ground/uavobjgenerator/uavobjectparser.h

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