OP-423 add set/get uavobjects functions to access objects fields separately.

flight/Modules/Actuator/actuator.c

@@ -128,17 +128,20 @@ static void actuatorTask(void* parameters)
 	portTickType lastSysTime;
 	portTickType thisSysTime;
 	float dT = 0.0f;
-	ActuatorCommandData command;
-	ActuatorSettingsData settings;
 
-	SystemSettingsData sysSettings;
+	ActuatorCommandData command;
 	MixerSettingsData mixerSettings;
 	ActuatorDesiredData desired;
 	MixerStatusData mixerStatus;
 	FlightStatusData flightStatus;
 
-	ActuatorSettingsGet(&settings);
+	uint8_t MotorsSpinWhileArmed;
-	PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
+	int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
+	ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
+	PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
 
 	float * status = (float *)&mixerStatus; //access status objects as an array of floats
 
@@ -164,14 +167,16 @@ static void actuatorTask(void* parameters)
 			dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
 		lastSysTime = thisSysTime;
 
-
 		FlightStatusGet(&flightStatus);
-		SystemSettingsGet(&sysSettings);
 		MixerStatusGet(&mixerStatus);
 		MixerSettingsGet (&mixerSettings);
 		ActuatorDesiredGet(&desired);
 		ActuatorCommandGet(&command);
-		ActuatorSettingsGet(&settings);
+
+		ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
+		ActuatorSettingsChannelMaxGet(ChannelMax);
+		ActuatorSettingsChannelMinGet(ChannelMin);
+		ActuatorSettingsChannelNeutralGet(ChannelNeutral);
 
 		int nMixers = 0;
 		Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
@@ -192,7 +197,7 @@ static void actuatorTask(void* parameters)
 
 		bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
 		bool positiveThrottle = desired.Throttle >= 0.00;
-		bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
+		bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
 		
 		float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
 		float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
@@ -225,9 +230,9 @@ static void actuatorTask(void* parameters)
 			}
 
 			command.Channel[ct] = scaleChannel(status[ct],
-							   settings.ChannelMax[ct],
+							   ChannelMax[ct],
-							   settings.ChannelMin[ct],
+							   ChannelMin[ct],
-							   settings.ChannelNeutral[ct]);
+							   ChannelNeutral[ct]);
 		}
 		MixerStatusSet(&mixerStatus);
 
@@ -391,11 +396,13 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
  */
 static void setFailsafe()
 {
-	ActuatorCommandData command;
+	/* grab only the modules parts that we are going to use */
-	ActuatorSettingsData settings;
+	int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
-
+	ActuatorSettingsChannelMinGet(ChannelMin);
-	ActuatorCommandGet(&command);
+	int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
-	ActuatorSettingsGet(&settings);
+	ActuatorSettingsChannelNeutralGet(ChannelNeutral);
+	int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
+	ActuatorCommandChannelGet(Channel);
 
 	MixerSettingsData mixerSettings;
 	MixerSettingsGet (&mixerSettings);
@@ -407,15 +414,15 @@ static void setFailsafe()
 		
 		if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
 		{
-			command.Channel[n] = settings.ChannelMin[n];
+			Channel[n] = ChannelMin[n];
 		}
 		else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
 		{
-			command.Channel[n] = settings.ChannelNeutral[n];
+			Channel[n] = ChannelNeutral[n];
 		}
 		else
 		{
-			command.Channel[n] = 0;
+			Channel[n] = 0;
 		}
 	}
 
@@ -425,11 +432,11 @@ static void setFailsafe()
 	// Update servo outputs
 	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
 	{
-		set_channel(n, command.Channel[n]);
+		set_channel(n, Channel[n]);
 	}
 
-	// Update output object
+	// Update output object's parts that we changed
-	ActuatorCommandSet(&command);
+	ActuatorCommandChannelGet(Channel);
 }
 
