UABOBJECTS: Made GCS aware of new BITFIELD type in UAVObjects - so far not used by UAVObjectgenerator, but can be used (hardcoded) in metadata objects

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp

@@ -166,6 +166,7 @@ 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();

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp

@@ -86,6 +86,9 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
     case ENUM:
         numBytesPerElement = sizeof(quint8);
         break;
+    case BITFIELD:
+        numBytesPerElement = sizeof(quint8);
+        break;
     case STRING:
         numBytesPerElement = sizeof(quint8);
         break;
@@ -477,7 +480,15 @@ 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 +518,15 @@ 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 +603,12 @@ 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 +678,12 @@ 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 +692,6 @@ qint32 UAVObjectField::unpack(const quint8* dataIn)
     return getNumBytes();
 }
 
-quint32 UAVObjectField::getNumBytesElement()
-{
-    return numBytesPerElement;
-}
-
 bool UAVObjectField::isNumeric()
 {
     switch (type)
@@ -694,6 +720,9 @@ bool UAVObjectField::isNumeric()
     case ENUM:
         return false;
         break;
+    case BITFIELD:
+        return false;
+        break;
     case STRING:
         return false;
         break;
@@ -730,6 +759,9 @@ bool UAVObjectField::isText()
     case ENUM:
         return true;
         break;
+    case BITFIELD:
+        return true;
+        break;
     case STRING:
         return true;
         break;
@@ -810,6 +842,14 @@ 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 +885,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
         case UINT32:
         case FLOAT32:
         case STRING:
+        case BITFIELD:
             return true;
             break;
         case ENUM:
@@ -926,6 +967,14 @@ 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 | ( (value.toUInt()!=0?1:0) << (index % 8) );
+            memcpy(&data[offset + numBytesPerElement*((quint32)(index/8))], &tmpbitfield, numBytesPerElement);
+            break;
+        }
         case STRING:
         {
             QString str = value.toString();

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h

@@ -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();