LibrePilot/ground/src/plugins/uavobjects/uavobject.h

/**
 ******************************************************************************
 *
 * @file       uavobject.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
 * @brief      
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   
 * @{
 * 
 *****************************************************************************/
/* 
 * 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 UAVOBJECT_H
#define UAVOBJECT_H

#include <QtGlobal>
#include <QObject>
#include <QMutex>
#include <QMutexLocker>
#include <QString>
#include <QList>
#include "uavobjectfield.h"

class UAVObjectField;

class UAVObject: public QObject
{
    Q_OBJECT

public:

    /**
     * Object update mode
     */
    typedef enum {
            UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
            UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
            UPDATEMODE_MANUAL = 2,  /** Manually update object, by calling the updated() function */
            UPDATEMODE_NEVER = 3 /** Object is never updated */
    } UpdateMode;

    /**
     * Object metadata, each object has a meta object that holds its metadata. The metadata define
     * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
     */
    typedef struct {
            quint8 ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
            quint8 flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
            qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
            quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
            qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
            quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
            qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
    } __attribute__((packed)) Metadata;


    UAVObject(quint32 objID, bool isSingleInst, const QString& name);
    void initialize(quint32 instID);
    quint32 getObjID();
    quint32 getInstID();
    bool isSingleInstance();
    QString getName();
    quint32 getNumBytes(); 
    virtual qint32 pack(quint8* dataOut);
    virtual qint32 unpack(const quint8* dataIn);
    virtual void setMetadata(const Metadata& mdata) = 0;
    virtual Metadata getMetadata() = 0;
    virtual Metadata getDefaultMetadata() = 0;
    void requestUpdate();
    void updated();
    void lock();
    void lock(int timeoutMs);
    void unlock();
    QMutex* getMutex();
    qint32 getNumFields();
    QList<UAVObjectField*> getFields();
    UAVObjectField* getField(QString& name);
    QString toString();
    QString toStringBrief();
    QString toStringData();

signals:
    void objectUpdated(UAVObject* obj);
    void objectUpdatedAuto(UAVObject* obj);
    void objectUpdatedManual(UAVObject* obj);
    void objectUnpacked(UAVObject* obj);
    void updateRequested(UAVObject* obj);

private slots:
    void fieldUpdated(UAVObjectField* field);

protected:
    quint32 objID;
    quint32 instID;
    bool isSingleInst;
    QString name;
    quint32 numBytes;
    QMutex* mutex;
    quint8* data;
    QList<UAVObjectField*> fields;

    void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
};

#endif // UAVOBJECT_H