mirror of
https://bitbucket.org/librepilot/librepilot.git
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423 lines
20 KiB
C++
423 lines
20 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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{
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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, objFileNames, objNames;
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qint32 sizeCalc;
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flightCodePath = QDir(templatepath + QString(FLIGHT_CODE_DIR));
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flightOutputPath = QDir(outputpath);
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flightOutputPath.mkpath(flightOutputPath.absolutePath());
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flightCodeTemplate = readFile(flightCodePath.absoluteFilePath("uavobject.c.template"));
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flightIncludeTemplate = readFile(flightCodePath.absoluteFilePath("inc/uavobject.h.template"));
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flightInitTemplate = readFile(flightCodePath.absoluteFilePath("uavobjectsinit.c.template"));
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flightInitIncludeTemplate = readFile(flightCodePath.absoluteFilePath("inc/uavobjectsinit.h.template"));
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flightMakeTemplate = readFile(flightCodePath.absoluteFilePath("Makefile.inc.template"));
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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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sizeCalc = 0;
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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("#ifdef UAVOBJ_INIT_" + info->namelc + "\n");
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flightObjInit.append(" " + info->name + "Initialize();\n");
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flightObjInit.append("#endif\n");
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objInc.append("#include \"" + info->namelc + ".h\"\n");
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objFileNames.append(" " + info->namelc);
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objNames.append(" " + info->name);
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if (parser->getNumBytes(objidx) > sizeCalc) {
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sizeCalc = parser->getNumBytes(objidx);
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}
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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 = writeFileIfDifferent(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 file" << endl;
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return false;
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}
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// Write the flight object initialization header
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flightInitIncludeTemplate.replace(QString("$(SIZECALCULATION)"), QString().setNum(sizeCalc));
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res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/uavobjectsinit.h",
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flightInitIncludeTemplate);
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if (!res) {
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cout << "Error: Could not write flight object init header file" << endl;
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return false;
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}
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// Write the flight object Makefile
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flightMakeTemplate.replace(QString("$(UAVOBJFILENAMES)"), objFileNames);
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flightMakeTemplate.replace(QString("$(UAVOBJNAMES)"), objNames);
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res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/Makefile.inc",
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flightMakeTemplate);
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if (!res) {
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cout << "Error: Could not write flight Makefile" << 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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}
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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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// Use the appropriate typedef for enums where we find them. Set up
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// that StringList here for use below.
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//
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QStringList typeList;
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for (int n = 0; n < info->fields.length(); ++n) {
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if (info->fields[n]->type == FIELDTYPE_ENUM) {
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typeList << QString("%1%2Options").arg(info->name).arg(info->fields[n]->name);
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} else {
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typeList << fieldTypeStrC[info->fields[n]->type];
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}
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}
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// Replace the $(DATAFIELDS) tag
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QString type;
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QString fields;
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QString dataStructures;
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for (int n = 0; n < info->fields.length(); ++n) {
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// Determine type
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type = typeList[n];
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// Append field
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// Check if it a named set and creates structures accordingly
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if (info->fields[n]->numElements > 1) {
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if (info->fields[n]->elementNames[0].compare(QString("0")) != 0) {
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QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
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QString structType = QString("typedef struct __attribute__ ((__packed__)) {\n");
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for (int f = 0; f < info->fields[n]->elementNames.count(); f++) {
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structType.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->elementNames[f]));
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}
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structType.append(QString("} %1 ;\n").arg(structTypeName));
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structType.append(QString("typedef struct __attribute__ ((__packed__)) {\n"));
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structType.append(QString(" %1 array[%2];\n").arg(type).arg(info->fields[n]->elementNames.count()));
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structType.append(QString("} %1Array ;\n").arg(structTypeName));
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structType.append(QString("#define %1%2ToArray( var ) UAVObjectFieldToArray( %3, var )\n\n").arg(info->name).arg(info->fields[n]->name).arg(structTypeName));
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dataStructures.append(structType);
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fields.append(QString(" %1 %2;\n").arg(structTypeName)
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.arg(info->fields[n]->name));
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} else {
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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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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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outInclude.replace(QString("$(DATASTRUCTURES)"), dataStructures);
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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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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("\n// Enumeration options for field %1\n").arg(info->fields[n]->name));
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enums.append("typedef enum __attribute__ ((__packed__)) {\n");
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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\n" : " %1_%2_%3=%4,\n";
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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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enums.append(QString("\n// Array element names for field %1\n").arg(info->fields[n]->name));
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enums.append("typedef enum {\n");
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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=%4,\n" : " %1_%2_%3=%4\n";
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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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enums.append(QString("\n// 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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enums.append(QString("\n"));
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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 = %2f;\n")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->defaultValues[0].toFloat(), 0, 'e', 6));
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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]->elementNames[0].compare(QString("0")) == 0) {
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initfields.append(QString(" data.%1[%2] = ")
