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package com.github.jodersky.mavlink.parsing
import scala.xml.Node
import scala.util.Try
import FieldTypes._
import Parser._
import Name._
object Parser {
def fatal(message: String, xml: Node) = throw new RuntimeException("Cannot parse message definition: " + message + " " + xml)
}
case class Protocol(version: String, enums: Seq[Enum], messages: Seq[Message])
object Protocol {
def parse(xml: Node) = {
val root = xml \\ "mavlink"
val version = (root \ "version").text
val enums = (root \ "enums" \ "_") map Enum.parse
val messages = (root \ "messages" \ "_") map Message.parse
Protocol(version, enums, messages)
}
}
case class Enum(name: String, entries: Seq[EnumEntry]) {
def scalaName = className(name)
}
object Enum {
def parse(xml: Node) = {
val name = (xml \ "@name").headOption.map(_.text).getOrElse(fatal("no name defined", xml))
val entries = (xml \ "entry") map EnumEntry.parse
Enum(name, entries)
}
}
case class EnumEntry(value: Int, name: String, description: String) {
def scalaName = className(name)
}
object EnumEntry {
def parse(xml: Node) = {
val valueString = (xml \ "@value").headOption.map(_.text).getOrElse(fatal("no value defined", xml))
val value = Try { Integer.parseInt(valueString) }.getOrElse(fatal("value must be an integer", xml))
val name = (xml \ "@name").headOption.map(_.text).getOrElse(fatal("no name defined", xml))
val description = (xml \ "description").text
EnumEntry(value, name, description)
}
}
case class Message(id: Byte, name: String, description: String, fields: Seq[Field]) {
def scalaName = className(name)
def orderedFields = fields.sortBy(_.tpe.width)(Ordering[Int].reverse)
lazy val checksum = {
var c = new Crc()
c = c.accumulate((name + " ").getBytes)
for (field <- orderedFields) {
c = c.accumulate((field.tpe.nativeType + " ").getBytes)
c = c.accumulate((field.name + " ").getBytes)
}
(c.lsb ^ c.msb).toByte
}
}
object Message {
def parse(xml: Node): Message = {
val idString = (xml \ "@id").headOption.map(_.text).getOrElse(fatal("no id defined", xml))
val id = Try { Integer.parseInt(idString).toByte }.getOrElse(fatal("id must be an integer", xml))
val name = (xml \ "@name").headOption.map(_.text).getOrElse(fatal("no name defined", xml))
val description = (xml \ "description").text
val fields = (xml \ "field") map Field.parse
Message(id, name, description, fields)
}
}
case class Field(tpe: Type, name: String, enum: Option[String], description: String) {
def scalaName = varName(name)
}
object Field {
def parse(xml: Node): Field = {
val tpeNode = (xml \ "@type").headOption.getOrElse(fatal("no type defined", xml))
val tpe = FieldTypes.parse(tpeNode)
val name = (xml \ "@name").headOption.map(_.text).getOrElse(fatal("no name defined", xml))
val enum = (xml \ "@enum").headOption.map(_.text)
val description = (xml).text
Field(tpe, name, enum, description)
}
}
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