 
@@ -438,10 +445,10 @@ static void setFailsafe()
  */
 static void actuator_update_rate(UAVObjEvent * ev)
 {
-	ActuatorSettingsData settings;
+	uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
 	if ( ev->obj == ActuatorSettingsHandle() ) {
-		ActuatorSettingsGet(&settings);		
+		ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
-		PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
+		PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
 	}
 }
 

flight/UAVObjects/inc/uavobjectmanager.h

@@ -153,9 +153,13 @@ int32_t UAVObjSaveMetaobjects();
 int32_t UAVObjLoadMetaobjects();
 int32_t UAVObjDeleteMetaobjects();
 int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
+int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size);
 int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
+int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size);
 int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
+int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
 int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
+int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
 int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
 int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
 int8_t UAVObjReadOnly(UAVObjHandle obj);

flight/UAVObjects/inc/uavobjecttemplate.h

@@ -82,6 +82,9 @@ int32_t $(NAME)Initialize();
 UAVObjHandle $(NAME)Handle();
 void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
 
+// set/Get functions
+$(SETGETFIELDSEXTERN)
+
 #endif // $(NAMEUC)_H
 
 /**

flight/UAVObjects/uavobjectmanager.c

@@ -993,6 +993,17 @@ int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
 	  return UAVObjSetInstanceData(obj, 0, dataIn);
 }
 
+/**
+ * Set the object data
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size)
+{
+	return UAVObjSetInstanceDataField(obj, 0, dataIn, offset, size);
+}
+
 /**
  * Get the object data
  * \param[in] obj The object handle
@@ -1004,6 +1015,17 @@ int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
 	  return UAVObjGetInstanceData(obj, 0, dataOut);
 }
 
+/**
+ * Get the object data
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size)
+{
+	return UAVObjGetInstanceDataField(obj, 0, dataOut, offset, size);
+}
+
 /**
  * Set the data of a specific object instance
  * \param[in] obj The object handle
@@ -1052,6 +1074,60 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
 	  return 0;
 }
 
+/**
+ * Set the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+	UAVObjMetadata* mdata;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object info
+	objEntry = (ObjectList*)obj;
+
+	// Check access level
+	if ( !objEntry->isMetaobject )
+	{
+		mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
+		if ( mdata->access == ACCESS_READONLY )
+		{
+			xSemaphoreGiveRecursive(mutex);
+			return -1;
+		}
+	}
+
+	// Get instance information
+	instEntry = getInstance(objEntry, instId);
+	if ( instEntry == NULL )
+	{
+		// Error, unlock and return
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// return if we set too much of what we have
+	if ( (size + offset) > objEntry->numBytes)
+		return -1;
+
+	// Set data
+	memcpy(instEntry->data + offset, dataIn, size);
+
+	// Fire event
+	sendEvent(objEntry, instId, EV_UPDATED);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
 /**
  * Get the data of a specific object instance
  * \param[in] obj The object handle
@@ -1086,6 +1162,45 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
 	  return 0;
 }
 
+/**
+ * Get the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
+{
+	ObjectList* objEntry;
+	ObjectInstList* instEntry;
+
+	// Lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Cast to object info
+	objEntry = (ObjectList*)obj;
+
+	// Get instance information
+	instEntry = getInstance(objEntry, instId);
+	if ( instEntry == NULL )
+	{
+		// Error, unlock and return
+		xSemaphoreGiveRecursive(mutex);
+		return -1;
+	}
+
+	// return if we request too much of what we can give
+	if ( (size + offset) > objEntry->numBytes)
+		return -1;
+
+	// Set data
+	memcpy(dataOut, instEntry->data + offset, size);
+
+	// Unlock
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
 /**
  * Set the object metadata
  * \param[in] obj The object handle

flight/UAVObjects/uavobjecttemplate.c

@@ -104,6 +104,11 @@ UAVObjHandle $(NAME)Handle()
 	return handle;
 }
 
+/**
+ * Get/Set object Functions
+ */
+$(SETGETFIELDS)
+
 /**
  * @}
  */

ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp

@@ -237,6 +237,96 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo* info)
     }
     outCode.replace(QString("$(INITFIELDS)"), initfields);
 