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.arg(info->fields[n]->name)
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.arg(idx));
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} else {
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initfields.append(QString(" data.%1.%2 = ")
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->elementNames[idx]));
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}
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if (info->fields[n]->type == FIELDTYPE_ENUM) {
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initfields.append(QString("%1;\n")
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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("%1f;\n")
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.arg(info->fields[n]->defaultValues[idx].toFloat(), 0, 'e', 6));
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} else {
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initfields.append(QString("%1;\n")
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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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// Replace the $(SETGETFIELDS) tag
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QString setgetfields;
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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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{
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// For non-array fields
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if (info->fields[n]->numElements == 1) {
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/* Set */
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setgetfields.append(QString("void %2%3Set(%1 *New%3)\n")
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.arg(typeList[n])
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.arg(info->name)
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.arg(info->fields[n]->name));
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setgetfields.append(QString("{\n"));
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setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(typeList[n]));
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setgetfields.append(QString("}\n"));
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/* GET */
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setgetfields.append(QString("void %2%3Get(%1 *New%3)\n")
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.arg(typeList[n])
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.arg(info->name)
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.arg(info->fields[n]->name));
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setgetfields.append(QString("{\n"));
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setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(typeList[n]));
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setgetfields.append(QString("}\n"));
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} else {
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// When no struct accessor is available for a field array accessor is the default.
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QString suffix = QString("");
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if (info->fields[n]->elementNames[0].compare(QString("0")) != 0) {
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// struct based field accessor
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QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
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/* SET */
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setgetfields.append(QString("void %2%3Set( %1 *New%3 )\n")
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.arg(structTypeName)
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.arg(info->name)
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.arg(info->fields[n]->name));
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setgetfields.append(QString("{\n"));
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setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->numElements)
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.arg(typeList[n]));
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setgetfields.append(QString("}\n"));
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/* GET */
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setgetfields.append(QString("void %2%3Get( %1 *New%3 )\n")
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.arg(structTypeName)
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.arg(info->name)
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.arg(info->fields[n]->name));
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setgetfields.append(QString("{\n"));
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setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->numElements)
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.arg(typeList[n]));
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setgetfields.append(QString("}\n"));
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// Append array suffix to array accessors
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suffix = QString("Array");
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}
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// array based field accessor
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/* SET */
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setgetfields.append(QString("void %2%3%4Set( %1 *New%3 )\n")
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.arg(typeList[n])
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(suffix));
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setgetfields.append(QString("{\n"));
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setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->numElements)
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.arg(typeList[n]));
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setgetfields.append(QString("}\n"));
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/* GET */
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setgetfields.append(QString("void %2%3%4Get( %1 *New%3 )\n")
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.arg(typeList[n])
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(suffix));
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setgetfields.append(QString("{\n"));
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setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(info->fields[n]->numElements)
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.arg(typeList[n]));
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setgetfields.append(QString("}\n"));
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}
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}
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}
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outCode.replace(QString("$(SETGETFIELDS)"), setgetfields);
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// Replace the $(SETGETFIELDSEXTERN) tag
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QString setgetfieldsextern;
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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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{
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QString suffix = QString("");
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if (info->fields[n]->elementNames[0].compare(QString("0")) != 0) {
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// struct based field accessor
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QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
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/* SET */
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setgetfieldsextern.append(QString("extern void %2%3Set(%1 *New%3);\n")
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.arg(structTypeName)
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.arg(info->name)
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.arg(info->fields[n]->name));
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/* GET */
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setgetfieldsextern.append(QString("extern void %2%3Get(%1 *New%3);\n")
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.arg(structTypeName)
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.arg(info->name)
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.arg(info->fields[n]->name));
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suffix = QString("Array");
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}
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/* SET */
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setgetfieldsextern.append(QString("extern void %2%3%4Set(%1 *New%3);\n")
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.arg(typeList[n])
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(suffix));
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/* GET */
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setgetfieldsextern.append(QString("extern void %2%3%4Get(%1 *New%3);\n")
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.arg(typeList[n])
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.arg(info->name)
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.arg(info->fields[n]->name)
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.arg(suffix));
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}
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}
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outInclude.replace(QString("$(SETGETFIELDSEXTERN)"), setgetfieldsextern);
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// Write the flight code
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bool res = writeFileIfDifferent(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 = writeFileIfDifferent(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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