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73 lines
2.5 KiB
C
73 lines
2.5 KiB
C
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#ifndef UAVOBJECT_H
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#define UAVOBJECT_H
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#include <QtGlobal>
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#include <QObject>
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#include <QMutex>
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#include <QMutexLocker>
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#include <QString>
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class UAVObject: public QObject
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{
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Q_OBJECT
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public:
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/**
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* Object update mode
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*/
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typedef enum {
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UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
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UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
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UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
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UPDATEMODE_NEVER /** Object is never updated */
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} UpdateMode;
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/**
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* Object metadata, each object has a meta object that holds its metadata. The metadata define
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* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
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*/
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typedef struct {
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quint8 ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
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UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot */
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qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
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UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS */
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qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
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UpdateMode loggingUpdateMode; /** Update mode used by the logging module */
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qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
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} Metadata;
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UAVObject(quint32 objID, quint32 instID, bool isSingleInst, QString& name, quint32 numBytes);
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quint32 getObjID();
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quint32 getInstID();
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bool isSingleInstance();
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QString getName();
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quint32 getNumBytes();
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virtual qint32 pack(quint8* dataOut) = 0;
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virtual qint32 unpack(const quint8* dataIn) = 0;
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virtual void setMetadata(const Metadata& mdata) = 0;
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virtual Metadata getMetadata() = 0;
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void requestUpdate();
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void updated();
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void lock();
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void lock(int timeoutMs);
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void unlock();
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QMutex* getMutex();
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signals:
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void objectUpdated(UAVObject* obj, bool unpacked);
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void updateRequested(UAVObject* obj);
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protected:
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quint32 objID;
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quint32 instID;
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bool isSingleInst;
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QString name;
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quint32 numBytes;
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QMutex* mutex;
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};
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#endif // UAVOBJECT_H
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