Merged in mindnever/librepilot/LP-523_implement_uavobject_DataOverrideDefaults_method (pull request #430)

LP-523 Implement method for overriding uavobject defaults. Approved-by: Philippe Renon <philippe_renon@yahoo.fr> Approved-by: Vladimir Zidar <mr_w@mindnever.org> Approved-by: Lalanne Laurent <f5soh@free.fr> Approved-by: Brian Webb <webbbn@gmail.com> Approved-by: Alessio Morale <alessiomorale@gmail.com>
2025-01-30 15:52:12 +01:00 · 2017-06-13 19:53:58 +00:00 · 2017-06-13 19:53:58 +00:00 · 0448d627af
commit 0448d627af
parent 4f9c89e646 9f12a27f53
7 changed files with 104 additions and 44 deletions
--- a/flight/uavobjects/inc/uavobject.h.template
+++ b/flight/uavobjects/inc/uavobject.h.template
@ -71,6 +71,8 @@ typedef struct {
 */
 typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data;

+void $(NAME)DataOverrideDefaults($(NAME)Data * data);
+
 /* Typesafe Object access functions */
 static inline int32_t $(NAME)Get($(NAME)Data * dataOut) {
    return UAVObjGetData($(NAME)Handle(), dataOut);
@ -94,7 +96,7 @@ static inline int32_t $(NAME)ConnectFastCallback(UAVObjEventCallback cb) {
    return UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES, true);
 }
 static inline uint16_t $(NAME)CreateInstance() {
-    return UAVObjCreateInstance($(NAME)Handle(), &$(NAME)SetDefaults);
+    return UAVObjCreateInstance($(NAME)Handle());
 }
 static inline void $(NAME)RequestUpdate() {
    UAVObjRequestUpdate($(NAME)Handle());
--- a/flight/uavobjects/inc/uavobjectmanager.h
+++ b/flight/uavobjects/inc/uavobjectmanager.h
@ -182,16 +182,22 @@ typedef struct {
    uint32_t lastQueueErrorID;
 } UAVObjStats;

+typedef struct {
+    uint32_t id;
+    UAVObjInitializeCallback init_callback;
+    uint16_t instance_size;
+} __attribute__((packed, aligned(4))) UAVObjType;
+
 int32_t UAVObjInitialize();
 void UAVObjGetStats(UAVObjStats *statsOut);
 void UAVObjClearStats();
-UAVObjHandle UAVObjRegister(uint32_t id, bool isSingleInstance, bool isSettings, bool isPriority, uint32_t num_bytes, UAVObjInitializeCallback initCb);
+UAVObjHandle UAVObjRegister(const UAVObjType *type, bool isSingleInstance, bool isSettings, bool isPriority);
 UAVObjHandle UAVObjGetByID(uint32_t id);
 uint32_t UAVObjGetID(UAVObjHandle obj);
 uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
 uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
 UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
-uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback initCb);
+uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle);
 bool UAVObjIsSingleInstance(UAVObjHandle obj);
 bool UAVObjIsMetaobject(UAVObjHandle obj);
 bool UAVObjIsSettings(UAVObjHandle obj);
@ -208,10 +214,12 @@ int32_t UAVObjDeleteSettings();
 int32_t UAVObjSaveMetaobjects();
 int32_t UAVObjLoadMetaobjects();
 int32_t UAVObjDeleteMetaobjects();
+int32_t UAVObjSetDefaults(UAVObjHandle obj_handle);
 int32_t UAVObjSetData(UAVObjHandle obj_handle, const void *dataIn);
 int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void *dataIn, uint32_t offset, uint32_t size);
 int32_t UAVObjGetData(UAVObjHandle obj_handle, void *dataOut);
 int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void *dataOut, uint32_t offset, uint32_t size);
+int32_t UAVObjSetInstanceDefaults(UAVObjHandle obj_handle, uint16_t instId);
 int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId, const void *dataIn);
 int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void *dataIn, uint32_t offset, uint32_t size);
 int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId, void *dataOut);
--- a/flight/uavobjects/inc/uavobjectprivate.h
+++ b/flight/uavobjects/inc/uavobjectprivate.h
@ -112,14 +112,13 @@ struct UAVOMeta {

