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LibrePilot/flight/uavobjects/uavobject.c.template

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/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup $(NAME) $(NAME)
* @brief $(DESCRIPTION)
*
* Autogenerated files and functions for $(NAME) Object
* @{
*
* @file $(NAMELC).c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
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* @brief Implementation of the $(NAME) object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: $(XMLFILE).
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <openpilot.h>
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#include "$(NAMELC).h"
// Private variables
#if (defined(__MACH__) && defined(__APPLE__))
static UAVObjHandle handle __attribute__((section("__DATA,_uavo_handles")));
#else
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static UAVObjHandle handle __attribute__((section("_uavo_handles")));
#endif
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/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t $(NAME)Initialize(void)
{
// Compile time assertion that the $(NAME)DataPacked and $(NAME)Data structs
// have the same size (though instances of $(NAME)Data
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof($(NAME)DataPacked) == sizeof($(NAME)Data));
// Don't set the handle to null if already registered
if (UAVObjGetByID($(NAMEUC)_OBJID)) {
return -2;
}
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// Register object with the object manager
handle = UAVObjRegister($(NAMEUC)_OBJID,
$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_ISPRIORITY, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
// Done
return handle ? 0 : -1;
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}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId)
{
$(NAME)Data data;
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// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof($(NAME)Data));
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$(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
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// Initialize object metadata to their default values
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
$(LOGGING_UPDATEMODE) << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
}
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}
/**
* Get object handle
*/
UAVObjHandle $(NAME)Handle()
{
return handle;
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}
/**
* Get/Set object Functions
*/
$(SETGETFIELDS)
/**
* @}
*/