First release of the UAVObject generator application

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@397 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/libs/uavobjgenerator/main.cpp

@@ -0,0 +1,57 @@
+/**
+ ******************************************************************************
+ *
+ * @file       main.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      UAVObjectGenerator main.
+ *
+ * @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 <QtCore/QCoreApplication>
+#include <QFile>
+#include <QString>
+#include <iostream>
+#include "uavobjectgenerator.h"
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+    QString basepath;
+    // Get arguments
+    if (argc == 1)
+    {
+        basepath = QString("../../../../../");
+    }
+    else if (argc == 2)
+    {
+        basepath = QString(argv[1]);
+    }
+    else
+    {
+        std::cout << "Invalid arguments: uavobjectgenerator [base path to gcs and flight directories (as in svn)]" << std::endl;
+    }
+    // Start application
+    UAVObjectGenerator gen(basepath);
+    gen.processAll();
+    return 0;
+}
+
+
+
+

ground/src/libs/uavobjgenerator/uavobjectgenerator.cpp

@@ -0,0 +1,234 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectgenerator.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      UAVObjectGenerator, generates UAVObjects from XML files.
+ *
+ * @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
+ */
+
+/*
+ * The following is done by the object generator:
+ * - Read all XML files in the XML source directory
+ * - Process each XML and extract the information for all defined objects
+ * - Generate the unique objects IDs and check for collisions
+ * - Generate the GCS and Flight UAVObject code based on the supplied template source files
+ * - Update the object initialization source files for both the GCS and Flight code
+ */
+
+#include "uavobjectgenerator.h"
+
+/**
+ * Constructor
+ * @param basepath The base directory where the 'flight' and 'gcs' folders are located (the SVN structure is expected)
+ * @param out The stdout file
+ */
+UAVObjectGenerator::UAVObjectGenerator(QString& basepath, FILE* out) :
+        basepath(basepath),
+        sout(out)
+{
+    xmlPath = QDir( basepath + QString("ground/src/shared/uavobjectdefinition"));
+    flightCodePath = QDir( basepath + QString("flight/OpenPilot/UAVObjects"));
+    gcsCodePath = QDir( basepath + QString("ground/src/plugins/uavobjects"));
+    objectTemplateFilename = QString("uavobjecttemplate");
+    objectsInitTemplateFilename = QString("uavobjectsinittemplate");
+    objectsInitFilename = QString("uavobjectsinit");
+    sout << "- OpenPilot UAVObject Generator -" << endl;
+}
+
+/**
+ * Process all XML files and generate object code.
+ */
+bool UAVObjectGenerator::processAll()
+{
+    // Read the template files
+    QString flightCodeTemplate = readFile( flightCodePath.absoluteFilePath(objectTemplateFilename + ".c") );
+    QString flightIncludeTemplate = readFile( flightCodePath.absoluteFilePath("inc/" + objectTemplateFilename + ".h") );
+    QString flightInitTemplate = readFile( flightCodePath.absoluteFilePath(objectsInitTemplateFilename + ".c") );
+    QString gcsCodeTemplate = readFile( gcsCodePath.absoluteFilePath(objectTemplateFilename + ".cpp") );
+    QString gcsIncludeTemplate = readFile( gcsCodePath.absoluteFilePath(objectTemplateFilename + ".h") );
+    QString gcsInitTemplate = readFile( gcsCodePath.absoluteFilePath(objectsInitTemplateFilename + ".cpp") );
+    if ( flightCodeTemplate.isNull() || flightIncludeTemplate.isNull() ||
+         gcsCodeTemplate.isNull() || gcsIncludeTemplate.isNull() ||
+         flightInitTemplate.isNull() || gcsInitTemplate.isNull() )
+    {
+        sout << "Error: Could not open template files." << endl;
+        return false;
+    }
+
+    // Get all XML files
+    QStringList filters;
+    filters.append("*.xml");
+    xmlPath.setNameFilters(filters);
+    QFileInfoList xmlList = xmlPath.entryInfoList();
+
+    // Read in each XML file and parse it
+    QList<UAVObjectParser*> parsers;
+    for (int n = 0; n < xmlList.length(); ++n)
+    {
+        QFileInfo fileinfo = xmlList[n];
+        QString filename = fileinfo.fileName();
+        QString xmlstr = readFile(fileinfo.absoluteFilePath());
+        UAVObjectParser* parser = new UAVObjectParser();
+        sout << "Parsing XML file: " << fileinfo.fileName() << endl;
+        QString res = parser->parseXML(xmlstr, filename);
+        if (!res.isNull())
+        {
+            sout << "Error: " << res << endl;
+            return false;
+        }
+        parsers.append(parser);
+    }
+
+    // Generate the code for each object and write it to the destination directory
+    QList<quint32> objIDList;
+    QString objInc;
+    QString flightObjInit;
+    QString gcsObjInit;
+    bool res;
