ahrs status: Add AhrsStatus UAVObject

This object currently only holds the serial number of the attached
AHRS board.  This will be retrieved each time communications are
(re)established with the AHRS board.

This will eventually be extended to hold some statistics for OP to
AHRS comms.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1008 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -159,6 +159,7 @@ SRC += $(OPUAVOBJ)/manualcontrolcommand.c
 SRC += $(OPUAVOBJ)/manualcontrolsettings.c
 SRC += $(OPUAVOBJ)/attitudedesired.c
 SRC += $(OPUAVOBJ)/stabilizationsettings.c
+SRC += $(OPUAVOBJ)/ahrsstatus.c
 SRC += $(OPUAVOBJ)/altitudeactual.c
 SRC += $(OPUAVOBJ)/attitudeactual.c
 SRC += $(OPUAVOBJ)/attitudesettings.c

flight/OpenPilot/UAVObjects/ahrsstatus.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrsstatus.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AhrsStatus object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: ahrsstatus.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 "openpilot.h"
+#include "ahrsstatus.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+// Private functions
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t AhrsStatusInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(AHRSSTATUS_OBJID, AHRSSTATUS_NAME, AHRSSTATUS_METANAME, 0,
+			AHRSSTATUS_ISSINGLEINST, AHRSSTATUS_ISSETTINGS, AHRSSTATUS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	AhrsStatusData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(AhrsStatusData));
+
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
+	metadata.access = ACCESS_READWRITE;
+	metadata.gcsAccess = ACCESS_READWRITE;
+	metadata.telemetryAcked = 0;
+	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.telemetryUpdatePeriod = 1000;
+	metadata.gcsTelemetryAcked = 0;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
+	metadata.loggingUpdatePeriod = 1000;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle AhrsStatusHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot/UAVObjects/inc/ahrsstatus.h

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrsstatus.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AhrsStatus object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: ahrsstatus.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 AHRSSTATUS_H
+#define AHRSSTATUS_H
+
+// Object constants
+#define AHRSSTATUS_OBJID 3344048156U
+#define AHRSSTATUS_NAME "AhrsStatus"
+#define AHRSSTATUS_METANAME "AhrsStatusMeta"
+#define AHRSSTATUS_ISSINGLEINST 1
+#define AHRSSTATUS_ISSETTINGS 0
+#define AHRSSTATUS_NUMBYTES sizeof(AhrsStatusData)
+
+// Object access macros
+#define AhrsStatusGet(dataOut) UAVObjGetData(AhrsStatusHandle(), dataOut)
+#define AhrsStatusSet(dataIn) UAVObjSetData(AhrsStatusHandle(), dataIn)
+#define AhrsStatusInstGet(instId, dataOut) UAVObjGetInstanceData(AhrsStatusHandle(), instId, dataOut)
+#define AhrsStatusInstSet(instId, dataIn) UAVObjSetInstanceData(AhrsStatusHandle(), instId, dataIn)
+#define AhrsStatusConnectQueue(queue) UAVObjConnectQueue(AhrsStatusHandle(), queue, EV_MASK_ALL_UPDATES)
+#define AhrsStatusConnectCallback(cb) UAVObjConnectCallback(AhrsStatusHandle(), cb, EV_MASK_ALL_UPDATES)
+#define AhrsStatusCreateInstance() UAVObjCreateInstance(AhrsStatusHandle())
+#define AhrsStatusRequestUpdate() UAVObjRequestUpdate(AhrsStatusHandle())
+#define AhrsStatusRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AhrsStatusHandle(), instId)
+#define AhrsStatusUpdated() UAVObjUpdated(AhrsStatusHandle())
+#define AhrsStatusInstUpdated(instId) UAVObjUpdated(AhrsStatusHandle(), instId)
+#define AhrsStatusGetMetadata(dataOut) UAVObjGetMetadata(AhrsStatusHandle(), dataOut)
+#define AhrsStatusSetMetadata(dataIn) UAVObjSetMetadata(AhrsStatusHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t SerialNumber[25];
+
+} __attribute__((packed)) AhrsStatusData;
+
+// Field information
+// Field SerialNumber information
+/* Number of elements for field SerialNumber */
+#define AHRSSTATUS_SERIALNUMBER_NUMELEM 25
+
+
+// Generic interface functions
+int32_t AhrsStatusInitialize();
+UAVObjHandle AhrsStatusHandle();
+
+#endif // AHRSSTATUS_H