 /* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
 struct UAVOData {
-    struct UAVOBase base;
-    uint32_t id;
+    struct UAVOBase  base;
+    const UAVObjType *type; /* this contains id, instance_size and data initializer */
    /*
     * Embed the Meta object as another complete UAVO
     * inside the payload for this UAVO.
     */
    struct UAVOMeta metaObj;
-    uint16_t instance_size;
 } __attribute__((packed, aligned(4)));

 /* Augmented type for Single Instance Data UAVO */
--- a/flight/uavobjects/uavobject.c.template
+++ b/flight/uavobjects/uavobject.c.template
@ -63,14 +63,24 @@ int32_t $(NAME)Initialize(void)
        return -2;
    }

+    static const UAVObjType objType = {
+       .id = $(NAMEUC)_OBJID,
+       .instance_size = $(NAMEUC)_NUMBYTES,
+       .init_callback = &$(NAME)SetDefaults,
+    };
+
    // Register object with the object manager
-    handle = UAVObjRegister($(NAMEUC)_OBJID,
-        $(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_ISPRIORITY, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
+    handle = UAVObjRegister(&objType,
+        $(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_ISPRIORITY);

    // Done
    return handle ? 0 : -1;
 }

+static inline void DataOverrideDefaults(__attribute__((unused)) $(NAME)Data * data) {}
+
+void $(NAME)DataOverrideDefaults($(NAME)Data * data) __attribute__((weak, alias("DataOverrideDefaults")));
+
 /**
 * Initialize object fields and metadata with the default values.
 * If a default value is not specified the object fields
@ -84,6 +94,7 @@ void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId)
    UAVObjGetInstanceData(obj, instId, &data);
    memset(&data, 0, sizeof($(NAME)Data));
 $(INITFIELDS)
+    $(NAME)DataOverrideDefaults(&data);
    UAVObjSetInstanceData(obj, instId, &data);

    // Initialize object metadata to their default values
--- a/flight/uavobjects/uavobjectmanager.c
+++ b/flight/uavobjects/uavobjectmanager.c
@ -225,7 +225,7 @@ static struct UAVOData *UAVObjAllocSingle(uint32_t num_bytes)
    uint32_t object_size = sizeof(struct UAVOSingle) + num_bytes;

    /* Allocate the object from the heap */
-    struct UAVOSingle *uavo_single = (struct UAVOSingle *)pios_fastheapmalloc(object_size);
+    struct UAVOSingle *uavo_single = (struct UAVOSingle *)pios_malloc(object_size);

    if (!uavo_single) {
        return NULL;
@ -250,7 +250,7 @@ static struct UAVOData *UAVObjAllocMulti(uint32_t num_bytes)
    uint32_t object_size = sizeof(struct UAVOMulti) + num_bytes;

    /* Allocate the object from the heap */
-    struct UAVOMulti *uavo_multi = (struct UAVOMulti *)pios_fastheapmalloc(object_size);
+    struct UAVOMulti *uavo_multi = (struct UAVOMulti *)pios_malloc(object_size);

    if (!uavo_multi) {
        return NULL;
@ -278,33 +278,30 @@ static struct UAVOData *UAVObjAllocMulti(uint32_t num_bytes)

 /**
 * Register and new object in the object manager.
- * \param[in] id Unique object ID
+ * \param[in] pointer to UAVObjType structure that holds Unique object ID, instance size, initialization function
 * \param[in] isSingleInstance Is this a single instance or multi-instance object
 * \param[in] isSettings Is this a settings object
- * \param[in] numBytes Number of bytes of object data (for one instance)
- * \param[in] initCb Default field and metadata initialization function
+ * \param[in] isPriority
 * \return Object handle, or NULL if failure.
 * \return
 */
-UAVObjHandle UAVObjRegister(uint32_t id,
-                            bool isSingleInstance, bool isSettings, bool isPriority,
-                            uint32_t num_bytes,
-                            UAVObjInitializeCallback initCb)
+UAVObjHandle UAVObjRegister(const UAVObjType *type,
+                            bool isSingleInstance, bool isSettings, bool isPriority)
 {
    struct UAVOData *uavo_data = NULL;

    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);

    /* Don't allow duplicate registrations */
-    if (UAVObjGetByID(id)) {
+    if (UAVObjGetByID(type->id)) {
        goto unlock_exit;
    }

