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added arduino support to uavobjgenerator
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * @addtogroup UAVObjects LibrePilot UAVObjects | ||
| * @{ | ||
| * @addtogroup $(NAME) $(NAME) | ||
| * @brief $(DESCRIPTION) | ||
| * | ||
| * Autogenerated files and functions for $(NAME) Object | ||
| * | ||
| * @{ | ||
| * | ||
| * @file $(NAMELC).h | ||
| * | ||
| * @author The LibrePilot Project, https://www.librepilot.org, (C) 2017. | ||
| * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013. | ||
| * | ||
| * @brief Arduino Header of the $(NAME) object. This file has been | ||
| * automatically generated by the UAVObjectGenerator. | ||
| * | ||
| * @note Object definition file: $(XMLFILE). | ||
| * This is an automatically generated file. | ||
| * DO NOT modify manually. | ||
| * | ||
| * @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 | ||
| */ | ||
|
|
||
| #ifndef $(NAMEUC)_H | ||
| #define $(NAMEUC)_H | ||
| #include <stdbool.h> | ||
| /* Object constants */ | ||
| #define $(NAMEUC)_OBJID $(OBJIDHEX) | ||
| #define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST) | ||
| #define $(NAMEUC)_ISSETTINGS $(ISSETTINGS) | ||
| #define $(NAMEUC)_ISPRIORITY $(ISPRIORITY) | ||
| #define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data) | ||
|
|
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| $(DATAFIELDINFO) | ||
|
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| $(DATASTRUCTURES) | ||
| /* | ||
| * Packed Object data (unaligned). | ||
| * Should only be used where 4 byte alignment can be guaranteed | ||
| * (eg a single instance on the heap) | ||
| */ | ||
| typedef struct { | ||
| $(DATAFIELDS) | ||
| } __attribute__((packed)) $(NAME)DataPacked; | ||
|
|
||
| /* | ||
| * Packed Object data. | ||
| * Alignment is forced to 4 bytes | ||
| */ | ||
| typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data; | ||
|
|
||
| /* | ||
| * Union to apply the data array to and to use as structured object data | ||
| */ | ||
| union { | ||
| $(NAME)DataPacked data; | ||
| byte arr[$(NAMEUC)_NUMBYTES]; | ||
| } $(NAME)DataUnion; | ||
|
|
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| #endif // $(NAMEUC)_H | ||
|
|
||
| /** | ||
| * @} | ||
| * @} | ||
| */ |
178 changes: 178 additions & 0 deletions
178
ground/uavobjgenerator/generators/arduino/uavobjectgeneratorarduino.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,178 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * | ||
| * @file uavobjectgeneratorarduino.cpp | ||
| * @author The LibrePilot Project, https://www.librepilot.org, Copyright (C) 2017. | ||
| * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. | ||
| * @brief produce arduino 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 "uavobjectgeneratorarduino.h" | ||
|
|
||
| using namespace std; | ||
|
|
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| bool UAVObjectGeneratorArduino::generate(UAVObjectParser *parser, QString templatepath, QString outputpath) | ||
| { | ||
| fieldTypeStrC << "int8_t" << "int16_t" << "int32_t" << "uint8_t" | ||
| << "uint16_t" << "uint32_t" << "float" << "uint8_t"; | ||
|
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| arduinoCodePath = QDir(templatepath + QString(ARDUINO_CODE_DIR)); | ||
| arduinoOutputPath = QDir(outputpath); | ||
| arduinoOutputPath.mkpath(arduinoOutputPath.absolutePath()); | ||
|
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| arduinoIncludeTemplate = readFile(arduinoCodePath.absoluteFilePath("inc/uavobject.h.template")); | ||
|
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| if (arduinoIncludeTemplate.isNull()) { | ||
| cerr << "Error: Could not open arduino template files." << endl; | ||
| return false; | ||
| } | ||
|
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| for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) { | ||
| ObjectInfo *info = parser->getObjectByIndex(objidx); | ||
| process_object(info); | ||
| } | ||
| return true; // if we come here everything should be fine | ||
| } | ||
|
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|
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| /** | ||
| * Generate the Arduino object files | ||
| **/ | ||
| bool UAVObjectGeneratorArduino::process_object(ObjectInfo *info) | ||
| { | ||
| if (info == NULL) { | ||
| return false; | ||
| } | ||
|
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| // Prepare output strings | ||
| QString outInclude = arduinoIncludeTemplate; | ||
|
