use strict;

use warnings;

use feature 'state';

use FindBin;

use lib "$FindBin::Bin/../3rdparty/perl";

use JSON::PP;

use Time::HiRes qw(time);

use Path::Tiny;

use Data::Float qw();

my $DEBUG = 0;

my $OUT = shift(@ARGV);

my @IN = @ARGV;

die("RTFS :-)") unless ($OUT && ($#IN > -1));

{

my @sources = ();

my @items = ();

foreach my $JSON (@IN)

{

# read raw JSON (with comments)

my $json = '';

eval { $json = path($JSON)->slurp_raw(); };

if ($! || $@)

{

my $err = ("$!" || "$@"); $err =~ s{\s*\r?\n$}{};

print(STDERR "Cannot read '$JSON': $err\n");

exit(1);

}

DEBUG("$JSON: json raw %d bytes", length($json));

# remove (some) comments

$json =~ s{^\s*//.*}{}mg;

#$json =~ s{//.*$}{}mg;

DEBUG("$JSON: json w/o comments %d bytes", length($json));

# parse JSON

my $data;

eval { $data = JSON::PP->new()->utf8()->decode($json); };

if ($! || $@)

{

my $err = ("$!" || "$@"); $err =~ s{\s*\r?\n$}{}; $err =~ s{at $0 line .*}{};

print(STDERR "$JSON: parse fail: $err\n");

exit(1);

}

if (!UNIVERSAL::isa($data->{items}, 'ARRAY'))

{

print(STDERR "$JSON: Unexpected data structure!\n");

exit(1);

}

push(@sources, @{$data->{sources}});

push(@items, @{$data->{items}});

}

# verify content

if (!verifyItems(\@items))

{

exit(1);

}

DEBUG("Have %d configuration items.", $#items + 1);

# generate output

my $errors = 0;

if (genCodeC(\@items, \@sources))

{

exit(0);

}

else

{

exit(1);

}

};

sub verifyItems

{

my ($data) = @_;

my $errors = 0;

my %namesSeen = ();

my %idsSeen = ();

for (my $ix = 0; $ix <= $#{$data}; $ix++)

{

my $item = $data->[$ix];

if (!$item->{name} || !$item->{id} || !defined $item->{size})

{

print(STDERR "Missing data at index $ix!\n");

$errors++;

next;

}

if ($namesSeen{ $item->{name} })

{

print(STDERR "Duplicate name '$item->{name}' at index $ix!\n");

$errors++;

}

$namesSeen{ $item->{name} }++;

if ($idsSeen{ $item->{id} })

{

print(STDERR "Duplicate name '$item->{id}' at index $ix!\n");

$errors++;

}

$idsSeen{ $item->{id} }++;

my $id = hex($item->{id});

if ($id & 0x80000000)

{

print(STDERR "Use of reserved ID bit 31 at index $ix ($item->{name})\n");

$errors++;

}

if ($id & 0x0f000000)

{

print(STDERR "Use of reserved ID bits 27..24 at index $ix ($item->{name})\n");

$errors++;

}

if ($id & 0x0000f000) # u-blox docu is wrong. ID is 12 bits, not 8

{

print(STDERR "Use of reserved ID bits 15..12 at index $ix ($item->{name})\n");

$errors++;

}

my %sizeNumToSize = ( 1 => 0, 2 => 1, 3 => 2, 4 => 4, 5 => 8 );

my $sizeNum = ($id >> 28) & 0xf;

if ( !defined $sizeNumToSize{$sizeNum} || ($sizeNumToSize{$sizeNum} != $item->{size}) )

{

printf(STDERR "ID and size mismatch (ID 0x%x......., size $item->{size}) at index $ix ($item->{name})!\n", $sizeNum);

$errors++;

}

my %sizeToType = ( 0 => { L => 1 }, 1 => { U1 => 1, I1 => 1, X1 => 1, E1 => 1 }, 2 => { U2 => 1, I2 => 1, X2 => 1, E2 => 1 },

4 => { U4 => 1, I4 => 1, X4 => 1, E4 => 1, R4 => 1 }, 8 => { U8 => 1, I8 => 1, X8 => 1, R8 => 1 } );

if (!$sizeToType{$item->{size}} || !$sizeToType{$item->{size}}->{$item->{type}})

{

print(STDERR "Size and type mismatch (size $item->{size}, type $item->{type}) at index $ix ($item->{name})!\n");

$errors++;

}

}

return $errors ? 0 : 1;

}

sub genCodeC

{

my ($items, $sources) = @_;

my $errors = 0;

my $numItems = $#{$items} + 1;

my $c = '';

my $h = '';

my $cc = '';

my $hh = '';

my $top = "// u-blox 9 positioning receivers configuration library\n" .

