OP-25: Initial GPS Object

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@512 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/UAVObjects/gpsobject.c

@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsobject.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GpsObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gpsobject.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
+ */
+
+#include "gpsobject.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t GpsObjectInitialize()
+{
+	UAVObjMetadata metadata;
+
+	// Register object with the object manager
+	handle = UAVObjRegister(GPSOBJECT_OBJID, GPSOBJECT_NAME, 0, GPSOBJECT_ISSINGLEINST, GPSOBJECT_ISSETTINGS, GPSOBJECT_NUMBYTES);
+	if (handle == 0) return -1;
+
+	// Initialize metadata
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.gcsTelemetryUpdatePeriod = 1000;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(handle, &metadata);
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle GpsObjectHandle()
+{
+	return handle;
+}
+
+

flight/OpenPilot/UAVObjects/inc/gpsobject.h

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsobject.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GpsObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gpsobject.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
+ */
+
+#ifndef GPSOBJECT_H
+#define GPSOBJECT_H
+
+#include "openpilot.h"
+
+// Object constants
+#define GPSOBJECT_OBJID 253092234U
+#define GPSOBJECT_NAME "GpsObject"
+#define GPSOBJECT_ISSINGLEINST 0
+#define GPSOBJECT_ISSETTINGS 0
+#define GPSOBJECT_NUMBYTES sizeof(GpsObjectData)
+
+// Object access macros
+#define GpsObjectGet(dataOut) UAVObjGetData(GpsObjectHandle(), dataOut)
+#define GpsObjectSet(dataIn) UAVObjSetData(GpsObjectHandle(), dataIn)
+#define GpsObjectInstGet(instId, dataOut) UAVObjGetInstanceData(GpsObjectHandle(), instId, dataOut)
+#define GpsObjectInstSet(instId, dataIn) UAVObjSetInstanceData(GpsObjectHandle(), instId, dataIn)
+#define GpsObjectConnectQueue(queue) UAVObjConnectQueue(GpsObjectHandle(), queue, EV_MASK_ALL_UPDATES)
+#define GpsObjectConnectCallback(cb) UAVObjConnectCallback(GpsObjectHandle(), cb, EV_MASK_ALL_UPDATES)
+#define GpsObjectCreateInstance() UAVObjCreateInstance(GpsObjectHandle())
+#define GpsObjectRequestUpdate() UAVObjRequestUpdate(GpsObjectHandle())
+#define GpsObjectRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GpsObjectHandle(), instId)
+#define GpsObjectUpdated() UAVObjUpdated(GpsObjectHandle())
+#define GpsObjectInstUpdated(instId) UAVObjUpdated(GpsObjectHandle(), instId)
+#define GpsObjectGetMetadata(dataOut) UAVObjGetMetadata(GpsObjectHandle(), dataOut)
+#define GpsObjectSetMetadata(dataIn) UAVObjSetMetadata(GpsObjectHandle(), dataIn)
+
+// Object data
+typedef struct {
+    float Latitude;
+    float Longitude;
+    float Altitude;
+
+} __attribute__((packed)) GpsObjectData;
+
+// Enumeration types
+
+
+// Generic interface functions
+int32_t GpsObjectInitialize();
+UAVObjHandle GpsObjectHandle();
+
+#endif // GPSOBJECT_H

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -31,6 +31,7 @@
 #include "exampleobject1.h"
 #include "exampleobject2.h"
 #include "examplesettings.h"
+#include "gpsobject.h"
 #include "settingspersistence.h"
 
 
@@ -43,6 +44,7 @@ void UAVObjectsInitializeAll()
     ExampleObject1Initialize();
     ExampleObject2Initialize();
     ExampleSettingsInitialize();
+    GpsObjectInitialize();
     SettingsPersistenceInitialize();
 
