rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-19 09:54:15 +01:00
Code Issues Releases Activity

GCS/FlightPlan: Create FlighPlan module related objects

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2363 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2011-01-09 22:28:39 +00:00 committed by vassilis
parent f7464557f2
commit 007f7cbea0
19 changed files with 1130 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

96
ground/src/plugins/uavobjects/OPLogConvert.m
View File

@ -135,6 +135,22 @@ function [] = OPLogConvert()
FlightBatteryState(1).ConsumedEnergy = 0;
FlightBatteryState(1).EstimatedFlightTime = 0;
flightplancontrolIdx = 1;
FlightPlanControl.timestamp = 0;
FlightPlanControl(1).Test = 0;
flightplansettingsIdx = 1;
FlightPlanSettings.timestamp = 0;
FlightPlanSettings(1).Test = 0;
flightplanstatusIdx = 1;
FlightPlanStatus.timestamp = 0;
FlightPlanStatus(1).Status = 0;
FlightPlanStatus(1).ErrorType = 0;
FlightPlanStatus(1).ErrorFileID = 0;
FlightPlanStatus(1).ErrorLineNum = 0;
FlightPlanStatus(1).Debug = 0;
flighttelemetrystatsIdx = 1;
FlightTelemetryStats.timestamp = 0;
FlightTelemetryStats(1).Status = 0;
@ -376,6 +392,11 @@ function [] = OPLogConvert()
SystemStats(1).HeapRemaining = 0;
SystemStats(1).CPULoad = 0;
taskinfoIdx = 1;
TaskInfo.timestamp = 0;
TaskInfo(1).StackRemaining = zeros(1,13);
TaskInfo(1).Running = zeros(1,13);
telemetrysettingsIdx = 1;
TelemetrySettings.timestamp = 0;
TelemetrySettings(1).Speed = 0;
@ -466,6 +487,15 @@ function [] = OPLogConvert()
case 126985486
FlightBatteryState(flightbatterystateIdx) = ReadFlightBatteryStateObject(fid, timestamp);
flightbatterystateIdx = flightbatterystateIdx + 1;
case 4125349796
FlightPlanControl(flightplancontrolIdx) = ReadFlightPlanControlObject(fid, timestamp);
flightplancontrolIdx = flightplancontrolIdx + 1;
case 2234942498
FlightPlanSettings(flightplansettingsIdx) = ReadFlightPlanSettingsObject(fid, timestamp);
flightplansettingsIdx = flightplansettingsIdx + 1;
case 2726772894
FlightPlanStatus(flightplanstatusIdx) = ReadFlightPlanStatusObject(fid, timestamp);
flightplanstatusIdx = flightplanstatusIdx + 1;
case 1712072286
FlightTelemetryStats(flighttelemetrystatsIdx) = ReadFlightTelemetryStatsObject(fid, timestamp);
flighttelemetrystatsIdx = flighttelemetrystatsIdx + 1;
@ -532,6 +562,9 @@ function [] = OPLogConvert()
case 680908530
SystemStats(systemstatsIdx) = ReadSystemStatsObject(fid, timestamp);
systemstatsIdx = systemstatsIdx + 1;
case 1358273008
TaskInfo(taskinfoIdx) = ReadTaskInfoObject(fid, timestamp);
taskinfoIdx = taskinfoIdx + 1;
case 2785592614
TelemetrySettings(telemetrysettingsIdx) = ReadTelemetrySettingsObject(fid, timestamp);
telemetrysettingsIdx = telemetrysettingsIdx + 1;
@ -554,7 +587,7 @@ function [] = OPLogConvert()
fclose(fid);
matfile = strrep(logfile,'opl','mat');
