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LibrePilot/ground/src/plugins/uavobjects/uavobjectfield.cpp

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/**
******************************************************************************
*
* @file uavobjectfield.cpp
* @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
*/
#include "uavobjectfield.h"
#include <QtEndian>
UAVObjectField::UAVObjectField(QString& name, QString& units, FieldType type, quint32 numElements)
{
// Copy params
this->name = name;
this->units = units;
this->type = type;
this->numElements = numElements;
this->offset = 0;
this->data = NULL;
this->obj = NULL;
// Calculate the number of bytes per element based on the type
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
this->numBytesPerElement = 1;
break;
case FIELDTYPE_INT16:
this->numBytesPerElement = 2;
break;
case FIELDTYPE_INT32:
case FIELDTYPE_FLOAT32:
this->numBytesPerElement = 4;
break;
default:
this->numBytesPerElement = 0;
}
}
void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)
{
this->data = data;
this->offset = dataOffset;
this->obj = obj;
clear();
}
UAVObject* UAVObjectField::getObject()
{
return obj;
}
void UAVObjectField::clear()
{
if (data != NULL)
{
QMutexLocker locker(obj->getMutex());
for (unsigned int n = 0; n < numBytesPerElement*numElements; ++n)
{
data[offset + n] = 0;
}
}
}
QString UAVObjectField::getName()
{
return name;
}
QString UAVObjectField::getUnits()
{
return units;
}
UAVObjectField::FieldType UAVObjectField::getType()
{
return type;
}
quint32 UAVObjectField::getNumElements()
{
return numElements;
}
double UAVObjectField::getValue(quint32 index)
{
double ret = 0.0;
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
// Get value from data
QMutexLocker locker(obj->getMutex());
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
qint8 value8;
value8 = data[offset + numBytesPerElement*index];
ret = (double)value8;
break;
case FIELDTYPE_INT16:
qint16 value16;
value16 = (qint16)qFromBigEndian<qint16>(&data[offset + numBytesPerElement*index]);
ret = (double)value16;
break;
case FIELDTYPE_INT32:
qint32 value32;
value32 = (qint32)qFromBigEndian<qint32>(&data[offset + numBytesPerElement*index]);
ret = (double)value32;
break;
case FIELDTYPE_FLOAT32:
qint32 tmp;
float valuef;
tmp = (qint32)qFromBigEndian<qint32>(&data[offset + numBytesPerElement*index]);
memcpy(&valuef, &tmp, 4);
ret = (double)valuef;
break;
default:
ret = 0.0;
}
}
return ret;
}
void UAVObjectField::setValue(double value, quint32 index)
{
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
// Set value
QMutexLocker locker(obj->getMutex());
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
data[offset + numBytesPerElement*index] = (qint8)value;
break;
case FIELDTYPE_INT16:
qToBigEndian<qint16>((qint16)value, &data[offset + numBytesPerElement*index]);
break;
case FIELDTYPE_INT32:
qToBigEndian<qint32>((qint32)value, &data[offset + numBytesPerElement*index]);
break;
case FIELDTYPE_FLOAT32:
qint32 tmp;
memcpy(&tmp, &value, 4);
qToBigEndian<qint32>((qint32)tmp, &data[offset + numBytesPerElement*index]);
break;
}
}
// Emit updated event
emit fieldUpdated(this);
}
double UAVObjectField::getValue()
{
return getValue(0);
}
void UAVObjectField::setValue(double value)
{
setValue(value, 0);
}
QString UAVObjectField::getString()
{
QString str;
if (data != NULL)
{
QMutexLocker locker(obj->getMutex());
data[offset + numElements - 1] = '\0'; // null terminate
if (type == FIELDTYPE_CHAR)
{
str.append((char*)&data[offset]);
}
}
return str;
}
void UAVObjectField::setString(QString& str)
{
QByteArray barray = str.toAscii();
if (data != NULL)
{
QMutexLocker locker(obj->getMutex());
for (int n = 0; n < barray.length() && n < (int)numElements; ++n)
{
data[offset+n] = barray[n];
}
data[offset + numElements - 1] = '\0'; // null terminate
}
}
quint32 UAVObjectField::getDataOffset()
{
return offset;
}
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
}