"//\n" .

"// Copyright (c) Philippe Kehl (flipflip at oinkzwurgl dot org),\n" .

"// https://oinkzwurgl.org/hacking/ubloxcfg\n" .

"//\n" .

"// This program is free software: you can redistribute it and/or modify it under the terms of the\n" .

"// GNU Lesser General Public License as published by the Free Software Foundation, either version 3\n" .

"// of the License, or (at your option) any later version.\n" .

"//\n" .

"// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;\n" .

"// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n" .

"// See the GNU Lesser General Public License for more details.\n" .

"//\n" .

"// You should have received a copy of the GNU Lesser General Public License along with this\n" .

"// program. If not, see <https://www.gnu.org/licenses/>.\n" .

"//\n" .

"// This file is automatically generated. Do not edit.\n" .

"\n";

$h .= $top;

$h .= "\n";

$h .= "#ifndef __UBLOXCFG_GEN_H__\n";

$h .= "#define __UBLOXCFG_GEN_H__\n";

$h .= "\n";

$h .= "#ifdef __cplusplus\n";

$h .= "extern \"C\" {\n";

$h .= "#endif\n";

$h .= "\n";

$h .= "/*!\n";

$h .= " \\defgroup UBLOXCFG_ITEMS Configuration items\n";

$h .= " \\ingroup UBLOXCFG\n";

$h .= "\n";

$h .= " Sources:\n";

$h .= " - $_\n" for (@{$sources});

$h .= "\n";

$h .= " \@{\n";

$h .= "*/\n";

$c .= $top;

$c .= "// Sources:\n";

$c .= "// - $_\n" for (@{$sources});

$c .= "\n";

$c .= "#include <stddef.h>\n";

$c .= "#include \"ubloxcfg.h\"\n";

$c .= "#include \"ubloxcfg_gen.h\"\n";

$c .= "\n";

my %sizeNames = ( 0 => 'UBLOXCFG_SIZE_BIT', 1 => 'UBLOXCFG_SIZE_ONE', 2 => 'UBLOXCFG_SIZE_TWO',

4 => 'UBLOXCFG_SIZE_FOUR', 8 => 'UBLOXCFG_SIZE_EIGHT');

my @itemStructs = ();

my %msgCfgs = ();

my $maxItemNameLen = 0;

my $maxConstNamesLen = 0;

# generate item definitions

my $lastGroup = '';

for (my $itemIx = 0; $itemIx < $numItems; $itemIx++)

{

my $item = $items->[$itemIx];

my $itemNameC = $item->{name}; $itemNameC =~ s{-}{_}g; # CFG_FOO_BAR

my $groupName = $item->{name}; $groupName =~ s{^(CFG-[^-]+)-.+}{$1}; # CFG-FOO

my $groupNameC = $groupName; $groupNameC =~ s{-}{_}g; # CFG_FOO

DEBUG("item %s %s, group %s", $item->{id}, $item->{name}, $groupName);

# ##### header file #####

# new group (for Doxygen)

if ($groupName ne $lastGroup)

{

# end previous group

if ($itemIx != 0)

{

$h .= "\n";

$h .= "///@}\n"; # UBLOXCFG_ITEMS_FOO (group)

}

# start new group

$h .= "\n";

$h .= "/*!\n";

$h .= " \\defgroup UBLOXCFG_$groupNameC $groupName\n";

$h .= " @\{\n";

$h .= "*/\n";

$h .= "\n";

$h .= sprintf("#define UBLOXCFG_${groupNameC}_ID 0x%08x //!< Group ID of the $groupName-* items\n", hex($item->{id}) & 0x00ff0000);

$lastGroup = $groupName;

}

$h .= "\n";

$h .= "/*!\n";

$h .= " \\defgroup UBLOXCFG_$itemNameC $item->{name} ($item->{title})\n";