save(matfile ,'ActuatorCommand','ActuatorDesired','ActuatorSettings','AHRSCalibration','AHRSSettings','AhrsStatus','AttitudeActual','AttitudeDesired','AttitudeRaw','BaroAltitude','BatterySettings','FirmwareIAPObj','FlightBatteryState','FlightTelemetryStats','GCSTelemetryStats','GPSPosition','GPSSatellites','GPSTime','GuidanceSettings','HomeLocation','I2CStats','ManualControlCommand','ManualControlSettings','MixerSettings','MixerStatus','ObjectPersistence','PipXtremeModemSettings','PipXtremeModemStatus','PositionActual','PositionDesired','RateDesired','StabilizationSettings','SystemAlarms','SystemSettings','SystemStats','TelemetrySettings','VelocityActual','VelocityDesired');
save(matfile ,'ActuatorCommand','ActuatorDesired','ActuatorSettings','AHRSCalibration','AHRSSettings','AhrsStatus','AttitudeActual','AttitudeDesired','AttitudeRaw','BaroAltitude','BatterySettings','FirmwareIAPObj','FlightBatteryState','FlightPlanControl','FlightPlanSettings','FlightPlanStatus','FlightTelemetryStats','GCSTelemetryStats','GPSPosition','GPSSatellites','GPSTime','GuidanceSettings','HomeLocation','I2CStats','ManualControlCommand','ManualControlSettings','MixerSettings','MixerStatus','ObjectPersistence','PipXtremeModemSettings','PipXtremeModemStatus','PositionActual','PositionDesired','RateDesired','StabilizationSettings','SystemAlarms','SystemSettings','SystemStats','TaskInfo','TelemetrySettings','VelocityActual','VelocityDesired');
end
@ -824,6 +857,52 @@ function [FlightBatteryState] = ReadFlightBatteryStateObject(fid, timestamp)
fread(fid, 1, 'uint8');
end
function [FlightPlanControl] = ReadFlightPlanControlObject(fid, timestamp)
if 1
headerSize = 8;
else
FlightPlanControl.instanceID = fread(fid, 1, 'uint16');
headerSize = 10;
end
FlightPlanControl.timestamp = timestamp;
FlightPlanControl.Test = double(fread(fid, 1, 'float32'));
% read CRC
fread(fid, 1, 'uint8');
end
function [FlightPlanSettings] = ReadFlightPlanSettingsObject(fid, timestamp)
if 1
headerSize = 8;
else
FlightPlanSettings.instanceID = fread(fid, 1, 'uint16');
headerSize = 10;
end
FlightPlanSettings.timestamp = timestamp;
FlightPlanSettings.Test = double(fread(fid, 1, 'float32'));
% read CRC
fread(fid, 1, 'uint8');
end
function [FlightPlanStatus] = ReadFlightPlanStatusObject(fid, timestamp)
if 1
headerSize = 8;
else
FlightPlanStatus.instanceID = fread(fid, 1, 'uint16');
headerSize = 10;
end
FlightPlanStatus.timestamp = timestamp;
FlightPlanStatus.Status = double(fread(fid, 1, 'uint8'));
FlightPlanStatus.ErrorType = double(fread(fid, 1, 'uint8'));
FlightPlanStatus.ErrorFileID = double(fread(fid, 1, 'uint32'));
FlightPlanStatus.ErrorLineNum = double(fread(fid, 1, 'uint32'));
FlightPlanStatus.Debug = double(fread(fid, 1, 'float32'));
% read CRC
fread(fid, 1, 'uint8');
end
function [FlightTelemetryStats] = ReadFlightTelemetryStatsObject(fid, timestamp)
if 1
headerSize = 8;
@ -1285,6 +1364,21 @@ function [SystemStats] = ReadSystemStatsObject(fid, timestamp)
fread(fid, 1, 'uint8');
end
function [TaskInfo] = ReadTaskInfoObject(fid, timestamp)
if 1
headerSize = 8;
else
TaskInfo.instanceID = fread(fid, 1, 'uint16');
headerSize = 10;
end
TaskInfo.timestamp = timestamp;
TaskInfo.StackRemaining = double(fread(fid, 13, 'uint16'));
TaskInfo.Running = double(fread(fid, 13, 'uint8'));
% read CRC
fread(fid, 1, 'uint8');
end
function [TelemetrySettings] = ReadTelemetrySettingsObject(fid, timestamp)
if 1
headerSize = 8;