+    for (int parseridx = 0; parseridx < parsers.length(); ++ parseridx)
+    {
+        UAVObjectParser* parser = parsers[parseridx];
+        for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx)
+        {
+            QString name = parser->getObjectName(objidx);
+            QString namelc = name.toLower();
+            sout << "Generating code for object: " << name << endl;
+            // Check for object ID conflicts
+            quint32 id = parser->getObjectID(objidx);
+            if ( objIDList.contains(id) )
+            {
+                sout << "Error: Object ID collision found in object " << name << ", modify object name" << endl;
+                return false;
+            }
+            else
+            {
+                objIDList.append(id);
+            }
+            // Generate the flight code
+            QString flightCode;
+            QString flightInclude;
+            res = parser->generateFlightObject(objidx, flightIncludeTemplate, flightCodeTemplate,
+                                               flightInclude, flightCode);
+            if (!res)
+            {
+                sout << "Error: Improperly formatted flight object template file" << endl;
+                return false;
+            }
+            // Generate the GCS code
+            QString gcsCode;
+            QString gcsInclude;
+            res = parser->generateGCSObject(objidx, gcsIncludeTemplate, gcsCodeTemplate,
+                                            gcsInclude, gcsCode);
+            if (!res)
+            {
+                sout << "Error: Improperly formatted GCS object template file" << endl;
+                return false;
+            }
+            // Write the flight code
+            // TODO: Only write file if modified
+            res = writeFile( flightCodePath.absolutePath() + "/" + namelc + ".c", flightCode );
+            if (!res)
+            {
+                sout << "Error: Could not write output files" << endl;
+                return false;
+            }
+            res = writeFile( flightCodePath.absolutePath() + "/inc/" + namelc + ".h", flightInclude );
+            if (!res)
+            {
+                sout << "Error: Could not write output files" << endl;
+                return false;
+            }
+            // Write the GCS code
+            // TODO: Only write file if modified
+            res = writeFile( gcsCodePath.absolutePath() + "/" + namelc + ".cpp", gcsCode );
+            if (!res)
+            {
+                sout << "Error: Could not write output files" << endl;
+                return false;
+            }
+            res = writeFile( gcsCodePath.absolutePath() + "/" + namelc + ".h", gcsInclude );
+            if (!res)
+            {
+                sout << "Error: Could not write output files" << endl;
+                return false;
+            }
+            // Update strings for the object initialization
+            objInc.append("#include \"" + namelc + ".h\"\n");
+            flightObjInit.append("    " + name + "Initialize();\n");
+            gcsObjInit.append("    objMngr->registerObject( new " + name + "() );");
+        }
+    }
+
+    // Write the flight object inialization files
+    sout << "Updating object initialization files" << endl;
+    flightInitTemplate.replace( QString("$(OBJINC)"), objInc);
+    flightInitTemplate.replace( QString("$(OBJINIT)"), flightObjInit);
+    res = writeFile( flightCodePath.absolutePath() + "/" + objectsInitFilename + ".c",
+                     flightInitTemplate );
+    if (!res)
+    {
+        sout << "Error: Could not write output files" << endl;
+        return false;
+    }
+
+    // Write the gcs object inialization files
+    gcsInitTemplate.replace( QString("$(OBJINC)"), objInc);
+    gcsInitTemplate.replace( QString("$(OBJINIT)"), gcsObjInit);
+    res = writeFile( gcsCodePath.absolutePath() + "/" + objectsInitFilename + ".cpp",
+                     gcsInitTemplate );
+    if (!res)
+    {
+        sout << "Error: Could not write output files" << endl;
+        return false;
+    }
+
+    // Done
+    sout << "Done: processed " << xmlList.length() << " XML files and generated "
+            << objIDList.length() << " objects with no ID collisions." << endl;
+    return true;
+}
+
+/**
+ * Read a file and return its contents as a string
+ */
+QString UAVObjectGenerator::readFile(QString name)
+{
+    QFile file(name);
+    if (!file.open(QFile::ReadOnly)) return QString();
+    QTextStream fileStr(&file);
+    QString str = fileStr.readAll();
+    file.close();
+    return str;
+}
+
+/**
+ * Write contents of string to file
+ */
+bool UAVObjectGenerator::writeFile(QString name, QString& str)
+{
+    QFile file(name);
+    if (!file.open(QFile::WriteOnly)) return false;
+    QTextStream fileStr(&file);
+    fileStr << str;
+    file.close();
+    return true;
+}
+

