mirror of
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179 lines
7.7 KiB
C++
179 lines
7.7 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobjectgeneratorarduino.cpp
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* @author The LibrePilot Project, https://www.librepilot.org, Copyright (C) 2017.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief produce arduino 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 "uavobjectgeneratorarduino.h"
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using namespace std;
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bool UAVObjectGeneratorArduino::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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arduinoCodePath = QDir(templatepath + QString(ARDUINO_CODE_DIR));
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arduinoOutputPath = QDir(outputpath);
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arduinoOutputPath.mkpath(arduinoOutputPath.absolutePath());
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arduinoIncludeTemplate = readFile(arduinoCodePath.absoluteFilePath("inc/uavobject.h.template"));
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if (arduinoIncludeTemplate.isNull()) {
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cerr << "Error: Could not open arduino 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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}
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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 Arduino object files
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**/
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bool UAVObjectGeneratorArduino::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 = arduinoIncludeTemplate;
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// Replace common tags
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replaceCommonTags(outInclude, 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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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 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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QString type = typeList[n];
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// Append field
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// Check if it is a named set and create structures accordingly
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if (info->fields[n]->numElements > 1) {
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if (info->fields[n]->elementNames[0].compare("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 = "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("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("$(DATAFIELDS)", fields);
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outInclude.replace("$(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("\n");
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}
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outInclude.replace("$(DATAFIELDINFO)", enums);
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// Write the arduino code
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bool res = writeFileIfDifferent(arduinoOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
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if (!res) {
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cout << "Error: Could not write arduino 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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