131
ground/src/plugins/uavobjects/flightplancontrol.cpp Normal file
View File

@ -0,0 +1,131 @@
/**
******************************************************************************
*
* @file flightplancontrol.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: flightplancontrol.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* 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 "flightplancontrol.h"
#include "uavobjectfield.h"
const QString FlightPlanControl::NAME = QString("FlightPlanControl");
const QString FlightPlanControl::DESCRIPTION = QString("Control the flight plan script");
/**
* Constructor
*/
FlightPlanControl::FlightPlanControl(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList TestElemNames;
TestElemNames.append("0");
fields.append( new UAVObjectField(QString("Test"), QString("%"), UAVObjectField::FLOAT32, TestElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
// Set the object description
setDescription(DESCRIPTION);
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata FlightPlanControl::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void FlightPlanControl::setDefaultFieldValues()
{
}
/**
* Get the object data fields
*/
FlightPlanControl::DataFields FlightPlanControl::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void FlightPlanControl::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* FlightPlanControl::clone(quint32 instID)
{
FlightPlanControl* obj = new FlightPlanControl();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
FlightPlanControl* FlightPlanControl::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<FlightPlanControl*>(objMngr->getObject(FlightPlanControl::OBJID, instID));
}

79
ground/src/plugins/uavobjects/flightplancontrol.h Normal file
View File

@ -0,0 +1,79 @@
/**
******************************************************************************
*
* @file flightplancontrol.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: flightplancontrol.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* 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 FLIGHTPLANCONTROL_H
#define FLIGHTPLANCONTROL_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT FlightPlanControl: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
float Test;
} __attribute__((packed)) DataFields;
// Field information
// Field Test information
// Constants
static const quint32 OBJID = 4125349796U;
static const QString NAME;
static const QString DESCRIPTION;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
FlightPlanControl();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static FlightPlanControl* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // FLIGHTPLANCONTROL_H

86
ground/src/plugins/uavobjects/flightplancontrol.py Normal file
View File

@ -0,0 +1,86 @@
##
##############################################################################
#
# @file flightplancontrol.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the FlightPlanControl object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: flightplancontrol.xml.
# 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
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'Test',
'f',
1,
[
'0',
],
{
}
),
]
class FlightPlanControl(uavobject.UAVObject):
## Object constants
OBJID = 4125349796
NAME = "FlightPlanControl"
METANAME = "FlightPlanControlMeta"
ISSINGLEINST = 1
ISSETTINGS = 0
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = FlightPlanControl()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

132
ground/src/plugins/uavobjects/flightplansettings.cpp Normal file
View File

@ -0,0 +1,132 @@
/**
******************************************************************************
*
* @file flightplansettings.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: flightplansettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* 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 "flightplansettings.h"
#include "uavobjectfield.h"
const QString FlightPlanSettings::NAME = QString("FlightPlanSettings");
const QString FlightPlanSettings::DESCRIPTION = QString("Settings for the flight plan module, control the execution of the script");
/**
* Constructor
*/
FlightPlanSettings::FlightPlanSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList TestElemNames;
TestElemNames.append("0");
fields.append( new UAVObjectField(QString("Test"), QString(""), UAVObjectField::FLOAT32, TestElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
// Set the object description
setDescription(DESCRIPTION);
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata FlightPlanSettings::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void FlightPlanSettings::setDefaultFieldValues()
{
data.Test = 0;
}
/**
* Get the object data fields
*/
FlightPlanSettings::DataFields FlightPlanSettings::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void FlightPlanSettings::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* FlightPlanSettings::clone(quint32 instID)
{
FlightPlanSettings* obj = new FlightPlanSettings();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
FlightPlanSettings* FlightPlanSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<FlightPlanSettings*>(objMngr->getObject(FlightPlanSettings::OBJID, instID));
}

