diff options
Diffstat (limited to 'mavlink-library/src/main/scala/com/github/jodersky/mavlink/Parser.scala')
-rw-r--r-- | mavlink-library/src/main/scala/com/github/jodersky/mavlink/Parser.scala | 85 |
1 files changed, 51 insertions, 34 deletions
diff --git a/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Parser.scala b/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Parser.scala index 3010121..e6f0f07 100644 --- a/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Parser.scala +++ b/mavlink-library/src/main/scala/com/github/jodersky/mavlink/Parser.scala @@ -1,12 +1,10 @@ package com.github.jodersky.mavlink +import java.io.File + import scala.language.postfixOps -import scala.xml.Attribute -import scala.xml.Elem -import scala.xml.Node -import scala.xml.Null -import scala.xml.Text +import scala.xml._ import scala.util.Try import trees._ @@ -18,91 +16,110 @@ import trees._ class Parser(reporter: Reporter) { import reporter._ - def parseDialect(node: Node): Dialect = parse(node) match { + def parseDialect(dialectDefinitionFile: File): Dialect = { + val xml = XML.loadFile(dialectDefinitionFile) + parseDialect(xml, dialectDefinitionFile) + } + + private def parseDialect(node: Node, file: File): Dialect = parse(node, file) match { case p: Dialect => p - case _ => fatal("expected mavlink protocol definition", node) + case _ => fatal("expected mavlink protocol definition", node, file) } - def parse(node: Node): Tree = node match { + def parse(node: Node, file: File): Tree = node match { case <field>{_*}</field> => val description = node.text - val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for field", node) + val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for field", node, file) val enum = (node \ "@enum").map(_.text).headOption val (tpe, native) = (node \ "@type") map (_.text) headOption match { - case Some(t) => (parseType(t, node), t) - case None => fatal("no field type specified", node) + case Some(t) => (parseType(t, node, file), t) + case None => fatal("no field type specified", node, file) } Field(tpe, native, name, enum, description) case <entry>{_*}</entry> => val value = (node \ "@value").map(_.text).headOption map { str => - Try { Integer.parseInt(str) } getOrElse fatal("value must be an integer", node) - } getOrElse fatal("no value defined", node) - val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for enum entry", node) + Try { Integer.parseInt(str) } getOrElse fatal("value must be an integer", node, file) + } getOrElse fatal("no value defined", node, file) + val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for enum entry", node, file) val description = (node \ "description").text EnumEntry(value, name, description) case <enum>{_*}</enum> => - val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for enum", node) + val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for enum", node, file) val description = (node \ "description").map(_.text).headOption getOrElse "" val entries = (node \ "entry").zipWithIndex map { case (n, i) => //FIXME: some official MAVLink dialects don't define values in enums val nodeWithValue = if ((n \ "@value").isEmpty) { - warn("no value defined for enum entry, using index instead", n) + warn("no value defined for enum entry, using index instead", n, file) n.asInstanceOf[Elem] % Attribute(None, "value", Text(i.toString), Null) } else { n } - parse(nodeWithValue) match { + parse(nodeWithValue, file) match { case e: EnumEntry => e - case _ => fatal("illegal definition in enum, only entries are allowed", n) + case _ => fatal("illegal definition in enum, only entries are allowed", n, file) } } Enum(name, entries, description) case <message>{_*}</message> => val id = (node \ "@id").map(_.text).headOption map { str => - val id = Try { Integer.parseInt(str) } getOrElse fatal("id must be an integer", node) - if (id < 0 || id > 255) warn("message id is not in the range [0-255]", node) + val id = Try { Integer.parseInt(str) } getOrElse fatal("id must be an integer", node, file) + if (id < 0 || id > 255) warn("message id is not in the range [0-255]", node, file) id.toByte - } getOrElse fatal("no id defined", node) - val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for message", node) + } getOrElse fatal("no id defined", node, file) + val name = (node \ "@name").map(_.text).headOption getOrElse fatal("no name defined for message", node, file) val description = (node \ "description").text val fields = (node \ "field") map { n: Node => - parse(n) match { + parse(n, file) match { case e: Field => e - case _ => fatal("illegal definition in message, only fields are allowed", n) + case _ => fatal("illegal definition in message, only fields are allowed", n, file) } } Message(id, name, description, fields) case <mavlink>{_*}</mavlink> => - val version = (node \ "version").text + val version = (node \ "version").headOption.map(_.text) + + val include = (node \ "include").headOption.map(_.text).map { includeFileName => + val includeFile: File = new File(file.getParentFile, includeFileName) + parseDialect(includeFile) + } val enums = (node \ "enums" \ "_").toSet map { n: Node => - parse(n) match { + parse(n, file) match { case e: Enum => e - case _ => fatal("illegal definition in enums, only enum declarations are allowed", n) + case _ => fatal("illegal definition in enums, only enum declarations are allowed", n, file) } } val messages = (node \ "messages" \ "_").toSet map { n: Node => - parse(n) match { + parse(n, file) match { case e: Message => e - case e => fatal("illegal definition in messages, only message declarations are allowed", n) + case e => fatal("illegal definition in messages, only message declarations are allowed", n, file) } } - Dialect(version, enums, messages) + + include match { + case None => Dialect(version, enums, messages) + case Some(includeDialect) => Dialect( + (version ++ includeDialect.version).headOption, // included version overridden by local version if any + enums ++ includeDialect.enums, + messages ++ includeDialect.messages + ) + } + - case x => fatal("unknown", x) + case x => fatal("unknown", x, file) } val ArrayPattern = """(.*)\[(\d+)\]""".r - def parseType(typeStr: String, node: Node): Type = typeStr match { + def parseType(typeStr: String, node: Node, file: File): Type = typeStr match { case "int8_t" => IntType(1, true) case "uint8_t_mavlink_version" => IntType(1, false) case "int16_t" => IntType(2, true) @@ -116,8 +133,8 @@ class Parser(reporter: Reporter) { case "double" => FloatType(8) case "char" => IntType(1, true) case ArrayPattern("char", l) => StringType(l.toInt) - case ArrayPattern(u, l) => ArrayType(parseType(u, node), l.toInt) - case unknown => fatal("unknown field type " + unknown, node) + case ArrayPattern(u, l) => ArrayType(parseType(u, node, file), l.toInt) + case unknown => fatal("unknown field type " + unknown, node, file) } }
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