+    // Replace the $(SETGETFIELDS) tag
+    QString setgetfields;
+    for (int n = 0; n < info->fields.length(); ++n)
+    {
+        //if (!info->fields[n]->defaultValues.isEmpty() )
+        {
+            // For non-array fields
+            if ( info->fields[n]->numElements == 1)
+            {
+
+            	/* Set */
+                setgetfields.append( QString("void %2%3Set( %1 *New%3 )\r\n")
+							.arg( fieldTypeStrC[info->fields[n]->type] )
+							.arg( info->name )
+							.arg( info->fields[n]->name ) );
+				setgetfields.append( QString("{\r\n") );
+				setgetfields.append( QString("\tUAVObjSetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), sizeof(%3));\r\n")
+							.arg( info->name )
+							.arg( info->fields[n]->name )
+							.arg( fieldTypeStrC[info->fields[n]->type] ) );
+				setgetfields.append( QString("}\r\n") );
+
+				/* GET */
+				setgetfields.append( QString("void %2%3Get( %1 *New%3 )\r\n")
+							.arg( fieldTypeStrC[info->fields[n]->type] )
+							.arg( info->name )
+							.arg( info->fields[n]->name ));
+				setgetfields.append( QString("{\r\n") );
+				setgetfields.append( QString("\tUAVObjGetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), sizeof(%3));\r\n")
+							.arg( info->name )
+							.arg( info->fields[n]->name )
+							.arg( fieldTypeStrC[info->fields[n]->type] ) );
+				setgetfields.append( QString("}\r\n") );
+
+            }
+            else
+            {
+
+            	/* SET */
+				setgetfields.append( QString("void %2%3Set( %1 *New%3 )\r\n")
+								.arg( fieldTypeStrC[info->fields[n]->type] )
+								.arg( info->name )
+								.arg( info->fields[n]->name ) );
+				setgetfields.append( QString("{\r\n") );
+				setgetfields.append( QString("\tUAVObjSetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), %3*sizeof(%4));\r\n")
+								.arg( info->name )
+								.arg( info->fields[n]->name )
+								.arg( info->fields[n]->numElements )
+								.arg( fieldTypeStrC[info->fields[n]->type] ) );
+				setgetfields.append( QString("}\r\n") );
+
+				/* GET */
+				setgetfields.append( QString("void %2%3Get( %1 *New%3 )\r\n")
+								.arg( fieldTypeStrC[info->fields[n]->type] )
+								.arg( info->name )
+								.arg( info->fields[n]->name ) );
+				setgetfields.append( QString("{\r\n") );
+				setgetfields.append( QString("\tUAVObjGetDataField(%1Handle(), (void*)New%2, offsetof( %1Data, %2), %3*sizeof(%4));\r\n")
+								.arg( info->name )
+								.arg( info->fields[n]->name )
+								.arg( info->fields[n]->numElements )
+								.arg( fieldTypeStrC[info->fields[n]->type] ) );
+				setgetfields.append( QString("}\r\n") );
+            }
+        }
+    }
+    outCode.replace(QString("$(SETGETFIELDS)"), setgetfields);
+
+    // Replace the $(SETGETFIELDSEXTERN) tag
+     QString setgetfieldsextern;
+     for (int n = 0; n < info->fields.length(); ++n)
+     {
+         //if (!info->fields[n]->defaultValues.isEmpty() )
+         {
+
+			/* SET */
+			setgetfieldsextern.append( QString("extern void %2%3Set( %1 *New%3 );\r\n")
+					.arg( fieldTypeStrC[info->fields[n]->type] )
+					.arg( info->name )
+					.arg( info->fields[n]->name ) );
+
+			/* GET */
+			setgetfieldsextern.append( QString("extern void %2%3Get( %1 *New%3 );\r\n")
+					.arg( fieldTypeStrC[info->fields[n]->type] )
+					.arg( info->name )
+					.arg( info->fields[n]->name ) );
+         }
+     }
+     outInclude.replace(QString("$(SETGETFIELDSEXTERN)"), setgetfieldsextern);
+
     // Write the flight code
     bool res = writeFileIfDiffrent( flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode );
     if (!res) {