ground/src/libs/uavobjgenerator/uavobjectgenerator.h

@@ -0,0 +1,57 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectgenerator.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      UAVObjectGenerator, generates UAVObjects from XML files.
+ *
+ * @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 UAVOBJECTGENERATOR_H
+#define UAVOBJECTGENERATOR_H
+
+#include <QTextStream>
+#include <QString>
+#include <QDir>
+#include <QFile>
+#include "uavobjectparser.h"
+
+class UAVObjectGenerator
+{
+public:
+    UAVObjectGenerator(QString& basepath, FILE* out = stdout);
+    bool processAll();
+
+private:
+    QDir basepath;
+    QTextStream sout;
+    QDir xmlPath;
+    QDir flightCodePath;
+    QDir gcsCodePath;
+    QString objectTemplateFilename;
+    QString objectsInitTemplateFilename;
+    QString objectsInitFilename;
+
+    QString readFile(QString name);
+    bool writeFile(QString name, QString& str);
+
+};
+
+#endif // UAVOBJECTGENERATOR_H

ground/src/libs/uavobjgenerator/uavobjectparser.cpp

@@ -0,0 +1,593 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectparser.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Parses XML files and extracts object information.
+ *
+ * @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 "uavobjectparser.h"
+#include <QByteArray>
+
+const char* UAVObjectParser::FieldTypeStr[] = {"FIELDTYPE_INT8", "FIELDTYPE_INT16", "FIELDTYPE_INT32", "FIELDTYPE_FLOAT32", "FIELDTYPE_CHAR"};
+const char* UAVObjectParser::FieldTypeStrC[] = {"int8_t", "int16_t", "int32_t", "float", "char"};
+const char* UAVObjectParser::FieldTypeStrCPP[] = {"qint8", "qint16", "qint32", "float", "char"};
+const char* UAVObjectParser::UpdateModeStr[] = {"UPDATEMODE_PERIODIC", "UPDATEMODE_ONCHANGE", "UPDATEMODE_MANUAL", "UPDATEMODE_NEVER"};
+
+/**
+ * Constructor
+ */
+UAVObjectParser::UAVObjectParser()
+{
+
+}
+
+/**
+ * Get number of objects
+ */
+int UAVObjectParser::getNumObjects()
+{
+    return objInfo.length();
+}
+
+/**
+ * Get the detailed object information
+ */
+QList<UAVObjectParser::ObjectInfo*> UAVObjectParser::getObjectInfo()
+{
+    return objInfo;
+}
+
+/**
+ * Get the name of the object
+ */
+QString UAVObjectParser::getObjectName(int objIndex)
+{
+    ObjectInfo* info = objInfo[objIndex];
+    if (info == NULL)
+    {
+        return QString();
+    }
+    else
+    {
+        return info->name;
+    }
+}
+
+/**
+ * Get the ID of the object
+ */
+quint32 UAVObjectParser::getObjectID(int objIndex)
+{
+    ObjectInfo* info = objInfo[objIndex];
+    if (info == NULL)
+    {
+        return 0;
+    }
+    else
+    {
+        return info->id;
+    }
+}
+
+/**
+ * Parse supplied XML file
+ * @param xml The xml text
+ * @param filename The xml filename
+ * @returns Null QString() on success, error message on failure
+ */
+QString UAVObjectParser::parseXML(QString& xml, QString& filename)
+{
+    this->filename = filename;
+    // Create DOM document and parse it
+    QDomDocument doc("UAVObjects");
+    bool parsed = doc.setContent(xml);
+    if (!parsed) return QString("Improperly formated XML file");
+
+    // Read all objects contained in the XML file, creating an new ObjectInfo for each
+    QDomElement docElement = doc.documentElement();
+    QDomNode node = docElement.firstChild();
+    while ( !node.isNull() )
+    {
+        // Create new object entry
+        ObjectInfo* info = new ObjectInfo;
+        // Process object attributes
+        QString status = processObjectAttributes(node, info);
+        if (!status.isNull())
+        {
+            return status;
+        }
+
+        // Process child elements (fields and metadata)
+        QDomNode childNode = node.firstChild();
+        while ( !childNode.isNull() )
+        {
+            // Process element depending on its type
+            if ( childNode.nodeName().compare(QString("field")) == 0 )
+            {
+                QString status = processObjectFields(childNode, info);
+                if (!status.isNull())
+                {
+                    return status;
+                }
+            }
+            else if ( childNode.nodeName().compare(QString("telemetrygcs")) == 0 )
+            {
+                QString status = processObjectMetadata(childNode, &info->gcsTelemetryUpdateMode,
+                                                       &info->gcsTelemetryUpdatePeriod, &info->gcsTelemetryAcked);
+                if (!status.isNull())
+                {
+                    return status;
+                }
+            }
+            else if ( childNode.nodeName().compare(QString("telemetryflight")) == 0 )
+            {
+                QString status = processObjectMetadata(childNode, &info->flightTelemetryUpdateMode,
+                                                       &info->flightTelemetryUpdatePeriod, &info->flightTelemetryAcked);
+                if (!status.isNull())
+                {
+                    return status;
+                }
+            }
+            else if ( childNode.nodeName().compare(QString("logging")) == 0 )
+            {
+                QString status = processObjectMetadata(childNode, &info->loggingUpdateMode,
+                                                       &info->loggingUpdatePeriod, NULL);
+                if (!status.isNull())
+                {
+                    return status;
+                }
+            }
+            else
+            {
+                return QString("Unknown object element");
+            }
+            // Get next element
+            childNode = childNode.nextSibling();
+        }
+
+        // Calculate ID
+        calculateID(info);
+
+        // Add object
+        objInfo.append(info);
+
+        // Get next object
+        node = node.nextSibling();
+    }
+
+    // Done, return null string
+    return QString();
+}
+
+/**
+ * Calculate the unique object ID based on the object information.
+ * The ID will change if the object definition changes, this is intentional
+ * and is used to avoid connecting objects with incompatible configurations.
+ */
+void UAVObjectParser::calculateID(ObjectInfo* info)