79
ground/src/plugins/uavobjects/flightplansettings.h Normal file
View File

@ -0,0 +1,79 @@
/**
******************************************************************************
*
* @file flightplansettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: flightplansettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* 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 FLIGHTPLANSETTINGS_H
#define FLIGHTPLANSETTINGS_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT FlightPlanSettings: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
float Test;
} __attribute__((packed)) DataFields;
// Field information
// Field Test information
// Constants
static const quint32 OBJID = 2234942498U;
static const QString NAME;
static const QString DESCRIPTION;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
FlightPlanSettings();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static FlightPlanSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // FLIGHTPLANSETTINGS_H

86
ground/src/plugins/uavobjects/flightplansettings.py Normal file
View File

@ -0,0 +1,86 @@
##
##############################################################################
#
# @file flightplansettings.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the FlightPlanSettings object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: flightplansettings.xml.
# 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
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'Test',
'f',
1,
[
'0',
],
{
}
),
]
class FlightPlanSettings(uavobject.UAVObject):
## Object constants
OBJID = 2234942498
NAME = "FlightPlanSettings"
METANAME = "FlightPlanSettingsMeta"
ISSINGLEINST = 1
ISSETTINGS = 1
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = FlightPlanSettings()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

154
ground/src/plugins/uavobjects/flightplanstatus.cpp Normal file
View File

@ -0,0 +1,154 @@
/**
******************************************************************************
*
* @file flightplanstatus.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: flightplanstatus.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* 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 "flightplanstatus.h"
#include "uavobjectfield.h"
const QString FlightPlanStatus::NAME = QString("FlightPlanStatus");
const QString FlightPlanStatus::DESCRIPTION = QString("Status of the flight plan script");
/**
* Constructor
*/
FlightPlanStatus::FlightPlanStatus(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList StatusElemNames;
StatusElemNames.append("0");
QStringList StatusEnumOptions;
StatusEnumOptions.append("None");
StatusEnumOptions.append("Running");
StatusEnumOptions.append("Idle");
StatusEnumOptions.append("VMInitError");
StatusEnumOptions.append("ScriptStartError");
StatusEnumOptions.append("RunTimeError");
fields.append( new UAVObjectField(QString("Status"), QString(""), UAVObjectField::ENUM, StatusElemNames, StatusEnumOptions) );
QStringList ErrorTypeElemNames;
ErrorTypeElemNames.append("0");
QStringList ErrorTypeEnumOptions;
ErrorTypeEnumOptions.append("None");
fields.append( new UAVObjectField(QString("ErrorType"), QString(""), UAVObjectField::ENUM, ErrorTypeElemNames, ErrorTypeEnumOptions) );
QStringList ErrorFileIDElemNames;
ErrorFileIDElemNames.append("0");
fields.append( new UAVObjectField(QString("ErrorFileID"), QString(""), UAVObjectField::UINT32, ErrorFileIDElemNames, QStringList()) );
QStringList ErrorLineNumElemNames;
ErrorLineNumElemNames.append("0");
fields.append( new UAVObjectField(QString("ErrorLineNum"), QString(""), UAVObjectField::UINT32, ErrorLineNumElemNames, QStringList()) );
QStringList DebugElemNames;
DebugElemNames.append("0");
fields.append( new UAVObjectField(QString("Debug"), QString(""), UAVObjectField::FLOAT32, DebugElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
// Set the object description
setDescription(DESCRIPTION);
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata FlightPlanStatus::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 2000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void FlightPlanStatus::setDefaultFieldValues()
{
data.Status = 0;
data.ErrorType = 0;
}
/**
* Get the object data fields
*/
FlightPlanStatus::DataFields FlightPlanStatus::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void FlightPlanStatus::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* FlightPlanStatus::clone(quint32 instID)
{
FlightPlanStatus* obj = new FlightPlanStatus();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
FlightPlanStatus* FlightPlanStatus::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<FlightPlanStatus*>(objMngr->getObject(FlightPlanStatus::OBJID, instID));
}

