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https://bitbucket.org/librepilot/librepilot.git
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Import of UAVObjectField object. This differs a bit from the GCS
implementation in that the data is stored within the field instead of being packed back into a continugious memory region. This is because java doesn't allow casting to struct so the memory access isn't a useful feature.
This commit is contained in:
James Cotton
parent
0abd2ee671
commit
180f87dae5
468
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
Normal file
468
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
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package org.openpilot.uavtalk;
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import java.io.Serializable;
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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import java.util.ArrayList;
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import java.util.List;
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public class UAVObjectField {
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public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING };
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public UAVObjectField(String name, String units, FieldType type, int numElements, List<String> options) {
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List<String> elementNames = new ArrayList<String>();
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// Set element names
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for (int n = 0; n < numElements; ++n)
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{
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elementNames.add(String.valueOf(n));
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}
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// Initialize
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constructorInitialize(name, units, type, elementNames, options);
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}
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public UAVObjectField(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
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constructorInitialize(name, units, type, elementNames, options);
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}
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public void initialize(byte[] data, int dataOffset, UAVObject obj){
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this.data = data;
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this.offset = dataOffset;
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this.obj = obj;
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clear();
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}
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public UAVObject getObject() {
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return obj;
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}
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public FieldType getType() {
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return type;
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}
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public String getTypeAsString() {
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switch (type)
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{
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case INT8:
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return "int8";
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case INT16:
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return "int16";
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case INT32:
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return "int32";
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case UINT8:
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return "uint8";
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case UINT16:
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return "uint16";
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case UINT32:
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return "uint32";
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case FLOAT32:
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return "float32";
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case ENUM:
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return "enum";
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case STRING:
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return "string";
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default:
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return "";
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}
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}
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public String getName() {
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return name;
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}
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public String getUnits() {
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return units;
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}
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public int getNumElements() {
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return numElements;
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}
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public List<String> getElementNames() {
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return elementNames;
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}
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public List<String> getOptions() {
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return options;
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}
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/**
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* This function copies this field from the internal storage of the parent object
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* to a new ByteBuffer for UAVTalk. It also converts from the java standard (big endian)
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* to the arm/uavtalk standard (little endian)
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* @param dataOut
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* @return
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]
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* @throws Exception */
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public int pack(ByteBuffer dataOut) throws Exception {
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//QMutexLocker locker(obj->getMutex());
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// Pack each element in output buffer
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dataOut.order(ByteOrder.LITTLE_ENDIAN);
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switch (type)
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{
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case INT8:
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for (int index = 0; index < numElements; ++index)
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dataOut.put((Byte) getValue(index));
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break;
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case INT16:
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for (int index = 0; index < numElements; ++index)
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dataOut.putShort((Short) getValue(index));
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break;
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case INT32:
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for (int index = 0; index < numElements; ++index)
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dataOut.putInt((Integer) getValue(index));
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break;
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case UINT8:
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// TODO: Deal properly with unsigned
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for (int index = 0; index < numElements; ++index)
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dataOut.put((Byte) getValue(index));
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break;
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case UINT16:
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// TODO: Deal properly with unsigned
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for (int index = 0; index < numElements; ++index)
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dataOut.putShort((Short) getValue(index));
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break;
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case UINT32:
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// TODO: Deal properly with unsigned
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for (int index = 0; index < numElements; ++index)
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dataOut.putInt((Integer) getValue(index));
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break;
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case FLOAT32:
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for (int index = 0; index < numElements; ++index)
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dataOut.putFloat((Float) getValue(index));
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break;
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case ENUM:
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List<Byte> l = (List<Byte>) data;
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for (int index = 0; index < numElements; ++index)
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dataOut.put((Byte) l.get(index));
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break;
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case STRING:
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// TODO: Implement strings
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throw new Exception("Strings not yet implemented");
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}
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// Done
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return getNumBytes();
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}
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public int unpack(ByteBuffer dataIn) throws Exception {
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// Unpack each element from input buffer
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dataIn.order(ByteOrder.LITTLE_ENDIAN);
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switch (type)
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{
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case INT8:
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Byte) dataIn.get(), index);
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}
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break;
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case INT16:
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Short) dataIn.getShort(), index);
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}
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break;
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case INT32:
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Integer) dataIn.getInt(), index);
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}
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break;
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case UINT8:
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// TODO: Deal with unsigned
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Byte) dataIn.get(), index);
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}
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break;
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case UINT16:
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// TODO: Deal with unsigned
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Short) dataIn.getShort(), index);
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}
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break;
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case UINT32:
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// TODO: Deal with unsigned
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Integer) dataIn.getInt(), index);
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}
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break;
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case FLOAT32:
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for (int index = 0 ; index < numElements; ++index) {
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setValue((Float) dataIn.getFloat(), index);
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}
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break;
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case ENUM:
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List<Byte> l = (List<Byte>) data;
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for (int index = 0 ; index < numElements; ++index) {
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l.set(index, dataIn.get(index));
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}
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break;
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case STRING:
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throw new Exception("Strings not handled");
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}
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// Done
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return getNumBytes();
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}
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Object getValue() throws Exception { return getValue(0); };
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Object getValue(int index) throws Exception {
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// QMutexLocker locker(obj->getMutex());
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// Check that index is not out of bounds
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if ( index >= numElements )
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{
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return null;
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}
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switch (type)
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{
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case INT8:
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case INT16:
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case INT32:
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{
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List<Integer> l = (List<Integer>) data;
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return l.get(index);
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}
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case UINT8:
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case UINT16:
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case UINT32:
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{
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// TODO: Correctly deal with unsigned values
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List<Integer> l = (List<Integer>) data;
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return l.get(index);
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}
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case FLOAT32:
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{
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List<Float> l = (List<Float>) data;
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return l.get(index);
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}
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case ENUM:
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{
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List<Byte> l = (List<Byte>) data;
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Byte val = l.get(index);
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if(val >= options.size() || val < 0)
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throw new Exception("Invalid value for" + name);
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return options.get(val);
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}
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case STRING:
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{
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throw new Exception("Shit I should do this");
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}
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}
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// If this point is reached then we got an invalid type
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return null;
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}
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public void setValue(Object data) throws Exception { setValue(data,0); }
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public void setValue(Object data, int index) throws Exception {
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// QMutexLocker locker(obj->getMutex());
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// Check that index is not out of bounds
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if ( index >= numElements )
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throw new Exception("Index out of bounds");
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// Get metadata
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UAVObject.Metadata mdata = obj.getMetadata();
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// Update value if the access mode permits
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if ( mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
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{
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ByteBuffer bbuf = ByteBuffer.allocate(numBytesPerElement);
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switch (type)
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{
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case INT8:
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case INT16:
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case INT32:
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{
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List<Integer> l = (List<Integer>) data;
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l.set(index, (Integer) data);
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break;
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}
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case UINT8:
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case UINT16:
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case UINT32:
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{
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List<Integer> l = (List<Integer>) data;
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l.set(index, (Integer) data);
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break;
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}
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case FLOAT32:
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{
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List<Float> l = (List<Float>) data;
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l.set(index, (Float) data);
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break;
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}
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case ENUM:
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{
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byte val = (byte) options.indexOf((String) data);
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if(val < 0) throw new Exception("Enumerated value not found");
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List<Byte> l = (List<Byte>) data;
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l.set(index, val);
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break;
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}
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case STRING:
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{
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throw new Exception("Sorry I haven't implemented strings yet");
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}
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}
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}
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}
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public double getDouble() throws Exception { return getDouble(0); };
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public double getDouble(int index) throws Exception {
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return Double.valueOf((Double) getValue(index));
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}
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void setDouble(double value) throws Exception { setDouble(value, 0); };
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void setDouble(double value, int index) throws Exception {
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setValue(value, index);
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}
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int getDataOffset() {
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return offset;
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}
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int getNumBytes() {
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return numBytesPerElement * numElements;
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}
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int getNumBytesElement() {
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return numBytesPerElement;
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}
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boolean isNumeric() {
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switch (type)
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{
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case INT8:
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return true;
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case INT16:
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return true;
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case INT32:
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return true;
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case UINT8:
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return true;
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case UINT16:
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return true;
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case UINT32:
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return true;
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case FLOAT32:
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return true;
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case ENUM:
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return false;
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case STRING:
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return false;
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default:
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return false;
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}
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}
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boolean isText() {
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switch (type)
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{
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case INT8:
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return false;
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case INT16:
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return false;
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case INT32:
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return false;
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case UINT8:
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return false;
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case UINT16:
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return false;
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case UINT32:
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return false;
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case FLOAT32:
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return false;
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case ENUM:
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return true;
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case STRING:
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return true;
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default:
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return false;
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}
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}
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public String toString() {
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String sout = new String();
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sout += name + ": [ ";
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for (int n = 0; n < numElements; ++n)
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{
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sout += String.valueOf(n) + " ";
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}
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sout += "] " + units + "\n";
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return sout;
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}
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void fieldUpdated(UAVObjectField field) {
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}
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public void clear() {
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// TODO: This accesses a shared array of the parent
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}
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public void constructorInitialize(String name, String units, FieldType type, List<String> elementNames, List<String> options) {
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// Copy params
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this.name = name;
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this.units = units;
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this.type = type;
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this.options = options;
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this.numElements = elementNames.size();
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this.offset = 0;
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this.data = null;
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this.obj = null;
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this.elementNames = elementNames;
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// Set field size
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switch (type)
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{
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case INT8:
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data = (Object) new ArrayList<Integer>();
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numBytesPerElement = 1;
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break;
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case INT16:
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data = (Object) new ArrayList<Integer>();
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numBytesPerElement = 2;
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break;
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case INT32:
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data = (Object) new ArrayList<Integer>();
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numBytesPerElement = 4;
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break;
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case UINT8:
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data = (Object) new ArrayList<Integer>();
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numBytesPerElement = 1;
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break;
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case UINT16:
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data = (Object) new ArrayList<Integer>();
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numBytesPerElement = 2;
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break;
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case UINT32:
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data = (Object) new ArrayList<Integer>();
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numBytesPerElement = 4;
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break;
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case FLOAT32:
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data = (Object) new ArrayList<Double>();
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numBytesPerElement = 4;
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break;
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case ENUM:
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data = (Object) new ArrayList<Byte>();
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numBytesPerElement = 1;
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break;
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case STRING:
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data = (Object) new ArrayList<String>();
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numBytesPerElement = 1;
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break;
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default:
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numBytesPerElement = 0;
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}
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}
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private String name;
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private String units;
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private FieldType type;
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private List<String> elementNames;
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private List<String> options;
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private int numElements;
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private int numBytesPerElement;
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private int offset;
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private Object data;
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private UAVObject obj;
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}
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