+{
+    // Hash object name
+    quint32 hash = updateHash(info->name, 0);
+    // Hash object attributes
+    hash = updateHash(info->type, hash);
+    hash = updateHash(info->isSingleInst, hash);
+    // Hash field information
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        hash = updateHash(info->fields[n]->name, hash);
+        hash = updateHash(info->fields[n]->numElements, hash);
+        hash = updateHash(info->fields[n]->type, hash);
+    }
+    // Done
+    info->id = hash;
+}
+
+/**
+ * Shift-Add-XOR hash implementation. LSB is set to zero, it is reserved
+ * for the ID of the metaobject.
+ *
+ * http://eternallyconfuzzled.com/tuts/algorithms/jsw_tut_hashing.aspx
+ */
+quint32 UAVObjectParser::updateHash(quint32 value, quint32 hash)
+{
+    return (hash ^ ((hash<<5) + (hash>>2) + value)) & 0xFFFFFFFE;
+}
+
+/**
+ * Update the hash given a string
+ */
+quint32 UAVObjectParser::updateHash(QString& value, quint32 hash)
+{
+    QByteArray bytes = value.toAscii();
+    quint32 hashout = hash;
+    for (int n = 0; n < bytes.length(); ++n)
+    {
+        hashout = updateHash(bytes[n], hashout);
+    }
+    return hashout;
+}
+
+/**
+ * Process the metadata part of the XML
+ */
+QString UAVObjectParser::processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked)
+{
+    // Get updatemode attribute
+    QDomNamedNodeMap elemAttributes = childNode.attributes();
+    QDomNode elemAttr = elemAttributes.namedItem("updatemode");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:telemetrygcs:updatemode attribute is missing");
+    }
+    else
+    {
+        if ( elemAttr.nodeValue().compare(QString("periodic")) == 0 )
+        {
+            *mode = UPDATEMODE_PERIODIC;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("onchange")) == 0 )
+        {
+            *mode = UPDATEMODE_ONCHANGE;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("manual")) == 0 )
+        {
+            *mode = UPDATEMODE_MANUAL;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("never")) == 0 )
+        {
+            *mode = UPDATEMODE_NEVER;
+        }
+        else
+        {
+            return QString("Object:telemetrygcs:updatemode attribute value is invalid");
+        }
+    }
+    // Get period attribute
+    elemAttr = elemAttributes.namedItem("period");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:telemetrygcs:period attribute is missing");
+    }
+    else
+    {
+        *period = elemAttr.nodeValue().toInt();
+    }
+    // Get acked attribute (only if acked parameter is not null, not applicable for logging metadata)
+    if ( acked != NULL)
+    {
+        elemAttr = elemAttributes.namedItem("acked");
+        if ( elemAttr.isNull())
+        {
+            return QString("Object:telemetrygcs:acked attribute is missing");
+        }
+        else
+        {
+            if ( elemAttr.nodeValue().compare(QString("true")) == 0 )
+            {
+                *acked = true;
+            }
+            else if ( elemAttr.nodeValue().compare(QString("false")) == 0 )
+            {
+                *acked = false;
+            }
+            else
+            {
+                return QString("Object:telemetrygcs:acked attribute value is invalid");
+            }
+        }
+    }
+    // Done
+    return QString();
+}
+
+/**
+ * Process the object fields of the XML
+ */
+QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* info)
+{
+    // Create field
+    FieldInfo* field = new FieldInfo;
+    // Get name attribute
+    QDomNamedNodeMap elemAttributes = childNode.attributes();
+    QDomNode elemAttr = elemAttributes.namedItem("name");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:field:name attribute is missing");
+    }
+    else
+    {
+        field->name = elemAttr.nodeValue();
+    }
+    // Get units attribute
+    elemAttr = elemAttributes.namedItem("units");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:field:units attribute is missing");
+    }
+    else
+    {
+        field->units = elemAttr.nodeValue();
+    }
+    // Get type attribute
+    elemAttr = elemAttributes.namedItem("type");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:field:type attribute is missing");
+    }
+    else
+    {
+        if ( elemAttr.nodeValue().compare(QString("int8")) == 0 )
+        {
+            field->type = FIELDTYPE_INT8;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("int16")) == 0 )
+        {
+            field->type = FIELDTYPE_INT16;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("int32")) == 0 )
+        {
+            field->type = FIELDTYPE_INT32;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("float")) == 0 )
+        {
+            field->type = FIELDTYPE_FLOAT32;
+        }
+        else if ( elemAttr.nodeValue().compare(QString("char")) == 0 )
+        {
+            field->type = FIELDTYPE_CHAR;
+        }
+        else
+        {
+            return QString("Object:field:type attribute value is invalid");
+        }
+    }
+    // Get numelements attribute
+    elemAttr = elemAttributes.namedItem("elements");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:field:elements attribute is missing");
+    }
+    else
+    {
+        field->numElements = elemAttr.nodeValue().toInt();
+    }
+    // Add field to object
+    info->fields.append(field);
+    // Done
+    return QString();
+}
+
+/**
+ * Process the object attributes from the XML
+ */
+QString UAVObjectParser::processObjectAttributes(QDomNode& node, ObjectInfo* info)
+{
+    // Get name attribute
+    QDomNamedNodeMap attributes = node.attributes();
+    QDomNode attr = attributes.namedItem("name");
+    if ( attr.isNull() )
+    {
+        return QString("Object:name attribute is missing");
+    }
+    else
+    {
+        info->name = attr.nodeValue();
+    }
+    // Get singleinstance attribute
+    attr = attributes.namedItem("singleinstance");
+    if ( attr.isNull() )
+    {
+        return QString("Object:singleinstance attribute is missing");
+    }
+    else
+    {
+        if ( attr.nodeValue().compare(QString("true")) == 0 )
+        {