91
ground/src/plugins/uavobjects/flightplanstatus.h Normal file
View File

@ -0,0 +1,91 @@
/**
******************************************************************************
*
* @file flightplanstatus.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: flightplanstatus.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* 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 FLIGHTPLANSTATUS_H
#define FLIGHTPLANSTATUS_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT FlightPlanStatus: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
quint8 Status;
quint8 ErrorType;
quint32 ErrorFileID;
quint32 ErrorLineNum;
float Debug;
} __attribute__((packed)) DataFields;
// Field information
// Field Status information
/* Enumeration options for field Status */
typedef enum { STATUS_NONE=0, STATUS_RUNNING=1, STATUS_IDLE=2, STATUS_VMINITERROR=3, STATUS_SCRIPTSTARTERROR=4, STATUS_RUNTIMEERROR=5 } StatusOptions;
// Field ErrorType information
/* Enumeration options for field ErrorType */
typedef enum { ERRORTYPE_NONE=0 } ErrorTypeOptions;
// Field ErrorFileID information
// Field ErrorLineNum information
// Field Debug information
// Constants
static const quint32 OBJID = 2726772894U;
static const QString NAME;
static const QString DESCRIPTION;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
FlightPlanStatus();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static FlightPlanStatus* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // FLIGHTPLANSTATUS_H

133
ground/src/plugins/uavobjects/flightplanstatus.py Normal file
View File

@ -0,0 +1,133 @@
##
##############################################################################
#
# @file flightplanstatus.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the FlightPlanStatus object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: flightplanstatus.xml.
# 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
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'Status',
'b',
1,
[
'0',
],
{
'0' : 'None',
'1' : 'Running',
'2' : 'Idle',
'3' : 'VMInitError',
'4' : 'ScriptStartError',
'5' : 'RunTimeError',
}
),
uavobject.UAVObjectField(
'ErrorType',
'b',
1,
[
'0',
],
{
'0' : 'None',
}
),
uavobject.UAVObjectField(
'ErrorFileID',
'I',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'ErrorLineNum',
'I',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Debug',
'f',
1,
[
'0',
],
{
}
),
]
class FlightPlanStatus(uavobject.UAVObject):
## Object constants
OBJID = 2726772894
NAME = "FlightPlanStatus"
METANAME = "FlightPlanStatusMeta"
ISSINGLEINST = 1
ISSETTINGS = 0
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = FlightPlanStatus()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

2
ground/src/plugins/uavobjects/taskinfo.cpp
View File

@ -56,6 +56,7 @@ TaskInfo::TaskInfo(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
StackRemainingElemNames.append("Stabilization");
StackRemainingElemNames.append("Guidance");
StackRemainingElemNames.append("Watchdog");
StackRemainingElemNames.append("FlightPlan");
fields.append( new UAVObjectField(QString("StackRemaining"), QString("bytes"), UAVObjectField::UINT16, StackRemainingElemNames, QStringList()) );
QStringList RunningElemNames;
RunningElemNames.append("System");
@ -70,6 +71,7 @@ TaskInfo::TaskInfo(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
RunningElemNames.append("Stabilization");
RunningElemNames.append("Guidance");
RunningElemNames.append("Watchdog");
RunningElemNames.append("FlightPlan");
QStringList RunningEnumOptions;
RunningEnumOptions.append("False");
RunningEnumOptions.append("True");