$h .= " \@{\n";

$h .= "*/\n";

$h .= sprintf("#define %-50s %-40s //!< %s\n", "UBLOXCFG_${itemNameC}_ID", $item->{id}, "ID of $item->{name}");

$h .= sprintf("#define %-50s %-40s //!< %s\n", "UBLOXCFG_${itemNameC}_STR", "\"$item->{name}\"", "Name of $item->{name}");

$h .= sprintf("#define %-50s %-40s //!< %s\n", "UBLOXCFG_${itemNameC}_TYPE", $item->{type}, "Type of $item->{name}");

if ($item->{consts})

{

if ($item->{type} =~ m{^E})

{

$h .= "//! constants for $item->{name}\n";

$h .= "typedef enum UBLOXCFG_${itemNameC}_e\n";

$h .= "{\n";

for (my $cIx = 0; $cIx <= $#{$item->{consts}}; $cIx++)

{

my $const = $item->{consts}->[$cIx];

$h .= sprintf(" %-52s = %-40s //!< %s\n", "UBLOXCFG_${itemNameC}_$const->{name}", "$const->{value}" . ($cIx < $#{$item->{consts}} ? ',' : ''), $const->{title});

}

$h .= "} UBLOXCFG_${itemNameC}_t;\n";

}

else

{

$h .= "// constants for $item->{name}\n";

for (my $cIx = 0; $cIx <= $#{$item->{consts}}; $cIx++)

{

my $const = $item->{consts}->[$cIx];

$h .= sprintf("#define %-50s %-40s //!< %s\n", "UBLOXCFG_${itemNameC}_$const->{name}", $const->{value}, $const->{title});

}

}

my $constNameLen = length(join('|', map { $_->{name} } @{$item->{consts}}));

if ($constNameLen > $maxConstNamesLen)

{

$maxConstNamesLen = $constNameLen;

}

}

$h .= "///@}\n"; # UBLOXCFG_ITEMS_FOO_BAR (item)

# end last group

if ($itemIx == $#${items})

{

$h .= "\n";

$h .= "///@}\n"; # UBLOXCFG_ITEMS_FOO (group)

}

if (length($item->{name}) > $maxItemNameLen)

{

$maxItemNameLen = length($item->{name});

}

# ##### source file #####

my $cItem = '';

my $itemStruct = 'ubloxcfg_' . lcfirst(join('', map { ucfirst(lc($_)) } split('_', ${itemNameC})));

push(@itemStructs, $itemStruct);

$cItem .= "static const UBLOXCFG_ITEM_t $itemStruct =\n";

$cItem .= "{\n";

$cItem .= sprintf(" .id = $item->{id}, .name = %-50s .type = %-17s .size = %s\n",

"\"$item->{name}\",", "UBLOXCFG_TYPE_$item->{type},", "$sizeNames{$item->{size}},");

$cItem .= sprintf(" .order = %4d, .title =\"%s\",\n", $itemIx + 1, $item->{title});

my $unitStr = '';

if ($item->{unit})

{

$unitStr = ".unit = \"$item->{unit}\"";

}

my $scaleStr = '';

if ($item->{scale})

{

my $f = $item->{scale} =~ m{(.+)\^(.+)} ? $1 ** $2 : 1.0 * $item->{scale};

$scaleStr = sprintf('.scale = %-10s .scalefact = %s /* = %.20e */,',

"\"$item->{scale}\",", Data::Float::float_hex($f), $f);

}

if ($scaleStr && $unitStr)

{

$cItem .= sprintf(" %-20s%s,\n", "$unitStr,", $scaleStr);

}

elsif ($unitStr)

{

$cItem .= " $unitStr,\n";

}

elsif ($scaleStr)

{

$cItem .= sprintf(" %-20s%s,\n", "", $scaleStr);

}

if (!$item->{consts})

{

substr($cItem, -2, 1, ''); # remove trailing comma

}

else

{

my $nConsts = $#{$item->{consts}} + 1;

my $constsStruct = $itemStruct . '_consts';

$cItem .= sprintf(" .nConsts = %3d, .consts = %s\n", $nConsts, $constsStruct);

my $cConsts = '';

$cConsts .= "static const UBLOXCFG_CONST_t ${constsStruct}[$nConsts] =\n";

