fieldTypeStrC[info->fields[n]->type];
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// Append field
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if ( info->fields[n]->numElements > 1 )
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{
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fields.append( QString(" %1 %2[%3];\n").arg(type)
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.arg(info->fields[n]->name).arg(info->fields[n]->numElements) );
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}
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else
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{
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fields.append( QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name) );
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}
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}
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outInclude.replace(QString("$(DATAFIELDS)"), fields);
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// Replace the $(DATAFIELDINFO) tag
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QString enums;
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for (int n = 0; n < info->fields.length(); ++n)
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{
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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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{
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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=%4" : "%1_%2_%3=%4, ";
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enums.append( s
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.arg( info->name.toUpper() )
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.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(" } %1%2Options;\n")
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.arg( info->name )
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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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{
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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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{
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QString s = (m != (elemNames.length()-1)) ? "%1_%2_%3=%4, " : "%1_%2_%3=%4";
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enums.append( s
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.arg( info->name.toUpper() )
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.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(" } %1%2Elem;\n")
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.arg( info->name )
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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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{
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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("#define %1_%2_NUMELEM %3\n")
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.arg( info->name.toUpper() )
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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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{
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if (!info->fields[n]->defaultValues.isEmpty() )
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{
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// For non-array fields
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if ( info->fields[n]->numElements == 1)
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{
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if ( info->fields[n]->type == FIELDTYPE_ENUM )
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{
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initfields.append( QString("\tdata.%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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}
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else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 )
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{
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initfields.append( QString("\tdata.%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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}
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else
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{
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initfields.append( QString("\tdata.%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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}
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else
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{
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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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{
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if ( info->fields[n]->type == FIELDTYPE_ENUM )
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{
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initfields.append( QString("\tdata.%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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}
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else if ( info->fields[n]->type == FIELDTYPE_FLOAT32 )
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{
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initfields.append( QString("\tdata.%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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}
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else
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{
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initfields.append( QString("\tdata.%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 flight code
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bool res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode );
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if (!res) {
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cout << "Error: Could not write flight code files" << endl;
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return false;
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}
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res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude );
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if (!res) {
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cout << "Error: Could not write flight include 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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