14
ground/src/plugins/uavobjects/taskinfo.h
View File

@ -43,28 +43,28 @@ class UAVOBJECTS_EXPORT TaskInfo: public UAVDataObject
public:
// Field structure
typedef struct {
quint16 StackRemaining[12];
quint8 Running[12];
quint16 StackRemaining[13];
quint8 Running[13];
} __attribute__((packed)) DataFields;
// Field information
// Field StackRemaining information
/* Array element names for field StackRemaining */
typedef enum { STACKREMAINING_SYSTEM=0, STACKREMAINING_ACTUATOR=1, STACKREMAINING_TELEMETRYTX=2, STACKREMAINING_TELEMETRYTXPRI=3, STACKREMAINING_TELEMETRYRX=4, STACKREMAINING_GPS=5, STACKREMAINING_MANUALCONTROL=6, STACKREMAINING_ALTITUDE=7, STACKREMAINING_AHRSCOMMS=8, STACKREMAINING_STABILIZATION=9, STACKREMAINING_GUIDANCE=10, STACKREMAINING_WATCHDOG=11 } StackRemainingElem;
typedef enum { STACKREMAINING_SYSTEM=0, STACKREMAINING_ACTUATOR=1, STACKREMAINING_TELEMETRYTX=2, STACKREMAINING_TELEMETRYTXPRI=3, STACKREMAINING_TELEMETRYRX=4, STACKREMAINING_GPS=5, STACKREMAINING_MANUALCONTROL=6, STACKREMAINING_ALTITUDE=7, STACKREMAINING_AHRSCOMMS=8, STACKREMAINING_STABILIZATION=9, STACKREMAINING_GUIDANCE=10, STACKREMAINING_WATCHDOG=11, STACKREMAINING_FLIGHTPLAN=12 } StackRemainingElem;
/* Number of elements for field StackRemaining */
static const quint32 STACKREMAINING_NUMELEM = 12;
static const quint32 STACKREMAINING_NUMELEM = 13;
// Field Running information
/* Enumeration options for field Running */
typedef enum { RUNNING_FALSE=0, RUNNING_TRUE=1 } RunningOptions;
/* Array element names for field Running */
typedef enum { RUNNING_SYSTEM=0, RUNNING_ACTUATOR=1, RUNNING_TELEMETRYTX=2, RUNNING_TELEMETRYTXPRI=3, RUNNING_TELEMETRYRX=4, RUNNING_GPS=5, RUNNING_MANUALCONTROL=6, RUNNING_ALTITUDE=7, RUNNING_AHRSCOMMS=8, RUNNING_STABILIZATION=9, RUNNING_GUIDANCE=10, RUNNING_WATCHDOG=11 } RunningElem;
typedef enum { RUNNING_SYSTEM=0, RUNNING_ACTUATOR=1, RUNNING_TELEMETRYTX=2, RUNNING_TELEMETRYTXPRI=3, RUNNING_TELEMETRYRX=4, RUNNING_GPS=5, RUNNING_MANUALCONTROL=6, RUNNING_ALTITUDE=7, RUNNING_AHRSCOMMS=8, RUNNING_STABILIZATION=9, RUNNING_GUIDANCE=10, RUNNING_WATCHDOG=11, RUNNING_FLIGHTPLAN=12 } RunningElem;
/* Number of elements for field Running */
static const quint32 RUNNING_NUMELEM = 12;
static const quint32 RUNNING_NUMELEM = 13;
// Constants
static const quint32 OBJID = 3297598544U;
static const quint32 OBJID = 1358273008U;
static const QString NAME;
static const QString DESCRIPTION;
static const bool ISSINGLEINST = 1;