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -31,6 +31,7 @@
 #include "actuatorcommand.h"
 #include "actuatordesired.h"
 #include "actuatorsettings.h"
+#include "ahrsstatus.h"
 #include "altitudeactual.h"
 #include "attitudeactual.h"
 #include "attitudedesired.h"
@@ -62,6 +63,7 @@ void UAVObjectsInitializeAll()
     ActuatorCommandInitialize();
     ActuatorDesiredInitialize();
     ActuatorSettingsInitialize();
+    AhrsStatusInitialize();
     AltitudeActualInitialize();
     AttitudeActualInitialize();
     AttitudeDesiredInitialize();

ground/src/plugins/uavobjects/ahrsstatus.cpp

@@ -0,0 +1,150 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrsstatus.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AhrsStatus object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: ahrsstatus.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 "ahrsstatus.h"
+#include "uavobjectfield.h"
+
+const QString AhrsStatus::NAME = QString("AhrsStatus");
+
+/**
+ * Constructor
+ */
+AhrsStatus::AhrsStatus(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    QStringList SerialNumberElemNames;
+    SerialNumberElemNames.append("0");
+    SerialNumberElemNames.append("1");
+    SerialNumberElemNames.append("2");
+    SerialNumberElemNames.append("3");
+    SerialNumberElemNames.append("4");
+    SerialNumberElemNames.append("5");
+    SerialNumberElemNames.append("6");
+    SerialNumberElemNames.append("7");
+    SerialNumberElemNames.append("8");
+    SerialNumberElemNames.append("9");
+    SerialNumberElemNames.append("10");
+    SerialNumberElemNames.append("11");
+    SerialNumberElemNames.append("12");
+    SerialNumberElemNames.append("13");
+    SerialNumberElemNames.append("14");
+    SerialNumberElemNames.append("15");
+    SerialNumberElemNames.append("16");
+    SerialNumberElemNames.append("17");
+    SerialNumberElemNames.append("18");
+    SerialNumberElemNames.append("19");
+    SerialNumberElemNames.append("20");
+    SerialNumberElemNames.append("21");
+    SerialNumberElemNames.append("22");
+    SerialNumberElemNames.append("23");
+    SerialNumberElemNames.append("24");
+    fields.append( new UAVObjectField(QString("SerialNumber"), QString("n/a"), UAVObjectField::UINT8, SerialNumberElemNames, QStringList()) );
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+    // Set the default field values
+    setDefaultFieldValues();
+}
+
+/**
+ * Get the default metadata for this object
+ */
+UAVObject::Metadata AhrsStatus::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 = 1000;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    metadata.loggingUpdatePeriod = 1000;
+    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 AhrsStatus::setDefaultFieldValues()
+{
+
+}
+
+/**
+ * Get the object data fields
+ */
+AhrsStatus::DataFields AhrsStatus::getData()
+{
+    QMutexLocker locker(mutex);
+    return data;
+}
+
+/**
+ * Set the object data fields
+ */
+void AhrsStatus::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* AhrsStatus::clone(quint32 instID)
+{
+    AhrsStatus* obj = new AhrsStatus();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}
+
+/**
+ * Static function to retrieve an instance of the object.
+ */
+AhrsStatus* AhrsStatus::GetInstance(UAVObjectManager* objMngr, quint32 instID)
+{
+    return dynamic_cast<AhrsStatus*>(objMngr->getObject(AhrsStatus::OBJID, instID));
+}