+            info->isSingleInst = true;
+        }
+        else if ( attr.nodeValue().compare(QString("false")) == 0 )
+        {
+            info->isSingleInst = false;
+        }
+        else
+        {
+            return QString("Object:singleinstance attribute value is invalid");
+        }
+    }
+    // Get type attribute
+    attr = attributes.namedItem("type");
+    if ( attr.isNull() )
+    {
+        return QString("Object:type attribute is missing");
+    }
+    else
+    {
+        if ( attr.nodeValue().compare(QString("data")) == 0 )
+        {
+            info->type = OBJTYPE_DATA;
+        }
+        else if ( attr.nodeValue().compare(QString("settings")) == 0 )
+        {
+            info->type = OBJTYPE_SETTINGS;
+        }
+        else
+        {
+            return QString("Object:type attribute value is invalid");
+        }
+    }
+    // Done
+    return QString();
+}
+
+/**
+ * Replace all the common tags from the template file with actual object
+ * information.
+ */
+void UAVObjectParser::replaceCommonTags(QString& out, ObjectInfo* info)
+{
+    QString value;
+    // Replace $(XMLFILE) tag
+    out.replace(QString("$(XMLFILE)"), filename);
+    // Replace $(NAME) tag
+    out.replace(QString("$(NAME)"), info->name);
+    // Replace $(NAMELC) tag
+    out.replace(QString("$(NAMELC)"), info->name.toLower());
+    // Replace $(NAMEUC) tag
+    out.replace(QString("$(NAMEUC)"), info->name.toUpper());
+    // Replace $(OBJID) tag
+    out.replace(QString("$(OBJID)"), QString().setNum(info->id));
+    // Replace $(SINGLEINST) tag
+    value = boolToString( info->isSingleInst );
+    out.replace(QString("$(SINGLEINST)"), value);
+    // Replace $(FLIGHTTELEM_ACKED) tag
+    value = boolToString( info->flightTelemetryAcked );
+    out.replace(QString("$(FLIGHTTELEM_ACKED)"), value);
+    // Replace $(FLIGHTTELEM_UPDATEMODE) tag
+    value = UpdateModeStr[info->flightTelemetryUpdateMode];
+    out.replace(QString("$(FLIGHTTELEM_UPDATEMODE)"), value);
+    // Replace $(FLIGHTTELEM_UPDATEPERIOD) tag
+    out.replace(QString("$(FLIGHTTELEM_UPDATEPERIOD)"), QString().setNum(info->flightTelemetryUpdatePeriod));
+    // Replace $(GCSTELEM_ACKED) tag
+    value = boolToString( info->gcsTelemetryAcked );
+    out.replace(QString("$(GCSTELEM_ACKED)"), value);
+    // Replace $(GCSTELEM_UPDATEMODE) tag
+    value = UpdateModeStr[info->gcsTelemetryUpdateMode];
+    out.replace(QString("$(GCSTELEM_UPDATEMODE)"), value);
+    // Replace $(GCSTELEM_UPDATEPERIOD) tag
+    out.replace(QString("$(GCSTELEM_UPDATEPERIOD)"), QString().setNum(info->gcsTelemetryUpdatePeriod));
+    // Replace $(LOGGING_UPDATEMODE) tag
+    value = UpdateModeStr[info->loggingUpdateMode];
+    out.replace(QString("$(LOGGING_UPDATEMODE)"), value);
+    // Replace $(LOGGING_UPDATEPERIOD) tag
+    out.replace(QString("$(LOGGING_UPDATEPERIOD)"), QString().setNum(info->loggingUpdatePeriod));
+}
+
+/**
+ * Convert a boolean to string
+ */
+QString UAVObjectParser::boolToString(bool value)
+{
+    if ( value )
+    {
+        return QString("1");
+    }
+    else
+    {
+        return QString("0");
+    }
+}
+
+/**
+ * Generate the flight object files
+ */
+bool UAVObjectParser::generateFlightObject(int objIndex, const QString& templateInclude, const QString& templateCode,
+                                              QString& outInclude, QString& outCode)
+{
+    // Get object
+    ObjectInfo* info = objInfo[objIndex];
+    if (info == NULL) return false;
+
+    // Prepare output strings
+    outInclude = templateInclude;
+    outCode = templateCode;
+
+    // Replace common tags
+    replaceCommonTags(outInclude, info);
+    replaceCommonTags(outCode, info);
+
+    // Replace the $(DATAFIELDS) tag
+    QString type;
+    QString fields;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        // Determine type
+        type = FieldTypeStrC[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 )
+        {
+            fields.append( QString("    %1 %2[%3];\n").arg(type)
+                           .arg(info->fields[n]->name).arg(info->fields[n]->numElements) );
+        }
+        else
+        {
+            fields.append( QString("    %1 %2;\n").arg(type).arg(info->fields[n]->name) );
+        }
+    }
+    outInclude.replace(QString("$(DATAFIELDS)"), fields);
+
+    // Done
+    return true;
+}
+
+/**
+ * Generate the GCS object files
+ */
+bool UAVObjectParser::generateGCSObject(int objIndex, const QString& templateInclude, const QString& templateCode,
+                                           QString& outInclude, QString& outCode)
+{
+    // Get object
+    ObjectInfo* info = objInfo[objIndex];
+    if (info == NULL) return false;
+
+    // Prepare output strings
+    outInclude = templateInclude;
+    outCode = templateCode;
+
+    // Replace common tags
+    replaceCommonTags(outInclude, info);
+    replaceCommonTags(outCode, info);
+
+    // Replace the $(DATAFIELDS) tag
+    QString type;
+    QString fields;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        // Determine type
+        type = FieldTypeStrCPP[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 )
+        {
+            fields.append( QString("        %1 %2[%3];\n").arg(type).arg(info->fields[n]->name)
+                           .arg(info->fields[n]->numElements) );
+        }
+        else
+        {
+            fields.append( QString("        %1 %2;\n").arg(type).arg(info->fields[n]->name) );
+        }
+    }
+    outInclude.replace(QString("$(DATAFIELDS)"), fields);
+
+    // Replace the $(FIELDSINIT) tag
+    QString finit;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        finit.append( QString("    fields.append(new UAVObjectField(QString(\"%1\"), QString(\"%2\"), UAVObjectField::%3, %4));\n")
+                      .arg(info->fields[n]->name)
+                      .arg(info->fields[n]->units)
+                      .arg(FieldTypeStr[info->fields[n]->type])
+                      .arg(info->fields[n]->numElements) );
+    }
+    outCode.replace(QString("$(FIELDSINIT)"), finit);
+
+    // Done
+    return true;
+}

