OP-1212 Add "priority" attribute to uavojects that grant them higher priority when sent with telemetry

flight/modules/Telemetry/telemetry.c

@@ -268,12 +268,11 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
         eventMask |= EV_LOGGING_MANUAL;
         break;
     }
-    if(UAVObjIsSettings(obj)){
+    if (UAVObjIsPriority(obj)) {
         UAVObjConnectQueue(obj, priorityQueue, eventMask);
     } else {
         UAVObjConnectQueue(obj, queue, eventMask);
     }
-
 }
 
 /**
@@ -376,10 +375,10 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
          */
 #if defined(PIOS_TELEM_PRIORITY_QUEUE)
         // Loop forever
-           while (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
+        while (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
-               // Process event
+            // Process event
-               processObjEvent(&ev);
+            processObjEvent(&ev);
-           }
+        }
 #endif
         // Wait for queue message
         if (xQueueReceive(queue, &ev, 1) == pdTRUE) {

flight/uavobjects/inc/uavobject.h.template

@@ -44,6 +44,7 @@
 #define $(NAMEUC)_OBJID $(OBJIDHEX)
 #define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST)
 #define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
+#define $(NAMEUC)_ISPRIORITY $(ISPRIORITY)
 #define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
 
 /* Generic interface functions */

flight/uavobjects/inc/uavobjectmanager.h

@@ -147,8 +147,7 @@ typedef struct {
 int32_t UAVObjInitialize();
 void UAVObjGetStats(UAVObjStats *statsOut);
 void UAVObjClearStats();
-UAVObjHandle UAVObjRegister(uint32_t id,
+UAVObjHandle UAVObjRegister(uint32_t id, bool isSingleInstance, bool isSettings, bool isPriority, uint32_t num_bytes, UAVObjInitializeCallback initCb);
-                            int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
 UAVObjHandle UAVObjGetByID(uint32_t id);
 uint32_t UAVObjGetID(UAVObjHandle obj);
 uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
@@ -158,6 +157,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback
 bool UAVObjIsSingleInstance(UAVObjHandle obj);
 bool UAVObjIsMetaobject(UAVObjHandle obj);
 bool UAVObjIsSettings(UAVObjHandle obj);
+bool UAVObjIsPriority(UAVObjHandle obj);
 int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
 int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
 uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);

flight/uavobjects/uavobject.c.template

@@ -65,7 +65,7 @@ int32_t $(NAME)Initialize(void)
 
     // Register object with the object manager
     handle = UAVObjRegister($(NAMEUC)_OBJID,
-        $(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
+        $(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_ISPRIORITY, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
 
     // Done
     return handle ? 0 : -1;

flight/uavobjects/uavobjectmanager.c

@@ -108,6 +108,7 @@ struct UAVOBase {
         bool isMeta        : 1;
         bool isSingle      : 1;
         bool isSettings    : 1;
+        bool isPriority    : 1;
     } flags;
 } __attribute__((packed));
 
@@ -339,7 +340,7 @@ static struct UAVOData *UAVObjAllocMulti(uint32_t num_bytes)
  * \return
  */
 UAVObjHandle UAVObjRegister(uint32_t id,
-                            int32_t isSingleInstance, int32_t isSettings,
+                            bool isSingleInstance, bool isSettings, bool isPriority,
                             uint32_t num_bytes,
                             UAVObjInitializeCallback initCb)
 {
@@ -368,8 +369,11 @@ UAVObjHandle UAVObjRegister(uint32_t id,
     uavo_data->instance_size = num_bytes;
     if (isSettings) {
         uavo_data->base.flags.isSettings = true;
+        // settings defaults to being sent with priority
+        uavo_data->base.flags.isPriority = true;
+    } else {
+        uavo_data->base.flags.isPriority = isPriority;
     }
-
     /* Initialize the embedded meta UAVO */
     UAVObjInitMetaData(&uavo_data->metaObj);
 
@@ -605,6 +609,22 @@ bool UAVObjIsSettings(UAVObjHandle obj_handle)
     return uavo_base->flags.isSettings;
 }
 
+/**
+ * Is this a prioritized object?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a prioritized object
+ */
+bool UAVObjIsPriority(UAVObjHandle obj_handle)
+{
+    PIOS_Assert(obj_handle);
+
+    /* Recover the common object header */
+    struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
+
+    return uavo_base->flags.isPriority;
+}
+
+
 /**
  * Unpack an object from a byte array
  * \param[in] obj The object handle

ground/uavobjgenerator/generators/generator_common.cpp

@@ -72,6 +72,9 @@ void replaceCommonTags(QString & out, ObjectInfo *info)
     // Replace $(ISSETTINGS) tag
     out.replace(QString("$(ISSETTINGS)"), boolTo01String(info->isSettings));
     out.replace(QString("$(ISSETTINGSTF)"), boolToTRUEFALSEString(info->isSettings));
+    // Replace $(ISPRIORITY) tag
+    out.replace(QString("$(ISPRIORITY)"), boolTo01String(info->isPriority));
+    out.replace(QString("$(ISPRIORITYTF)"), boolToTRUEFALSEString(info->isPriority));
     // Replace $(GCSACCESS) tag
     value = accessModeStr[info->gcsAccess];
     out.replace(QString("$(GCSACCESS)"), value);

ground/uavobjgenerator/uavobjectparser.cpp

@@ -623,9 +623,19 @@ QString UAVObjectParser::processObjectAttributes(QDomNode & node, ObjectInfo *in
     } else if (attr.nodeValue().compare(QString("false")) == 0) {
         info->isSettings = false;
     } else {
-        return QString("Object:settings attribute value is invalid");
+        return QString("Object:settings attribute value is invalid (true|false)");
     }
 
+    // Get priority attribute
+    attr = attributes.namedItem("priority");
+    info->isPriority = false;
+    if (!attr.isNull()) {
+        if (attr.nodeValue().compare(QString("true")) == 0) {
+            info->isPriority = true;
+        } else if (attr.nodeValue().compare(QString("false")) != 0) {
+            return QString("Object:priority attribute value is invalid (true|false)");
+        }
+    }
 
     // Settings objects can only have a single instance
     if (info->isSettings && !info->isSingleInst) {

ground/uavobjgenerator/uavobjectparser.h

@@ -84,6 +84,7 @@ typedef struct  {
     quint32    id;
     bool       isSingleInst;
     bool       isSettings;
+    bool       isPriority;
     AccessMode gcsAccess;
     AccessMode flightAccess;
     bool       flightTelemetryAcked;