ground/src/plugins/uavobjects/ahrsstatus.h

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       ahrsstatus.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the AhrsStatus object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: ahrsstatus.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 AHRSSTATUS_H
+#define AHRSSTATUS_H
+
+#include "uavdataobject.h"
+#include "uavobjectmanager.h"
+
+class UAVOBJECTS_EXPORT AhrsStatus: public UAVDataObject
+{
+    Q_OBJECT
+
+public:
+    // Field structure
+    typedef struct {
+        quint8 SerialNumber[25];
+
+    } __attribute__((packed)) DataFields;
+
+    // Field information
+    // Field SerialNumber information
+    /* Number of elements for field SerialNumber */
+    static const quint32 SERIALNUMBER_NUMELEM = 25;
+
+  
+    // Constants
+    static const quint32 OBJID = 3344048156U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 1;
+    static const bool ISSETTINGS = 0;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    // Functions
+    AhrsStatus();
+
+    DataFields getData();
+    void setData(const DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+
+    static AhrsStatus* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
+	
+private:
+    DataFields data;
+
+    void setDefaultFieldValues();
+
+};
+
+#endif // AHRSSTATUS_H

ground/src/plugins/uavobjects/ahrsstatus.py

@@ -0,0 +1,110 @@
+##
+##############################################################################
+#
+# @file       ahrsstatus.py
+# @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+# @brief      Implementation of the AhrsStatus object. This file has been 
+#             automatically generated by the UAVObjectGenerator.
+# 
+# @note       Object definition file: ahrsstatus.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(
+		'SerialNumber',
+		'B',
+		25,
+		[
+			'0',
+			'1',
+			'2',
+			'3',
+			'4',
+			'5',
+			'6',
+			'7',
+			'8',
+			'9',
+			'10',
+			'11',
+			'12',
+			'13',
+			'14',
+			'15',
+			'16',
+			'17',
+			'18',
+			'19',
+			'20',
+			'21',
+			'22',
+			'23',
+			'24',
+		],
+		{
+		}
+	),
+]
+
+
+class AhrsStatus(uavobject.UAVObject):
+    ## Object constants
+    OBJID        = 3344048156
+    NAME         = "AhrsStatus"
+    METANAME     = "AhrsStatusMeta"
+    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 = AhrsStatus()
+    print (x)
+
+if __name__ == "__main__":
+    #import pdb ; pdb.run('main()')
+    main()

ground/src/plugins/uavobjects/uavobjects.pro

@@ -12,6 +12,7 @@ HEADERS += uavobjects_global.h \
     uavobjectsinit.h \
     uavobjectsplugin.h \
     examplesettings.h \
+    ahrsstatus.h \
     altitudeactual.h \
     attitudeactual.h \
     attitudesettings.h \
@@ -41,6 +42,7 @@ SOURCES += uavobject.cpp \
     uavobjectfield.cpp \
     uavobjectsinit.cpp \
     uavobjectsplugin.cpp \
+    ahrsstatus.cpp \
     altitudeactual.cpp \
     attitudeactual.cpp \
     attitudesettings.cpp \

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -32,6 +32,7 @@
 #include "actuatorcommand.h"
 #include "actuatordesired.h"
 #include "actuatorsettings.h"
+#include "ahrsstatus.h"
 #include "altitudeactual.h"
 #include "attitudeactual.h"
 #include "attitudedesired.h"
@@ -63,6 +64,7 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new ActuatorCommand() );
     objMngr->registerObject( new ActuatorDesired() );
     objMngr->registerObject( new ActuatorSettings() );
+    objMngr->registerObject( new AhrsStatus() );
     objMngr->registerObject( new AltitudeActual() );
     objMngr->registerObject( new AttitudeActual() );
     objMngr->registerObject( new AttitudeDesired() );

ground/src/shared/uavobjectdefinition/ahrsstatus.xml

@@ -0,0 +1,9 @@
+<xml>
+        <object name="AhrsStatus" singleinstance="true" settings="false">
+            <field name="SerialNumber" units="n/a" type="uint8" elements="25"/>
+            <access gcs="readwrite" flight="readwrite"/>
+            <telemetrygcs acked="false" updatemode="manual" period="0"/>
+            <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+            <logging updatemode="periodic" period="1000"/>
+        </object>
+</xml>