$cConsts .= "{\n";

foreach my $const (@{$item->{consts}})

{

$cConsts .= " {\n";

$cConsts .= sprintf(" .name = %-20s .value = %-20s .val = { .%s = %s },\n",

"\"$const->{name}\",", "\"$const->{value}\",", substr($item->{type}, 0, 1), $const->{value});

$cConsts .= " .title = \"$const->{title}\"\n";

$cConsts .= " },\n";

}

substr($cConsts, -2, 1, '');

$cConsts .= "};\n";

$c .= "\n$cConsts";

}

$cItem .= "};\n";

$c .= "\n$cItem";

# is it a message rate config?

# UBX: CFG-MSGOUT-UBX_NAV_PVT_UART1

# NMEA: CFG-MSGOUT-NMEA_ID_GGA_UART1, CFG-MSGOUT-PUBX_ID_POLYP_UART1

# RTCM: CFG-MSGOUT-RTCM_3X_TYPE1005_UART1, CFG-MSGOUT-RTCM_3X_TYPE4072_0_UART1

if ($item->{name} =~ m{^(CFG-MSGOUT-(.+)_(UART1|UART2|SPI|I2C|USB))$})

{

my ($cfg, $msg, $port) = ($1, $2, $3);

# get message name from description

if ($item->{title} =~ m{output rate of the ([-_A-Z0-9]+)}i)

{

my $name = uc($1);

#DEBUG("msgCfg: $name $port $cfg");

$msgCfgs{$name}->{$port} = { item => $cfg, itemNameC => $itemNameC, struct => $itemStruct };

}

else

{

print(STDERR "Cannot determine message name from $item->{name}'s title!\n");

$errors++;

}

}

}

# generate list of config item definitions

$c .= "\n";

$c .= "static const UBLOXCFG_ITEM_t * const ubloxcfg_allItems[$numItems] =\n";

$c .= "{\n";

$c .= " &$_,\n" for (@itemStructs);

substr($c, -2, 1, '');

$c .= "};\n";

$hh .= "#define _UBLOXCFG_NUM_ITEMS $numItems\n";

$hh .= "const void **_ubloxcfg_allItems(void);\n";

$cc .= "const void **_ubloxcfg_allItems(void) { return (const void **)ubloxcfg_allItems; }\n";

# generate aliases for message rate configs

my @msgNames = sort keys %msgCfgs;

$h .= "\n";

$h .= "/*!\n";

$h .= " \\defgroup UBLOXCFG_MSGOUT Output message rates (aliases)\n";

$h .= " \@{\n";

$h .= "*/\n";

foreach my $msgName (@msgNames)

{

my $msgNameC = $msgName; $msgNameC =~ s{-}{_}g; # UBX_FOO_BAR

$h .= "\n";

$h .= "/*!\n";

$h .= " \\defgroup UBLOXCFG_MSGOUT_$msgNameC $msgName\n";

$h .= " \@{\n";

$h .= "*/\n";

$h .= sprintf("#define %-50s %-50s //!< Message %s name\n", "UBLOXCFG_${msgNameC}_STR", "\"$msgName\"", $msgName);

foreach my $port (qw(UART1 UART2 SPI I2C USB))

{

if ($msgCfgs{$msgName}->{$port})

{

$h .= sprintf("#define %-50s %-50s //!< Config item ID for $msgName rate on port $port\n",

"UBLOXCFG_${msgNameC}_${port}_ID", "UBLOXCFG_$msgCfgs{$msgName}->{$port}->{itemNameC}_ID");

$h .= sprintf("#define %-50s %-50s //!< Config item name for $msgName rate on port $port\n",

"UBLOXCFG_${msgNameC}_${port}_STR", "UBLOXCFG_$msgCfgs{$msgName}->{$port}->{itemNameC}_STR");

$h .= sprintf("#define %-50s %-50s //!< Config item type for $msgName rate on port $port\n",

"UBLOXCFG_${msgNameC}_${port}_TYPE", "UBLOXCFG_$msgCfgs{$msgName}->{$port}->{itemNameC}_TYPE");

}

}

$h .= "///@}\n";

}

$h .= "///@}\n";

# generate lut for message name to config item

my @msgrateStructs = ();

foreach my $msgName (@msgNames)