    /* Map the various flags to one of the UAVO types we understand */
    if (isSingleInstance) {
-        uavo_data = UAVObjAllocSingle(num_bytes);
+        uavo_data = UAVObjAllocSingle(type->instance_size);
    } else {
-        uavo_data = UAVObjAllocMulti(num_bytes);
+        uavo_data = UAVObjAllocMulti(type->instance_size);
    }

    if (!uavo_data) {
@ -312,8 +309,7 @@ UAVObjHandle UAVObjRegister(uint32_t id,
    }

    /* Fill in the details about this UAVO */
-    uavo_data->id = id;
-    uavo_data->instance_size = num_bytes;
+    uavo_data->type = type;
    if (isSettings) {
        uavo_data->base.flags.isSettings = true;
        // settings defaults to being sent with priority
@ -325,8 +321,8 @@ UAVObjHandle UAVObjRegister(uint32_t id,
    UAVObjInitMetaData(&uavo_data->metaObj);

    /* Initialize object fields and metadata to default values */
-    if (initCb) {
-        initCb((UAVObjHandle)uavo_data, 0);
+    if (type->init_callback) {
+        type->init_callback((UAVObjHandle)uavo_data, 0);
    }

    /* Always try to load the meta object from flash */
@ -360,11 +356,11 @@ UAVObjHandle UAVObjGetByID(uint32_t id)

    // Look for object
    UAVO_LIST_ITERATE(tmp_obj)
-    if (tmp_obj->id == id) {
+    if (tmp_obj->type->id == id) {
        found_obj = (UAVObjHandle *)tmp_obj;
        goto unlock_exit;
    }
-    if (MetaObjectId(tmp_obj->id) == id) {
+    if (MetaObjectId(tmp_obj->type->id) == id) {
        found_obj = (UAVObjHandle *)&(tmp_obj->metaObj);
        goto unlock_exit;
    }
@ -391,12 +387,12 @@ uint32_t UAVObjGetID(UAVObjHandle obj_handle)
        /* We have a meta object, find our containing UAVO */
        struct UAVOData *uavo_data = container_of((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);

-        return MetaObjectId(uavo_data->id);
+        return MetaObjectId(uavo_data->type->id);
    } else {
        /* We have a data object, augment our pointer */
        struct UAVOData *uavo_data = (struct UAVOData *)uavo_base;

-        return uavo_data->id;
+        return uavo_data->type->id;
    }
 }

@ -420,7 +416,7 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
        /* We have a data object, augment our pointer */
        struct UAVOData *uavo = (struct UAVOData *)uavo_base;

-        instance_size = uavo->instance_size;
+        instance_size = uavo->type->instance_size;
    }

    return instance_size;
@ -478,8 +474,7 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj_handle)
 * \param[in] obj The object handle
 * \return The instance ID or 0 if an error
 */
-uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle,
-                              UAVObjInitializeCallback initCb)
+uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle)
 {
    PIOS_Assert(obj_handle);

@ -501,8 +496,8 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle,
    }

    // Initialize instance data
-    if (initCb) {
-        initCb(obj_handle, instId);
+    if (((struct UAVOData *)obj_handle)->type->init_callback) {
+        ((struct UAVOData *)obj_handle)->type->init_callback(obj_handle, instId);
    }

 unlock_exit:
@ -550,7 +545,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *da
            }
        }
        // Set the data
-        memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
+        memcpy(InstanceData(instEntry), dataIn, obj->type->instance_size);
    }

    // Fire event
@ -596,7 +591,7 @@ int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut)
            goto unlock_exit;
        }
        // Pack data
-        memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
+        memcpy(dataOut, InstanceData(instEntry), obj->type->instance_size);
    }

    rc = 0;
@ -638,7 +633,7 @@ uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc)
            goto unlock_exit;
        }
        // Update crc
-        crc = PIOS_CRC_updateCRC(crc, (uint8_t *)InstanceData(instEntry), (int32_t)obj->instance_size);
+        crc = PIOS_CRC_updateCRC(crc, (uint8_t *)InstanceData(instEntry), (int32_t)obj->type->instance_size);
    }

