mirror of https://github.com/ArduPilot/ardupilot
158 lines
4.6 KiB
C++
158 lines
4.6 KiB
C++
#pragma once
|
|
|
|
#include <AP_Logger/AP_Logger.h>
|
|
#include "VehicleType.h"
|
|
|
|
#include <stdio.h>
|
|
|
|
// ignore cast errors in this case to keep complexity down
|
|
// on x86 where replay is run we don't care about cast alignment
|
|
#pragma GCC diagnostic ignored "-Wcast-align"
|
|
|
|
#define LOGREADER_MAX_FIELDS 30
|
|
|
|
#define streq(x, y) (!strcmp(x, y))
|
|
|
|
class MsgHandler {
|
|
public:
|
|
// constructor - create a parser for a MavLink message format
|
|
MsgHandler(const struct log_Format &f);
|
|
|
|
// retrieve a comma-separated list of all labels
|
|
void string_for_labels(char *buffer, uint bufferlen);
|
|
|
|
// field_value - retrieve the value of a field from the supplied message
|
|
// these return false if the field was not found
|
|
template<typename R>
|
|
bool field_value(uint8_t *msg, const char *label, R &ret);
|
|
|
|
bool field_value(uint8_t *msg, const char *label, Vector3f &ret);
|
|
bool field_value(uint8_t *msg, const char *label,
|
|
char *buffer, uint8_t bufferlen);
|
|
|
|
template <typename R>
|
|
void require_field(uint8_t *msg, const char *label, R &ret)
|
|
{
|
|
if (! field_value(msg, label, ret)) {
|
|
field_not_found(msg, label);
|
|
}
|
|
}
|
|
void require_field(uint8_t *msg, const char *label, char *buffer, uint8_t bufferlen);
|
|
float require_field_float(uint8_t *msg, const char *label);
|
|
uint8_t require_field_uint8_t(uint8_t *msg, const char *label);
|
|
int32_t require_field_int32_t(uint8_t *msg, const char *label);
|
|
uint16_t require_field_uint16_t(uint8_t *msg, const char *label);
|
|
int16_t require_field_int16_t(uint8_t *msg, const char *label);
|
|
|
|
private:
|
|
|
|
void add_field(const char *_label, uint8_t _type, uint8_t _offset,
|
|
uint8_t length);
|
|
|
|
template<typename R>
|
|
void field_value_for_type_at_offset(uint8_t *msg, uint8_t type,
|
|
uint8_t offset, R &ret);
|
|
|
|
struct format_field_info { // parsed field information
|
|
char *label;
|
|
uint8_t type;
|
|
uint8_t offset;
|
|
uint8_t length;
|
|
};
|
|
struct format_field_info field_info[LOGREADER_MAX_FIELDS];
|
|
|
|
uint8_t next_field;
|
|
size_t size_for_type_table[52]; // maps field type (e.g. 'f') to e.g 4 bytes
|
|
|
|
struct format_field_info *find_field_info(const char *label);
|
|
|
|
void parse_format_fields();
|
|
void init_field_types();
|
|
void add_field_type(char type, size_t size);
|
|
uint8_t size_for_type(char type);
|
|
|
|
protected:
|
|
struct log_Format f; // the format we are a parser for
|
|
~MsgHandler();
|
|
|
|
void location_from_msg(uint8_t *msg, Location &loc, const char *label_lat,
|
|
const char *label_long, const char *label_alt);
|
|
|
|
void ground_vel_from_msg(uint8_t *msg,
|
|
Vector3f &vel,
|
|
const char *label_speed,
|
|
const char *label_course,
|
|
const char *label_vz);
|
|
|
|
void attitude_from_msg(uint8_t *msg,
|
|
Vector3f &att,
|
|
const char *label_roll,
|
|
const char *label_pitch,
|
|
const char *label_yaw);
|
|
[[noreturn]] void field_not_found(uint8_t *msg, const char *label);
|
|
};
|
|
|
|
template<typename R>
|
|
bool MsgHandler::field_value(uint8_t *msg, const char *label, R &ret)
|
|
{
|
|
struct format_field_info *info = find_field_info(label);
|
|
if (info == NULL) {
|
|
return false;
|
|
}
|
|
|
|
uint8_t offset = info->offset;
|
|
if (offset == 0) {
|
|
return false;
|
|
}
|
|
|
|
field_value_for_type_at_offset(msg, info->type, offset, ret);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
template<typename R>
|
|
inline void MsgHandler::field_value_for_type_at_offset(uint8_t *msg,
|
|
uint8_t type,
|
|
uint8_t offset,
|
|
R &ret)
|
|
{
|
|
/* we register the types - add_field_type - so can we do without
|
|
* this switch statement somehow? */
|
|
switch (type) {
|
|
case 'B':
|
|
ret = (R)(((uint8_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'c':
|
|
case 'h':
|
|
ret = (R)(((int16_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'H':
|
|
ret = (R)(((uint16_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'C':
|
|
ret = (R)(((uint16_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'f':
|
|
ret = (R)(((float*)&msg[offset])[0]);
|
|
break;
|
|
case 'I':
|
|
case 'E':
|
|
ret = (R)(((uint32_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'L':
|
|
case 'e':
|
|
ret = (R)(((int32_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'q':
|
|
ret = (R)(((int64_t*)&msg[offset])[0]);
|
|
break;
|
|
case 'Q':
|
|
ret = (R)(((uint64_t*)&msg[offset])[0]);
|
|
break;
|
|
default:
|
|
::printf("Unhandled format type (%c)\n", type);
|
|
exit(1);
|
|
}
|
|
}
|