ground/uavobjgenerator/uavobjectparser.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       uavobjectparser.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  * @brief      Parses XML files and extracts object information.
   8  *
   9  * @see        The GNU Public License (GPL) Version 3
  10  *
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #ifndef UAVOBJECTPARSER_H
  29 #define UAVOBJECTPARSER_H
  30
  31 #include <QString>
  32 #include <QStringList>
  33 #include <QList>
  34 #include <QDomNode>
  35 #include <QByteArray>
  36
  37 // Types
  38 typedef enum {
  39     FIELDTYPE_INT8 = 0,
  40     FIELDTYPE_INT16,
  41     FIELDTYPE_INT32,
  42     FIELDTYPE_UINT8,
  43     FIELDTYPE_UINT16,
  44     FIELDTYPE_UINT32,
  45     FIELDTYPE_FLOAT32,
  46     FIELDTYPE_ENUM
  47 } FieldType;
  48
  49 typedef struct {
  50     QString   name;
  51     QString   description;
  52     QString   units;
  53     FieldType type;
  54     int         numElements;
  55     int         numOptions;
  56     int         numBytes;
  57     QStringList elementNames;
  58     QStringList options; // for enums only
  59     bool        defaultElementNames;
  60     QStringList defaultValues;
  61     QString     limitValues;
  62     QString     parentObjectName;
  63     QString     parentFieldName;
  64 } FieldInfo;
  65
  66 /**
  67  * Object update mode
  68  */
  69 typedef enum {
  70     UPDATEMODE_MANUAL    = 0, /** Manually update object, by calling the updated() function */
  71     UPDATEMODE_PERIODIC  = 1, /** Automatically update object at periodic intervals */
  72     UPDATEMODE_ONCHANGE  = 2, /** Only update object when its data changes */
  73     UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
  74 } UpdateMode;
  75
  76
  77 typedef enum {
  78     ACCESS_READWRITE = 0,
  79     ACCESS_READONLY  = 1
  80 } AccessMode;
  81
  82
  83 typedef struct  {
  84     QString    name;
  85     QString    namelc; /** name in lowercase */
  86     QString    filename;
  87     quint32    id;
  88     bool       isSingleInst;
  89     bool       isSettings;
  90     bool       isPriority;
  91     AccessMode gcsAccess;
  92     AccessMode flightAccess;
  93     bool       flightTelemetryAcked;
  94     UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
  95     int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
  96     bool       gcsTelemetryAcked;
  97     UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
  98     int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
  99     UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
 100     int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
 101     QList<FieldInfo *> fields; /** The data fields for the object **/
 102     QString    description; /** Description used for Doxygen **/
 103     QString    category; /** Description used for Doxygen **/
 104 } ObjectInfo;
 105
 106 class UAVObjectParser {
 107 public:
 108
 109     // Functions
 110     UAVObjectParser();
 111     QString parseXML(QString & xml, QString & filename);
 112     int getNumObjects();
 113     QList<ObjectInfo *> getObjectInfo();
 114     QString getObjectName(int objIndex);
 115     quint32 getObjectID(int objIndex);
 116
 117     ObjectInfo *getObjectByIndex(int objIndex);
 118     ObjectInfo *getObjectByName(const QString & objName);
 119     int getNumBytes(int objIndex);
 120     QStringList all_units;
 121
 122 private:
 123     QList<ObjectInfo *> objInfo;
 124     QStringList fieldTypeStrXML;
 125     QList<int> fieldTypeNumBytes;
 126     QStringList updateModeStr;
 127     QStringList updateModeStrXML;
 128     QStringList accessModeStr;
 129     QStringList accessModeStrXML;
 130
 131     QString processObjectAttributes(QDomNode & node, ObjectInfo *info);
 132     QString processObjectFields(QDomNode & childNode, ObjectInfo *info);
 133     QString processObjectAccess(QDomNode & childNode, ObjectInfo *info);
 134     QString processObjectDescription(QDomNode & childNode, QString *description);
 135     QString processObjectCategory(QDomNode & childNode, QString *category);
 136     QString processObjectMetadata(QDomNode & childNode, UpdateMode *mode, int *period, bool *acked);
 137     void calculateID(ObjectInfo *info);
 138     quint32 updateHash(quint32 value, quint32 hash);
 139     quint32 updateHash(QString & value, quint32 hash);
 140 };
 141
 142 #endif // UAVOBJECTPARSER_H