ground/src/libs/uavobjgenerator/uavobjectparser.h

@@ -0,0 +1,120 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectparser.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Parses XML files and extracts object information.
+ *
+ * @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 UAVOBJECTPARSER_H
+#define UAVOBJECTPARSER_H
+
+#include <QString>
+#include <QList>
+#include <QDomDocument>
+#include <QDomElement>
+#include <QDomNode>
+
+class UAVObjectParser
+{
+public:
+    // Types
+    typedef enum {
+        OBJTYPE_DATA = 0,
+        OBJTYPE_SETTINGS
+    } ObjectType;
+
+    typedef enum {
+        FIELDTYPE_INT8 = 0,
+        FIELDTYPE_INT16,
+        FIELDTYPE_INT32,
+        FIELDTYPE_FLOAT32,
+        FIELDTYPE_CHAR
+    } FieldType;
+
+    /**
+     * Object update mode
+     */
+    typedef enum {
+            UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
+            UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
+            UPDATEMODE_MANUAL,  /** Manually update object, by calling the updated() function */
+            UPDATEMODE_NEVER /** Object is never updated */
+    } UpdateMode;
+
+    typedef struct {
+        QString name;
+        QString units;
+        FieldType type;
+        int numElements;
+    } FieldInfo;
+
+    typedef struct {
+        QString name;
+        quint32 id;
+        ObjectType type;
+        bool isSingleInst;
+        bool flightTelemetryAcked;
+        UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
+        int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
+        bool gcsTelemetryAcked;
+        UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
+        int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+        UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
+        int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
+        QList<FieldInfo*> fields;
+    } ObjectInfo;
+
+    // Constants
+    static const char* FieldTypeStr[];
+    static const char* FieldTypeStrC[];
+    static const char* FieldTypeStrCPP[];
+    static const char* UpdateModeStr[];
+
+    // Functions
+    UAVObjectParser();
+    QString parseXML(QString& xml, QString& filename);
+    int getNumObjects();
+    QList<ObjectInfo*> getObjectInfo();
+    QString getObjectName(int objIndex);
+    quint32 getObjectID(int objIndex);
+    bool generateFlightObject(int objIndex, const QString& templateInclude, const QString& templateCode,
+                                 QString& outInclude, QString& outCode);
+    bool generateGCSObject(int objIndex, const QString& templateInclude, const QString& templateCode,
+                              QString& outInclude, QString& outCode);
+
+private:
+    QList<ObjectInfo*> objInfo;
+    QString filename;
+
+    QString processObjectAttributes(QDomNode& node, ObjectInfo* info);
+    QString processObjectFields(QDomNode& childNode, ObjectInfo* info);
+    QString processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked);
+    void calculateID(ObjectInfo* info);
+    quint32 updateHash(quint32 value, quint32 hash);
+    quint32 updateHash(QString& value, quint32 hash);
+    QString boolToString(bool value);
+    QString updateModeToString(UpdateMode mode);
+    void replaceCommonTags(QString& out, ObjectInfo* info);
+
+};
+
+#endif // UAVOBJECTPARSER_H

ground/src/libs/uavobjgenerator/uavobjgenerator.pro

@@ -0,0 +1,14 @@
+# -------------------------------------------------
+# Project created by QtCreator 2010-03-21T20:44:17
+# -------------------------------------------------
+QT += xml
+QT -= gui
+TARGET = uavobjgenerator
+CONFIG += console
+CONFIG -= app_bundle
+TEMPLATE = app
+SOURCES += main.cpp \
+    uavobjectparser.cpp \
+    uavobjectgenerator.cpp
+HEADERS += uavobjectparser.h \
+    uavobjectgenerator.h

ground/src/plugins/uavobjects/exampleobject.cpp

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject.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 "exampleobject.h"
+
+const QString ExampleObject::NAME = QString("ExampleObject");
+
+ExampleObject::ExampleObject(): UAVDataObject(OBJID, SINGLEINST, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    fields.append(new UAVObjectField(QString("field1"), QString("unit1"), UAVObjectField::FIELDTYPE_INT8, 1));
+    fields.append(new UAVObjectField(QString("field2"), QString("unit2"), UAVObjectField::FIELDTYPE_INT16, 1));
+    fields.append(new UAVObjectField(QString("field3"), QString("unit3"), UAVObjectField::FIELDTYPE_FLOAT32, 4));
+    fields.append(new UAVObjectField(QString("field4"), QString("unit4"), UAVObjectField::FIELDTYPE_INT32, 1));
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+}
+
+UAVObject::Metadata ExampleObject::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.gcsTelemetryAcked = 1;
+    metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
+    metadata.gcsTelemetryUpdatePeriod = 100;
+    metadata.flightTelemetryAcked = 1;
+    metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
+    metadata.flightTelemetryUpdatePeriod = 0;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.loggingUpdatePeriod = 0;
+    return metadata;
+}
+
+ExampleObject::DataFields ExampleObject::getData()
+{
+	QMutexLocker locker(mutex);
+    return data;
+}
+
+void ExampleObject::setData(DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    this->data = data;
+    emit objectUpdatedAuto(this); // trigger object updated event
+    emit objectUpdated(this);
+}
+
+UAVDataObject* ExampleObject::clone(quint32 instID)
+{
+    ExampleObject* obj = new ExampleObject();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}