 }

ground/src/plugins/uavobjects/gpsobject.cpp

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsobject.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GpsObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gpsobject.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
+ */
+#include "gpsobject.h"
+#include "uavobjectfields.h"
+
+const QString GpsObject::NAME = QString("GpsObject");
+
+GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    fields.append(new UAVObjectFieldFloat(QString("Latitude"), QString("degrees"), 1));
+    fields.append(new UAVObjectFieldFloat(QString("Longitude"), QString("degrees"), 1));
+    fields.append(new UAVObjectFieldFloat(QString("Altitude"), QString("meters"), 1));
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+}
+
+UAVObject::Metadata GpsObject::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.gcsTelemetryAcked = 1;
+    metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    metadata.gcsTelemetryUpdatePeriod = 1000;
+    metadata.flightTelemetryAcked = 1;
+    metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
+    metadata.flightTelemetryUpdatePeriod = 0;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.loggingUpdatePeriod = 0;
+    return metadata;
+}
+
+GpsObject::DataFields GpsObject::getData()
+{
+    QMutexLocker locker(mutex);
+    return data;
+}
+
+void GpsObject::setData(DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    this->data = data;
+    emit objectUpdatedAuto(this); // trigger object updated event
+    emit objectUpdated(this);
+}
+
+UAVDataObject* GpsObject::clone(quint32 instID)
+{
+    GpsObject* obj = new GpsObject();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}

ground/src/plugins/uavobjects/gpsobject.h

@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gpsobject.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the GpsObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: gpsobject.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
+ */
+#ifndef GPSOBJECT_H
+#define GPSOBJECT_H
+
+#include "uavdataobject.h"
+
+class UAVOBJECTS_EXPORT GpsObject: public UAVDataObject
+{
+    Q_OBJECT
+
+public:
+    // Field structure
+    typedef struct {
+        float Latitude;
+        float Longitude;
+        float Altitude;
+
+    } __attribute__((packed)) DataFields;
+
+    // Enumeration types
+
+  
+    // Constants
+    static const quint32 OBJID = 253092234U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 0;
+    static const bool ISSETTINGS = 0;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    // Functions
+    GpsObject();
+
+    DataFields getData();
+    void setData(DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+	
+private:
+    DataFields data;
+
+};
+
+#endif // GPSOBJECT_H

ground/src/plugins/uavobjects/uavobjects.pro

@@ -23,7 +23,8 @@ HEADERS += uavobjects_global.h \
     uavobjectfielduint16.h \
     uavobjectfielduint32.h \
     uavobjectfields.h \
-    settingspersistence.h
+    settingspersistence.h \
+    gpsobject.h
 SOURCES += uavobject.cpp \
     uavmetaobject.cpp \
     uavobjectmanager.cpp \
@@ -43,6 +44,7 @@ SOURCES += uavobject.cpp \
     uavobjectfielduint8.cpp \
     uavobjectfielduint16.cpp \
     uavobjectfielduint32.cpp \
-    settingspersistence.cpp
+    settingspersistence.cpp \
+    gpsobject.cpp
 DEFINES += UAVOBJECTS_LIBRARY
 OTHER_FILES += UAVObjects.pluginspec

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -33,6 +33,7 @@
 #include "exampleobject1.h"
 #include "exampleobject2.h"
 #include "examplesettings.h"
+#include "gpsobject.h"
 #include "settingspersistence.h"
 
 
@@ -45,6 +46,7 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new ExampleObject1() );
     objMngr->registerObject( new ExampleObject2() );
     objMngr->registerObject( new ExampleSettings() );
+    objMngr->registerObject( new GpsObject() );
     objMngr->registerObject( new SettingsPersistence() );
 
 }

ground/src/shared/uavobjectdefinition/gpsobject.xml

@@ -0,0 +1,10 @@
+<xml>
+	<object name="GpsObject" singleinstance="false" settings="false">
+		<field name="Latitude" units="degrees" type="float" elements="1"/>
+		<field name="Longitude" units="degrees" type="float" elements="1"/>
+        <field name="Altitude" units="meters" type="float" elements="1"/>
+        <telemetrygcs acked="true" updatemode="periodic" period="1000"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
+		<logging updatemode="never" period="0"/>
+	</object>
+</xml>