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Code Issues Releases Activity

Merge commit '80f53b185c67d475ead43df97c4a62bcc36d7d90' into gcsbitfields

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This commit is contained in:
Corvus Corax 2012-06-29 09:45:44 +02:00
commit 2540ee53dc
6 changed files with 86 additions and 32 deletions
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8
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -59,10 +59,10 @@ typedef void* UAVObjHandle;
* Object update mode, used by multiple modules (e.g. telemetry and logger)
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UAVObjUpdateMode;
/**

1
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -176,6 +176,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
FieldTreeItem *item;
UAVObjectField::FieldType type = field->getType();
switch (type) {
case UAVObjectField::BITFIELD:
case UAVObjectField::ENUM: {
QStringList options = field->getOptions();
QVariant value = field->getValue();

16
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -38,17 +38,13 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
// Setup default metadata of metaobject (can not be changed)
UAVObject::MetadataInitialize(ownMetadata);
// Setup fields
QStringList boolEnum;
boolEnum << tr("False") << tr("True");
QStringList updateModeEnum;
updateModeEnum << tr("Periodic") << tr("On Change") << tr("Manual") << tr("Never");
QStringList accessModeEnum;
accessModeEnum << tr("Read/Write") << tr("Read Only");
QStringList modesBitField;
modesBitField << tr("FlightReadOnly") << tr("GCSReadOnly") << tr("FlightTelemetryAcked") << tr("GCSTelemetryAcked") << tr("FlightUpdatePeriodic") << tr("FlightUpdateOnChange") << tr("GCSUpdatePeriodic") << tr("GCSUpdateOnChange");
QList<UAVObjectField*> fields;
fields.append( new UAVObjectField(tr("Modes"), tr(""), UAVObjectField::UINT8, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Modes"), tr("boolean"), UAVObjectField::BITFIELD, modesBitField, QStringList()) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));

8
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -59,10 +59,10 @@ public:
* Object update mode
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UpdateMode;
/**

82
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -86,6 +86,10 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
case ENUM:
numBytesPerElement = sizeof(quint8);
break;
case BITFIELD:
numBytesPerElement = sizeof(quint8);
this->options = QStringList()<<tr("0")<<tr("1");
break;
case STRING:
numBytesPerElement = sizeof(quint8);
break;
@ -133,14 +137,15 @@ void UAVObjectField::limitsInitialize(const QString &limits)
QString value=_value.trimmed();
switch (type)
{
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
lstruc.values.append((quint32)value.toULong());
break;
case INT8:
case INT16:
case INT32:
case UINT8:
lstruc.values.append((quint32)value.toULong());
break;
case UINT16:
case UINT32:
lstruc.values.append((qint32)value.toLong());
break;
case FLOAT32:
@ -190,6 +195,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return true;
@ -230,6 +236,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
foreach (QVariant vars, struc.values) {
if(var.toUInt()==vars.toUInt())
return false;
@ -275,6 +282,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt() && var.toUInt()<=struc.values.at(1).toUInt()))
return false;
return true;
@ -316,6 +324,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()>=struc.values.at(0).toUInt()))
return false;
return true;
@ -350,6 +359,7 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
case UINT8:
case UINT16:
case UINT32:
case BITFIELD:
if(!(var.toUInt()<=struc.values.at(0).toUInt()))
return false;
return true;
@ -457,6 +467,8 @@ QString UAVObjectField::getTypeAsString()
return "float32";
case UAVObjectField::ENUM:
return "enum";
case UAVObjectField::BITFIELD:
return "bitfield";
case UAVObjectField::STRING:
return "string";
default:
@ -477,7 +489,15 @@ UAVObject* UAVObjectField::getObject()
void UAVObjectField::clear()
{
QMutexLocker locker(obj->getMutex());
memset(&data[offset], 0, numBytesPerElement*numElements);
switch (type)
{
case BITFIELD:
memset(&data[offset], 0, numBytesPerElement*((quint32)(numElements/8)));
break;
default:
memset(&data[offset], 0, numBytesPerElement*numElements);
break;
}
}
QString UAVObjectField::getName()
@ -507,7 +527,15 @@ quint32 UAVObjectField::getDataOffset()
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
switch (type)
{
case BITFIELD:
return numBytesPerElement * ((quint32) (numElements/8));
break;
default:
return numBytesPerElement * numElements;
break;
}
}
QString UAVObjectField::toString()
@ -584,6 +612,12 @@ qint32 UAVObjectField::pack(quint8* dataOut)
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case BITFIELD:
for (quint32 index = 0; index < (quint32)(numElements/8); ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case STRING:
memcpy(dataOut, &data[offset], numElements);
break;
@ -653,6 +687,12 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case BITFIELD:
for (quint32 index = 0; index < (quint32)(numElements/8); ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case STRING:
memcpy(&data[offset], dataIn, numElements);
break;
@ -661,11 +701,6 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
return getNumBytes();
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
}
bool UAVObjectField::isNumeric()
{
switch (type)
@ -694,6 +729,9 @@ bool UAVObjectField::isNumeric()
case ENUM:
return false;
break;
case BITFIELD:
return true;
break;
case STRING:
return false;
break;
@ -730,6 +768,9 @@ bool UAVObjectField::isText()
case ENUM:
return true;
break;
case BITFIELD:
return false;
break;
case STRING:
return true;
break;
@ -810,6 +851,14 @@ QVariant UAVObjectField::getValue(quint32 index)
return QVariant( options[tmpenum] );
break;
}
case BITFIELD:
{
quint8 tmpbitfield;
memcpy(&tmpbitfield, &data[offset + numBytesPerElement*((quint32)(index/8))], numBytesPerElement);
tmpbitfield = (tmpbitfield >> (index % 8)) & 1;
return QVariant( tmpbitfield );
break;
}
case STRING:
{
data[offset + numElements - 1] = '\0';
@ -845,6 +894,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
case UINT32:
case FLOAT32:
case STRING:
case BITFIELD:
return true;
break;
case ENUM:
@ -926,6 +976,14 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
memcpy(&data[offset + numBytesPerElement*index], &tmpenum, numBytesPerElement);
break;
}
case BITFIELD:
{
quint8 tmpbitfield;
memcpy(&tmpbitfield, &data[offset + numBytesPerElement*((quint32)(index/8))], numBytesPerElement);
tmpbitfield = (tmpbitfield & ~(1 << (index % 8))) | ( (value.toUInt()!=0?1:0) << (index % 8) );
memcpy(&data[offset + numBytesPerElement*((quint32)(index/8))], &tmpbitfield, numBytesPerElement);
break;
}
case STRING:
{
QString str = value.toString();

3
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -42,7 +42,7 @@ class UAVOBJECTS_EXPORT UAVObjectField: public QObject
Q_OBJECT
public:
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING } FieldType;
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING } FieldType;
typedef enum { EQUAL,NOT_EQUAL,BETWEEN,BIGGER,SMALLER } LimitType;
typedef struct
{
@ -70,7 +70,6 @@ public:
void setDouble(double value, quint32 index = 0);
quint32 getDataOffset();
quint32 getNumBytes();
quint32 getNumBytesElement();
bool isNumeric();
bool isText();
QString toString();