ground/src/plugins/uavobjects/exampleobject.h

@@ -0,0 +1,64 @@
+/**
+ ******************************************************************************
+ *
+ * @file       exampleobject.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleObject object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: exampleobject.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 EXAMPLEOBJECT_H
+#define EXAMPLEOBJECT_H
+
+#include "uavdataobject.h"
+
+class ExampleObject: public UAVDataObject
+{
+public:   
+    typedef struct {
+        qint8 field1;
+        qint16 field2;
+        float field3[4];
+        qint32 field4;
+
+    } __attribute__((packed)) DataFields;
+  
+    static const quint32 OBJID = 3048370380U;
+    static const QString NAME;
+    static const bool SINGLEINST = 0;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    ExampleObject();
+
+    DataFields getData();
+    void setData(DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+	
+private:
+    DataFields data;
+
+};
+
+#endif // EXAMPLEOBJECT_H

ground/src/plugins/uavobjects/tests/testobject1.cpp

@@ -19,9 +19,10 @@ UAVObject::Metadata TestObject1::getDefaultMetadata()
 {
     // Create metadata
     UAVObject::Metadata metadata;
-    metadata.ackRequired = true;
+    metadata.gcsTelemetryAcked = true;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
     metadata.gcsTelemetryUpdatePeriod = 200;
+    metadata.flightTelemetryAcked = true;
     metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
     metadata.flightTelemetryUpdatePeriod = 0;
     metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;

ground/src/plugins/uavobjects/tests/uavobjectstest.pro

@@ -13,11 +13,13 @@ SOURCES += main.cpp \
     ../uavmetaobject.cpp \
     ../uavdataobject.cpp \
     testobject1.cpp \
-    uavobjectstest.cpp
+    uavobjectstest.cpp \
+    ../exampleobject.cpp
 HEADERS += ../uavobjectmanager.h \
     ../uavobjectfield.h \
     ../uavobject.h \
     ../uavmetaobject.h \
     ../uavdataobject.h \
     testobject1.h \
-    uavobjectstest.h
+    uavobjectstest.h \
+    ../exampleobject.h

ground/src/plugins/uavobjects/uavmetaobject.cpp

@@ -35,18 +35,20 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
 {
     this->parent = parent;
     // Setup default metadata of metaobject (can not be changed)
-    ownMetadata.ackRequired = 1;
+    ownMetadata.flightTelemetryAcked = 1;
     ownMetadata.flightTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
     ownMetadata.flightTelemetryUpdatePeriod = 0;
+    ownMetadata.gcsTelemetryAcked = 1;
     ownMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
     ownMetadata.gcsTelemetryUpdatePeriod = 0;
     ownMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
     ownMetadata.loggingUpdatePeriod = 0;
     // Setup fields
     QList<UAVObjectField*> fields;
-    fields.append(new UAVObjectField(QString("AckRequired"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
+    fields.append(new UAVObjectField(QString("FlightTelemetryAcked"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
     fields.append(new UAVObjectField(QString("FlightTelemetryUpdateMode"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
     fields.append(new UAVObjectField(QString("FlightTelemetryUpdatePeriod"), QString("ms"), UAVObjectField::FIELDTYPE_INT32, 1));
+    fields.append(new UAVObjectField(QString("GCSTelemetryAcked"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
     fields.append(new UAVObjectField(QString("GCSTelemetryUpdateMode"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
     fields.append(new UAVObjectField(QString("GCSTelemetryUpdatePeriod"), QString("ms"), UAVObjectField::FIELDTYPE_INT32, 1));
     fields.append(new UAVObjectField(QString("LoggingUpdateMode"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));

ground/src/plugins/uavobjects/uavobject.h

@@ -60,9 +60,10 @@ public:
      * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
      */
     typedef struct {
-            quint8 ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
+            quint8 flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
             quint8 flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
             qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
+            quint8 gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
             quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
             qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
             quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -4,7 +4,11 @@
  * @file       uavobjectsinit.cpp
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @brief      
+ * @brief      Initialize all objects.
+ *             Automatically generated by the UAVObjectGenerator.
+ *   
+ * @note       This is an automatically generated file.
+ *             DO NOT modify manually. 
  * @see        The GNU Public License (GPL) Version 3
  * @defgroup   uavobjects_plugin
  * @{
@@ -26,12 +30,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "uavobjectsinit.h"
+#include "exampleobject.h"
+
 
 /**
- * Static function used to initialize the first instance of each object.
- * For each object class an entry should be made here.
+ * Function used to initialize the first instance of each object.
+ * This file is automatically updated by the UAVObjectGenerator.
  */
 void UAVObjectsInitialize(UAVObjectManager* objMngr)
 {
-    //objMngr->registerObject( new TestObject() );
+    objMngr->registerObject( new ExampleObject() );
 }

ground/src/plugins/uavobjects/uavobjectsinittemplate.cpp

@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectsinit.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @brief      Initialize all objects.
+ *             Automatically generated by the UAVObjectGenerator.
+ *   
+ * @note       This is an automatically generated file.
+ *             DO NOT modify manually. 
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   uavobjects_plugin
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * 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 "uavobjectsinit.h"
+$(OBJINC)
+
+/**
+ * Function used to initialize the first instance of each object.
+ * This file is automatically updated by the UAVObjectGenerator.
+ */
+void UAVObjectsInitialize(UAVObjectManager* objMngr)
+{
+$(OBJINIT)
+}