8
ground/src/plugins/uavobjects/taskinfo.py
View File

@ -40,7 +40,7 @@ _fields = [ \
uavobject.UAVObjectField(
'StackRemaining',
'H',
12,
13,
[
'System',
'Actuator',
@ -54,6 +54,7 @@ _fields = [ \
'Stabilization',
'Guidance',
'Watchdog',
'FlightPlan',
],
{
}
@ -61,7 +62,7 @@ _fields = [ \
uavobject.UAVObjectField(
'Running',
'b',
12,
13,
[
'System',
'Actuator',
@ -75,6 +76,7 @@ _fields = [ \
'Stabilization',
'Guidance',
'Watchdog',
'FlightPlan',
],
{
'0' : 'False',
@ -86,7 +88,7 @@ _fields = [ \
class TaskInfo(uavobject.UAVObject):
## Object constants
OBJID = 3297598544
OBJID = 1358273008
NAME = "TaskInfo"
METANAME = "TaskInfoMeta"
ISSINGLEINST = 1

10
ground/src/plugins/uavobjects/uavobjects.pro
View File

@ -49,7 +49,10 @@ HEADERS += uavobjects_global.h \
pipxtrememodemstatus.h \
i2cstats.h \
batterysettings.h \
taskinfo.h
taskinfo.h \
flightplanstatus.h \
flightplansettings.h \
flightplancontrol.h
SOURCES += uavobject.cpp \
uavmetaobject.cpp \
@ -96,5 +99,8 @@ SOURCES += uavobject.cpp \
pipxtrememodemstatus.cpp \
i2cstats.cpp \
batterysettings.cpp \
taskinfo.cpp
taskinfo.cpp \
flightplanstatus.cpp \
flightplansettings.cpp \
flightplancontrol.cpp
OTHER_FILES += UAVObjects.pluginspec

6
ground/src/plugins/uavobjects/uavobjectsinit.cpp
View File

@ -43,6 +43,9 @@
#include "batterysettings.h"
#include "firmwareiapobj.h"
#include "flightbatterystate.h"
#include "flightplancontrol.h"
#include "flightplansettings.h"
#include "flightplanstatus.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "gpsposition.h"
@ -90,6 +93,9 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
objMngr->registerObject( new BatterySettings() );
objMngr->registerObject( new FirmwareIAPObj() );
objMngr->registerObject( new FlightBatteryState() );
objMngr->registerObject( new FlightPlanControl() );
objMngr->registerObject( new FlightPlanSettings() );
objMngr->registerObject( new FlightPlanStatus() );
objMngr->registerObject( new FlightTelemetryStats() );
objMngr->registerObject( new GCSTelemetryStats() );
objMngr->registerObject( new GPSPosition() );

10
ground/src/shared/uavobjectdefinition/flightplancontrol.xml Normal file
View File

@ -0,0 +1,10 @@
<xml>
<object name="FlightPlanControl" singleinstance="true" settings="false">
<description>Control the flight plan script</description>
<field name="Test" units="%" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

10
ground/src/shared/uavobjectdefinition/flightplansettings.xml Normal file
View File

@ -0,0 +1,10 @@
<xml>
<object name="FlightPlanSettings" singleinstance="true" settings="true">
<description>Settings for the flight plan module, control the execution of the script</description>
<field name="Test" units="" type="float" elements="1" defaultvalue="0.0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

14
ground/src/shared/uavobjectdefinition/flightplanstatus.xml Normal file
View File

@ -0,0 +1,14 @@
<xml>
<object name="FlightPlanStatus" singleinstance="true" settings="false">
<description>Status of the flight plan script</description>
<field name="Status" units="" type="enum" elements="1" options="None,Running,Idle,VMInitError,ScriptStartError,RunTimeError" defaultvalue="None"/>
<field name="ErrorType" units="" type="enum" elements="1" options="None" defaultvalue="None"/>
<field name="ErrorFileID" units="" type="uint32" elements="1"/>
<field name="ErrorLineNum" units="" type="uint32" elements="1"/>
<field name="Debug" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

4
ground/src/shared/uavobjectdefinition/taskinfo.xml
View File

@ -1,8 +1,8 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,Watchdog"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,Watchdog"/>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,Watchdog,FlightPlan"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,Watchdog,FlightPlan"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>