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LibrePilot/ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
Alessio Morale 0db9a9bf8d OP-1058 Add xxxGet and xxxSet functions to handle multielement fields as struct 
for example:
EKFStateVariancePSet(EKFStateVariancePData *NewP);
EKFStateVariancePGet(EKFStateVariancePData *NewP);
Also in this case array accessors are renamed as xxxArrayGet/Set:
EKFStateVariancePArraySet(float *NewP);
EKFStateVariancePArrayGet(float *NewP);

Nothing changes for anonymous items as default functions continues to deal with arrays

+review OPReview-552
2013-09-01 13:23:20 +02:00

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/**
******************************************************************************
*
* @file uavobjectgeneratorflight.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief produce flight code for uavobjects
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectgeneratorflight.h"
using namespace std;
bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templatepath, QString outputpath)
{
fieldTypeStrC << "int8_t" << "int16_t" << "int32_t" << "uint8_t"
<< "uint16_t" << "uint32_t" << "float" << "uint8_t";
QString flightObjInit, objInc, objFileNames, objNames;
qint32 sizeCalc;
flightCodePath = QDir(templatepath + QString(FLIGHT_CODE_DIR));
flightOutputPath = QDir(outputpath + QString("flight"));
flightOutputPath.mkpath(flightOutputPath.absolutePath());
flightCodeTemplate = readFile(flightCodePath.absoluteFilePath("uavobject.c.template"));
flightIncludeTemplate = readFile(flightCodePath.absoluteFilePath("inc/uavobject.h.template"));
flightInitTemplate = readFile(flightCodePath.absoluteFilePath("uavobjectsinit.c.template"));
flightInitIncludeTemplate = readFile(flightCodePath.absoluteFilePath("inc/uavobjectsinit.h.template"));
flightMakeTemplate = readFile(flightCodePath.absoluteFilePath("Makefile.inc.template"));
if (flightCodeTemplate.isNull() || flightIncludeTemplate.isNull() || flightInitTemplate.isNull()) {
cerr << "Error: Could not open flight template files." << endl;
return false;
}
sizeCalc = 0;
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo *info = parser->getObjectByIndex(objidx);
process_object(info);
flightObjInit.append("#ifdef UAVOBJ_INIT_" + info->namelc + "\n");
flightObjInit.append(" " + info->name + "Initialize();\n");
flightObjInit.append("#endif\n");
objInc.append("#include \"" + info->namelc + ".h\"\n");
objFileNames.append(" " + info->namelc);
objNames.append(" " + info->name);
if (parser->getNumBytes(objidx) > sizeCalc) {
sizeCalc = parser->getNumBytes(objidx);
}
}
// Write the flight object inialization files
flightInitTemplate.replace(QString("$(OBJINC)"), objInc);
flightInitTemplate.replace(QString("$(OBJINIT)"), flightObjInit);
bool res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/uavobjectsinit.c",
flightInitTemplate);
if (!res) {
cout << "Error: Could not write flight object init file" << endl;
return false;
}
// Write the flight object initialization header
flightInitIncludeTemplate.replace(QString("$(SIZECALCULATION)"), QString().setNum(sizeCalc));
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/uavobjectsinit.h",
flightInitIncludeTemplate);
if (!res) {
cout << "Error: Could not write flight object init header file" << endl;
return false;
}
// Write the flight object Makefile
flightMakeTemplate.replace(QString("$(UAVOBJFILENAMES)"), objFileNames);
flightMakeTemplate.replace(QString("$(UAVOBJNAMES)"), objNames);
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/Makefile.inc",
flightMakeTemplate);
if (!res) {
cout << "Error: Could not write flight Makefile" << endl;
return false;
}
return true; // if we come here everything should be fine
}
/**
* Generate the Flight object files
**/
bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
{
if (info == NULL) {
return false;
}
// Prepare output strings
QString outInclude = flightIncludeTemplate;
QString outCode = flightCodeTemplate;
// Replace common tags
replaceCommonTags(outInclude, info);
replaceCommonTags(outCode, info);
// Replace the $(DATAFIELDS) tag
QString type;
QString fields;
QString dataStructures;
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrC[info->fields[n]->type];
// Append field
// Check if it a named set and creates structures accordingly
if (info->fields[n]->numElements > 1) {
if (info->fields[n]->elementNames[0].compare(QString("0")) != 0) {
QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
QString structType = QString("typedef struct __attribute__ ((__packed__)) {\n");
for (int f = 0; f < info->fields[n]->elementNames.count(); f++) {
structType.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->elementNames[f]));
}
structType.append(QString("} %1 ;\n\n").arg(structTypeName));
dataStructures.append(structType);
fields.append(QString(" %1 %2;\n").arg(structTypeName)
.arg(info->fields[n]->name));
} else {
fields.append(QString(" %1 %2[%3];\n").arg(type)
.arg(info->fields[n]->name).arg(info->fields[n]->numElements));
}
} else {
fields.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name));
}
}
outInclude.replace(QString("$(DATAFIELDS)"), fields);
outInclude.replace(QString("$(DATASTRUCTURES)"), dataStructures);
// Replace the $(DATAFIELDINFO) tag
QString enums;
for (int n = 0; n < info->fields.length(); ++n) {
enums.append(QString("/* Field %1 information */\n").arg(info->fields[n]->name));
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString("\n// Enumeration options for field %1\n").arg(info->fields[n]->name));
enums.append("typedef enum {\n");
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