{

my $msgrateStruct = 'ubloxcfg_' . lcfirst(join('', map { ucfirst(lc($_)) } split('-', $msgName)));

push(@msgrateStructs, $msgrateStruct);

$c .= "\n";

$c .= "static const UBLOXCFG_MSGRATE_t $msgrateStruct =\n";

$c .= "{\n";

$c .= " .msgName = \"$msgName\",\n";

$c .= " .itemUart1 = " . ($msgCfgs{$msgName}->{UART1} ? '&' . $msgCfgs{$msgName}->{UART1}->{struct} : "NULL") . ",\n";

$c .= " .itemUart2 = " . ($msgCfgs{$msgName}->{UART2} ? '&' . $msgCfgs{$msgName}->{UART2}->{struct} : "NULL") . ",\n";

$c .= " .itemSpi = " . ($msgCfgs{$msgName}->{SPI} ? '&' . $msgCfgs{$msgName}->{SPI}->{struct} : "NULL") . ",\n";

$c .= " .itemI2c = " . ($msgCfgs{$msgName}->{I2C} ? '&' . $msgCfgs{$msgName}->{I2C}->{struct} : "NULL") . ",\n";

$c .= " .itemUsb = " . ($msgCfgs{$msgName}->{USB} ? '&' . $msgCfgs{$msgName}->{USB}->{struct} : "NULL") . ",\n";

substr($c, -2, 1, '');

$c .= "};\n";

}

my $numMsgRates = $#msgNames + 1;

$c .= "static const UBLOXCFG_MSGRATE_t * const ubloxcfg_allRates[$numMsgRates] =\n";

$c .= "{\n";

$c .= " &$_,\n" for (@msgrateStructs);

substr($c, -2, 1, '');

$c .= "};\n";

$hh .= "#define _UBLOXCFG_NUM_RATES $numMsgRates\n";

$hh .= "const void **_ubloxcfg_allRates(void);\n";

$cc .= "const void **_ubloxcfg_allRates(void) { return (const void **)ubloxcfg_allRates; }\n";

$hh .= "#define _UBLOXCFG_MAX_ITEM_LEN $maxItemNameLen\n";

$hh .= "#define _UBLOXCFG_MAX_CONSTS_LEN $maxConstNamesLen\n";

my $numSources = $#{$sources} + 1;

$c .= "static const char * const ubloxcfg_allSources[$numSources] =\n";

$c .= "{\n";

$c .= " \"$_\",\n" for (@{$sources});

#substr($c, -2, 1, '');

$c .= "};\n";

$hh .= "#define _UBLOXCFG_NUM_SOURCES $numSources\n";

$hh .= "const char **_ubloxcfg_allSources(void);\n";

$cc .= "const char **_ubloxcfg_allSources(void) { return (const char **)ubloxcfg_allSources; }\n";

# add accessors for api

$h .= "\n";

$h .= "#ifndef _DOXYGEN_\n";

$h .= $hh;

$h .= "#endif\n";

$c .= "\n";

$c .= "#ifndef _DOXYGEN_\n";

$c .= $cc;

$c .= "#endif\n";

# end header

$h .= "\n";

$h .= "#ifdef __cplusplus\n";

$h .= "}\n";

$h .= "#endif\n";

$h .= "\n";

$h .= "#endif // __UBLOXCFG_GEN_H__\n";

$h .= "\n";

$h .= "///@}\n";

# end source

$c .= "\n";

# write output

eval { path("$OUT.h")->spew_raw($h); };

if ($! || $@)

{

my $err = ("$!" || "$@"); $err =~ s{\s*\r?\n$}{};

print(STDERR "Failed writing '$OUT.h': $err\n");

$errors++;

}

eval { path("$OUT.c")->spew_raw($c); };

if ($! || $@)

{

my $err = ("$!" || "$@"); $err =~ s{\s*\r?\n$}{};

print(STDERR "Failed writing '$OUT.c': $err\n");

$errors++;

}

return $errors ? 0 : 1;

}

sub DEBUG

{

return unless ($DEBUG);

my ($strOrFmt, @args) = @_;

if ($strOrFmt =~ m/%/)

{

printf(STDERR "$strOrFmt\n", @args);

}

else

{

print(STDERR "$strOrFmt\n");

}

return 1;

}