 unlock_exit:
@ -677,7 +672,7 @@ void UAVObjInstanceWriteToLog(UAVObjHandle obj_handle, uint16_t instId)
            goto unlock_exit;
        }
        // Pack data
-        PIOS_DEBUGLOG_UAVObject(UAVObjGetID(obj_handle), instId, obj->instance_size, (uint8_t *)InstanceData(instEntry));
+        PIOS_DEBUGLOG_UAVObject(UAVObjGetID(obj_handle), instId, obj->type->instance_size, (uint8_t *)InstanceData(instEntry));
    }

 unlock_exit:
@ -857,6 +852,11 @@ xSemaphoreGiveRecursive(mutex);
 return rc;
 }

+int32_t UAVObjSetDefaults(UAVObjHandle obj_handle)
+{
+    return UAVObjSetInstanceDefaults(obj_handle, 0);
+}
+
 /**
 * Set the object data
 * \param[in] obj The object handle
@ -901,6 +901,42 @@ int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void *dataOut, uint32_t offs
    return UAVObjGetInstanceDataField(obj_handle, 0, dataOut, offset, size);
 }

+int32_t UAVObjSetInstanceDefaults(UAVObjHandle obj_handle, uint16_t instId)
+{
+    PIOS_Assert(obj_handle);
+
+    // Lock
+    xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+    int32_t rc = -1;
+
+    if (IsMetaobject(obj_handle)) {
+        if (instId != 0) {
+            goto unlock_exit;
+        }
+// How do we set meta data defaults?
+// MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes;
+    } else {
+        // Check access level
+        if (UAVObjReadOnly(obj_handle)) {
+            goto unlock_exit;
+        }
+
+        // Set default data
+        if (((struct UAVOData *)obj_handle)->type->init_callback) {
+            ((struct UAVOData *)obj_handle)->type->init_callback(obj_handle, instId);
+        }
+    }
+
+    // Fire event
+    sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
+    rc = 0;
+
+unlock_exit:
+    xSemaphoreGiveRecursive(mutex);
+    return rc;
+}
+
 /**
 * Set the data of a specific object instance
 * \param[in] obj The object handle
@ -940,7 +976,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
            goto unlock_exit;
        }
        // Set data
-        memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
+        memcpy(InstanceData(instEntry), dataIn, obj->type->instance_size);
    }

    // Fire event
@ -1000,7 +1036,7 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, con
        }

        // Check for overrun
-        if ((size + offset) > obj->instance_size) {
+        if ((size + offset) > obj->type->instance_size) {
            goto unlock_exit;
        }

@ -1055,7 +1091,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
            goto unlock_exit;
        }
        // Set data
-        memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
+        memcpy(dataOut, InstanceData(instEntry), obj->type->instance_size);
    }

    rc = 0;
@ -1108,7 +1144,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, voi
        }

        // Check for overrun
-        if ((size + offset) > obj->instance_size) {
+        if ((size + offset) > obj->type->instance_size) {
            goto unlock_exit;
        }

@ -1597,8 +1633,8 @@ static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId)
    }

    /* Create the actual instance */
-    uint32_t size = sizeof(struct UAVOMultiInst) + obj->instance_size;
-    instEntry = (struct UAVOMultiInst *)pios_fastheapmalloc(size);
+    uint32_t size = sizeof(struct UAVOMultiInst) + obj->type->instance_size;
+    instEntry = (struct UAVOMultiInst *)pios_malloc(size);
    if (!instEntry) {
        return NULL;
    }
--- a/flight/uavobjects/uavobjectpersistence.c
+++ b/flight/uavobjects/uavobjectpersistence.c
@ -121,6 +121,8 @@ int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
 int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
 {
    PIOS_Assert(obj_handle);
-    PIOS_FLASHFS_ObjDelete(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId);
+    if (PIOS_FLASHFS_ObjDelete(pios_uavo_settings_fs_id, UAVObjGetID(obj_handle), instId) == 0) {
+        UAVObjSetInstanceDefaults(obj_handle, instId);
+    }
    return 0;
 }
--- a/ground/gcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/gcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@ -212,6 +212,8 @@ void UAVObjectBrowserWidget::eraseObject()
        UAVObject *obj = objItem->object();
        Q_ASSERT(obj);
        updateObjectPersistance(ObjectPersistence::OPERATION_DELETE, obj);
+        // Retrieve object so that correct default value is displayed
+        requestUpdate();
    }
 }