QString s = (m == (options.length() - 1)) ? " %1_%2_%3=%4\n" : " %1_%2_%3=%4,\n";
enums.append(s
.arg(info->name.toUpper())
.arg(info->fields[n]->name.toUpper())
.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
.arg(m));
}
enums.append(QString("} %1%2Options;\n")
.arg(info->name)
.arg(info->fields[n]->name));
}
// Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) {
enums.append(QString("\n// Array element names for field %1\n").arg(info->fields[n]->name));
enums.append("typedef enum {\n");
// Go through the element names
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
QString s = (m != (elemNames.length() - 1)) ? " %1_%2_%3=%4,\n" : " %1_%2_%3=%4\n";
enums.append(s
.arg(info->name.toUpper())
.arg(info->fields[n]->name.toUpper())
.arg(elemNames[m].toUpper())
.arg(m));
}
enums.append(QString("} %1%2Elem;\n")
.arg(info->name)
.arg(info->fields[n]->name));
}
// Generate array information
if (info->fields[n]->numElements > 1) {
enums.append(QString("\n// Number of elements for field %1\n").arg(info->fields[n]->name));
enums.append(QString("#define %1_%2_NUMELEM %3\n")
.arg(info->name.toUpper())
.arg(info->fields[n]->name.toUpper())
.arg(info->fields[n]->numElements));
}
enums.append(QString("\n"));
}
outInclude.replace(QString("$(DATAFIELDINFO)"), enums);
// Replace the $(INITFIELDS) tag
QString initfields;
for (int n = 0; n < info->fields.length(); ++n) {
if (!info->fields[n]->defaultValues.isEmpty()) {
// For non-array fields
if (info->fields[n]->numElements == 1) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[0])));
} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
initfields.append(QString(" data.%1 = %2f;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->defaultValues[0].toFloat(), 0, 'e', 6));
} else {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->defaultValues[0].toInt()));
}
} else {
// Initialize all fields in the array
for (int idx = 0; idx < info->fields[n]->numElements; ++idx) {
if (info->fields[n]->elementNames[0].compare(QString("0")) == 0) {
initfields.append(QString(" data.%1[%2] = ")
.arg(info->fields[n]->name)
.arg(idx));
} else {
initfields.append(QString(" data.%1.%2 = ")
.arg(info->fields[n]->name)
.arg(info->fields[n]->elementNames[idx]));
}
if (info->fields[n]->type == FIELDTYPE_ENUM) {
initfields.append(QString("%1;\n")
.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[idx])));
} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
initfields.append(QString("%1f;\n")
.arg(info->fields[n]->defaultValues[idx].toFloat(), 0, 'e', 6));
} else {
initfields.append(QString("%1;\n")
.arg(info->fields[n]->defaultValues[idx].toInt()));
}
}
}
}
}
outCode.replace(QString("$(INITFIELDS)"), initfields);
// Replace the $(SETGETFIELDS) tag
QString setgetfields;
for (int n = 0; n < info->fields.length(); ++n) {
// if (!info->fields[n]->defaultValues.isEmpty() )
{
// For non-array fields
if (info->fields[n]->numElements == 1) {
/* Set */
setgetfields.append(QString("void %2%3Set(%1 *New%3)\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(fieldTypeStrC[info->fields[n]->type]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3Get(%1 *New%3)\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(fieldTypeStrC[info->fields[n]->type]));
setgetfields.append(QString("}\n"));
} else {
// When no struct accessor is available for a field array accessor is the default.
QString suffix = QString("");
if (info->fields[n]->elementNames[0].compare(QString("0")) != 0) {
// struct based field accessor
QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
/* SET */
setgetfields.append(QString("void %2%3Set( %1 *New%3 )\n")
.arg(structTypeName)
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3Get( %1 *New%3 )\n")
.arg(structTypeName)
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
setgetfields.append(QString("}\n"));
// Append array suffix to array accessors
suffix = QString("Array");
}
// array based field accessor
/* SET */
setgetfields.append(QString("void %2%3%4Set( %1 *New%3 )\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3%4Get( %1 *New%3 )\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), %3*sizeof(%4));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
setgetfields.append(QString("}\n"));
}
}
}
outCode.replace(QString("$(SETGETFIELDS)"), setgetfields);
// Replace the $(SETGETFIELDSEXTERN) tag
QString setgetfieldsextern;
for (int n = 0; n < info->fields.length(); ++n) {
// if (!info->fields[n]->defaultValues.isEmpty() )
{
QString suffix = QString("");
if (info->fields[n]->elementNames[0].compare(QString("0")) != 0) {
// struct based field accessor
QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name);
/* SET */
setgetfieldsextern.append(QString("extern void %2%3Set(%1 *New%3);\n")
.arg(structTypeName)
.arg(info->name)
.arg(info->fields[n]->name));
/* GET */
setgetfieldsextern.append(QString("extern void %2%3Get(%1 *New%3);\n")
.arg(structTypeName)
.arg(info->name)
.arg(info->fields[n]->name));
suffix = QString("Array");
}
/* SET */
setgetfieldsextern.append(QString("extern void %2%3%4Set(%1 *New%3);\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
/* GET */
setgetfieldsextern.append(QString("extern void %2%3%4Get(%1 *New%3);\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
}
}
outInclude.replace(QString("$(SETGETFIELDSEXTERN)"), setgetfieldsextern);
// Write the flight code
bool res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode);
if (!res) {
cout << "Error: Could not write flight code files" << endl;
return false;
}
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write flight include files" << endl;
return false;
}
return true;
}
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