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Code Issues Releases Activity

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

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This commit is contained in:
Alessio Morale 2014-02-04 21:03:42 +01:00
parent 01822d7a0c
commit 13f1f3f23a
8 changed files with 46 additions and 12 deletions
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3
flight/modules/Telemetry/telemetry.c
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@ -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);
}
}
/**

1
flight/uavobjects/inc/uavobject.h.template
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@ -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 */

4
flight/uavobjects/inc/uavobjectmanager.h
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@ -147,8 +147,7 @@ typedef struct {
int32_t UAVObjInitialize();
void UAVObjGetStats(UAVObjStats *statsOut);
void UAVObjClearStats();
UAVObjHandle UAVObjRegister(uint32_t id,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjRegister(uint32_t id, bool isSingleInstance, bool isSettings, bool isPriority, uint32_t num_bytes, 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);

2
flight/uavobjects/uavobject.c.template
View File

@ -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;

24
flight/uavobjects/uavobjectmanager.c
View File

@ -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

3
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -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);

12
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -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) {

1
ground/uavobjgenerator/uavobjectparser.h
View File

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