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| // Replace common tags | ||
| replaceCommonTags(outInclude, info); | ||
|
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| // Use the appropriate typedef for enums where we find them. Set up | ||
| // that StringList here for use below. | ||
| QStringList typeList; | ||
| for (int n = 0; n < info->fields.length(); ++n) { | ||
| if (info->fields[n]->type == FIELDTYPE_ENUM) { | ||
| typeList << QString("%1%2Options").arg(info->name).arg(info->fields[n]->name); | ||
| } else { | ||
| typeList << fieldTypeStrC[info->fields[n]->type]; | ||
| } | ||
| } | ||
|
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| // Replace the $(DATAFIELDS) tag | ||
| QString fields; | ||
| QString dataStructures; | ||
| for (int n = 0; n < info->fields.length(); ++n) { | ||
| // Determine type | ||
| QString type = typeList[n]; | ||
| // Append field | ||
| // Check if it is a named set and create structures accordingly | ||
| if (info->fields[n]->numElements > 1) { | ||
| if (info->fields[n]->elementNames[0].compare("0") != 0) { | ||
| QString structTypeName = QString("%1%2Data").arg(info->name).arg(info->fields[n]->name); | ||
| QString structType = "typedef struct __attribute__ ((__packed__)) {\n"; | ||
| for (int f = 0; f < info->fields[n]->elementNames.count(); f++) { | ||
| structType.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->elementNames[f])); | ||
| } | ||
| structType.append(QString("} %1 ;\n").arg(structTypeName)); | ||
| structType.append("typedef struct __attribute__ ((__packed__)) {\n"); | ||
| structType.append(QString(" %1 array[%2];\n").arg(type).arg(info->fields[n]->elementNames.count())); | ||
| structType.append(QString("} %1Array ;\n").arg(structTypeName)); | ||
| structType.append(QString("#define %1%2ToArray( var ) UAVObjectFieldToArray( %3, var )\n\n").arg(info->name).arg(info->fields[n]->name).arg(structTypeName)); | ||
|
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| dataStructures.append(structType); | ||
|
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| fields.append(QString(" %1 %2;\n").arg(structTypeName) | ||
| .arg(info->fields[n]->name)); | ||
| } else { | ||
| fields.append(QString(" %1 %2[%3];\n").arg(type) | ||
| .arg(info->fields[n]->name).arg(info->fields[n]->numElements)); | ||
| } | ||
| } else { | ||
| fields.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name)); | ||
| } | ||
| } | ||
| outInclude.replace("$(DATAFIELDS)", fields); | ||
| outInclude.replace("$(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 __attribute__ ((__packed__)) {\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)); | ||
| } | ||
|
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| enums.append("\n"); | ||
| } | ||
| outInclude.replace("$(DATAFIELDINFO)", enums); | ||
|
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| // Write the arduino code | ||
| bool res = writeFileIfDifferent(arduinoOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude); | ||
| if (!res) { | ||
| cout << "Error: Could not write arduino include files" << endl; | ||
| return false; | ||
| } | ||
|
|
||
| return true; | ||
| } |
47 changes: 47 additions & 0 deletions
47
ground/uavobjgenerator/generators/arduino/uavobjectgeneratorarduino.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| /** | ||
| ****************************************************************************** | ||
| * | ||
| * @file uavobjectgeneratorarduino.h | ||
| * @author The LibrePilot Project, https://www.librepilot.org Copyright (C) 2017. | ||
| * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. | ||
| * @brief produce arduino 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 | ||
| */ | ||
|
|
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| #ifndef UAVOBJECTGENERATORARDUINO_H | ||
| #define UAVOBJECTGENERATORARDUINO_H | ||
|
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| #define ARDUINO_CODE_DIR "arduino/uavobjects" | ||
|
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| #include "../generator_common.h" | ||
|
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| class UAVObjectGeneratorArduino { | ||
| public: | ||
| bool generate(UAVObjectParser *gen, QString templatepath, QString outputpath); | ||
| QStringList fieldTypeStrC; | ||
| QString arduinoIncludeTemplate; | ||
| QDir arduinoCodePath; | ||
| QDir arduinoOutputPath; | ||
|
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| private: | ||
| bool process_object(ObjectInfo *info); | ||
| }; | ||
|
|
||
| #endif |
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