ground/src/plugins/uavobjects/uavobjecttemplate.cpp

@@ -1,14 +1,17 @@
 /**
  ******************************************************************************
  *
- * @file       uavobjecttemplate.cpp
+ * @file       $(NAMELC).cpp
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @brief      
- * @see        The GNU Public License (GPL) Version 3
- * @defgroup   
- * @{
+ * @brief      Implementation of the $(NAME) object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
  * 
+ * @note       Object definition file: $(XMLFILE). 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
  *****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
@@ -25,52 +28,50 @@
  * with this program; if not, write to the Free Software Foundation, Inc., 
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#include "$(NAMELC).h"
-
-const QString $(NAME)::NAME = QString("$(NAME)");
-
-$(NAME)::$(NAME)(): UAVDataObject(OBJID, SINGLEINST, NAME)
-{
-    // Create fields
-    QList<UAVObjectField*> fields;
-
-    $(FIELDS)
-    // fields.append(new UAVObjectField(QString("$(FIELD_NAME)"), QString("$(FIELD_UNITS)", UAVObjectField::$(FIELD_TYPE), $(FIELD_NUMELEM));
-
-    // Initialize object
-    initializeFields(fields, (quint8*)&data, NUMBYTES);
-}
-
-UAVObject::Metadata $(NAME)::getDefaultMetadata()
-{
-    UAVObject::Metadata metadata;
-    metadata.ackRequired = $(ACK);
-    metadata.gcsTelemetryUpdateMode = UAVObject::$(GCSTELEM_UPDATEMODE);
-    metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
-    metadata.flightTelemetryUpdateMode = UAVObject::$(FLIGHTTELEM_UPDATEMODE);
-    metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
-    metadata.loggingUpdateMode = UAVObject::$(LOGGING_UPDATEMODE);
-    metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
-	return metadata;
-}
-
-$(NAME)::DataFields $(NAME)::getData()
-{
-	QMutexLocker locker(mutex);
-    return data;
-}
-
-void $(NAME)::setData(DataFields& data)
-{
-	QMutexLocker locker(mutex);
-    this->data = data;
-    emit objectUpdatedAuto(this); // trigger object updated event
-    emit objectUpdated(this);
-}
-
-UAVDataObject* $(NAME)::clone(quint32 instID)
-{
-    $(NAME)* obj = new $(NAME)();
-    obj->initialize(instID, this->getMetaObject());
-    return obj;
-}
+#include "$(NAMELC).h"
+
+const QString $(NAME)::NAME = QString("$(NAME)");
+
+$(NAME)::$(NAME)(): UAVDataObject(OBJID, SINGLEINST, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+$(FIELDSINIT)
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+}
+
+UAVObject::Metadata $(NAME)::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
+    metadata.gcsTelemetryUpdateMode = UAVObject::$(GCSTELEM_UPDATEMODE);
+    metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
+    metadata.flightTelemetryAcked = $(FLIGHTTELEM_ACKED);
+    metadata.flightTelemetryUpdateMode = UAVObject::$(FLIGHTTELEM_UPDATEMODE);
+    metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
+    metadata.loggingUpdateMode = UAVObject::$(LOGGING_UPDATEMODE);
+    metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
+    return metadata;
+}
+
+$(NAME)::DataFields $(NAME)::getData()
+{
+	QMutexLocker locker(mutex);
+    return data;
+}
+
+void $(NAME)::setData(DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    this->data = data;
+    emit objectUpdatedAuto(this); // trigger object updated event
+    emit objectUpdated(this);
+}
+
+UAVDataObject* $(NAME)::clone(quint32 instID)
+{
+    $(NAME)* obj = new $(NAME)();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}

ground/src/plugins/uavobjects/uavobjecttemplate.h

@@ -1,14 +1,17 @@
 /**
- ******************************************************************************
- *
- * @file       uavobjecttemplate.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
- * @brief      
- * @see        The GNU Public License (GPL) Version 3
- * @defgroup   
- * @{
- * 
+ ******************************************************************************
+ *
+ * @file       $(NAMELC).h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the $(NAME) object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: $(XMLFILE). 
+ *             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 
@@ -34,10 +37,10 @@ class $(NAME): public UAVDataObject
 {
 public:   
     typedef struct {
-            $(DATAFIELDS)
+$(DATAFIELDS)
     } __attribute__((packed)) DataFields;
   
-    static const quint32 OBJID = $(OBJID);
+    static const quint32 OBJID = $(OBJID)U;
     static const QString NAME;
     static const bool SINGLEINST = $(SINGLEINST);
     static const quint32 NUMBYTES = sizeof(DataFields);

ground/src/plugins/uavtalk/telemetry.cpp

@@ -216,7 +216,7 @@ void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allIn
         retries = 0;
         while(retries < MAX_RETRIES && !success)
         {
-            success = utalk->sendObject(obj, metadata.ackRequired, REQ_TIMEOUT_MS, allInstances); // call blocks until ack is received or timeout
+            success = utalk->sendObject(obj, metadata.gcsTelemetryAcked, REQ_TIMEOUT_MS, allInstances); // call blocks until ack is received or timeout
             ++retries;
         }
     }

ground/src/shared/uavobjectdefinition/exampleobject.xml

@@ -0,0 +1,11 @@
+<xml>
+	<object name="ExampleObject" singleinstance="false" type="data">
+		<field name="field1" units="unit1" type="int8" elements="1"/>
+		<field name="field2" units="unit2" type="int16" elements="1"/>
+		<field name="field3" units="unit3" type="float" elements="4"/>
+		<field name="field4" units="unit4" type="int32" elements="1"/>
+		<telemetrygcs acked="true" updatemode="periodic" period="100"/>
+		<telemetryflight acked="true" updatemode="onchange" period="0"/>
+		<logging updatemode="never" period="0"/>
+	</object>
+</xml>