GCS/UAVObjects: Added support for saving and loading of objects

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@407 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/uavobjects/exampleobject.cpp

@@ -32,7 +32,7 @@
 
 const QString ExampleObject::NAME = QString("ExampleObject");
 
-ExampleObject::ExampleObject(): UAVDataObject(OBJID, SINGLEINST, NAME)
+ExampleObject::ExampleObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
 {
     // Create fields
     QList<UAVObjectField*> fields;

ground/src/plugins/uavobjects/exampleobject.h

@@ -46,7 +46,8 @@ public:
   
     static const quint32 OBJID = 3048370380U;
     static const QString NAME;
-    static const bool SINGLEINST = 0;
+    static const bool ISSINGLEINST = 0;
+	static const bool ISSETTINGS = 0;
     static const quint32 NUMBYTES = sizeof(DataFields);
 
     ExampleObject();

ground/src/plugins/uavobjects/examplesettings.cpp

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplesettings.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: examplesettings.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 "examplesettings.h"
+
+const QString ExampleSettings::NAME = QString("ExampleSettings");
+
+ExampleSettings::ExampleSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    fields.append(new UAVObjectField(QString("setting1"), QString("unit1"), UAVObjectField::FIELDTYPE_INT8, 1));
+    fields.append(new UAVObjectField(QString("setting2"), QString("unit2"), UAVObjectField::FIELDTYPE_INT16, 1));
+    fields.append(new UAVObjectField(QString("setting3"), QString("unit3"), UAVObjectField::FIELDTYPE_INT8, 1));
+    fields.append(new UAVObjectField(QString("setting4"), QString("unit4"), UAVObjectField::FIELDTYPE_INT32, 1));
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+}
+
+UAVObject::Metadata ExampleSettings::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.gcsTelemetryAcked = 1;
+    metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
+    metadata.gcsTelemetryUpdatePeriod = 0;
+    metadata.flightTelemetryAcked = 1;
+    metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
+    metadata.flightTelemetryUpdatePeriod = 0;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.loggingUpdatePeriod = 0;
+    return metadata;
+}
+
+ExampleSettings::DataFields ExampleSettings::getData()
+{
+	QMutexLocker locker(mutex);
+    return data;
+}
+
+void ExampleSettings::setData(DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    this->data = data;
+    emit objectUpdatedAuto(this); // trigger object updated event
+    emit objectUpdated(this);
+}
+
+UAVDataObject* ExampleSettings::clone(quint32 instID)
+{
+    ExampleSettings* obj = new ExampleSettings();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}

ground/src/plugins/uavobjects/examplesettings.h

@@ -0,0 +1,65 @@
+/**
+ ******************************************************************************
+ *
+ * @file       examplesettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ExampleSettings object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: examplesettings.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 EXAMPLESETTINGS_H
+#define EXAMPLESETTINGS_H
+
+#include "uavdataobject.h"
+
+class ExampleSettings: public UAVDataObject
+{
+public:   
+    typedef struct {
+        qint8 setting1;
+        qint16 setting2;
+        qint8 setting3;
+        qint32 setting4;
+
+    } __attribute__((packed)) DataFields;
+  
+    static const quint32 OBJID = 3555345034U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 1;
+	static const bool ISSETTINGS = 1;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    ExampleSettings();
+
+    DataFields getData();
+    void setData(DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+	
+private:
+    DataFields data;
+
+};
+
+#endif // EXAMPLESETTINGS_H

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

@@ -8,7 +8,7 @@ UAVObjectsTest::UAVObjectsTest(): sout(stdout), done(false)
     connect(objMngr, SIGNAL(newInstance(UAVObject*)), this, SLOT(newInstance(UAVObject*)));
 
     // Create test objects
-    obj1 = new TestObject1();
+    obj1 = new ExampleObject();
     connect(obj1, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objectUpdated(UAVObject*)));
     connect(obj1, SIGNAL(objectUpdatedAuto(UAVObject*)), this, SLOT(objectUpdatedAuto(UAVObject*)));
     connect(obj1, SIGNAL(objectUpdatedManual(UAVObject*)), this, SLOT(objectUpdatedManual(UAVObject*)));
@@ -62,16 +62,16 @@ void UAVObjectsTest::runTest()
     if (!done)
     {
         // Create a new instance
-        TestObject1* obj2 = new TestObject1();
+        ExampleObject* obj2 = new ExampleObject();
         objMngr->registerObject(obj2);    
 
         // Set data
-        TestObject1::DataFields data = obj1->getData();
+        ExampleObject::DataFields data = obj1->getData();
         data.field1 = 1;
-        data.field2[0] = 2.1;
+        data.field3[0] = 2.1;
-        data.field2[1] = 2.2;
+        data.field3[1] = 2.2;
-        data.field2[2] = 2.3;
+        data.field3[2] = 2.3;
-        data.field3 = 3;
+        data.field2 = 3;
         data.field4 = 4;
         obj1->setData(data);
 
@@ -93,16 +93,27 @@ void UAVObjectsTest::runTest()
         quint8* buf = new quint8[obj1->getNumBytes()];
         obj1->pack(buf);
         data.field1 = 10;
-        data.field2[0] = 20.1;
+        data.field3[0] = 20.1;
-        data.field2[1] = 20.2;
+        data.field3[1] = 20.2;
-        data.field2[2] = 20.3;
+        data.field3[2] = 20.3;
-        data.field3 = 30;
+        data.field2 = 30;
         data.field4 = 40;
         obj1->setData(data);
         obj1->unpack(buf);
 
+        // Save, load testing
+        obj1->save();
+        data.field1 = 10;
+        data.field3[0] = 20.1;
+        data.field3[1] = 20.2;
+        data.field3[2] = 20.3;
+        data.field2 = 30;
+        data.field4 = 40;
+        obj1->setData(data);
+        obj1->load();
+
         // Get all instances
-        QList<UAVObject*> objs = objMngr->getObjectInstances(TestObject1::OBJID);
+        QList<UAVObject*> objs = objMngr->getObjectInstances(ExampleObject::OBJID);
         for (int n = 0; n < objs.length(); ++n)
         {
             sout << "[Printing object instances]\n";

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

@@ -1,8 +1,8 @@
 #ifndef UAVOBJECTSTEST_H
 #define UAVOBJECTSTEST_H
 
-#include "..\UAVObjectManager.h"
+#include "..\uavobjectmanager.h"
-#include "testobject1.h"
+#include "..\exampleobject.h"
 #include <QTimer>
 #include <QTextStream>
 
@@ -26,7 +26,7 @@ private slots:
 
 private:
     UAVObjectManager* objMngr;
-    TestObject1* obj1;
+    ExampleObject* obj1;
     QTimer* timer;
     QTextStream sout;
     bool done;

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

@@ -12,7 +12,6 @@ SOURCES += main.cpp \
     ../uavobject.cpp \
     ../uavmetaobject.cpp \
     ../uavdataobject.cpp \
-    testobject1.cpp \
     uavobjectstest.cpp \
     ../exampleobject.cpp
 HEADERS += ../uavobjectmanager.h \
@@ -20,6 +19,5 @@ HEADERS += ../uavobjectmanager.h \
     ../uavobject.h \
     ../uavmetaobject.h \
     ../uavdataobject.h \
-    testobject1.h \
     uavobjectstest.h \
     ../exampleobject.h

ground/src/plugins/uavobjects/uavdataobject.cpp

@@ -30,10 +30,11 @@
 /**
  * Constructor
  */
-UAVDataObject::UAVDataObject(quint32 objID, bool isSingleInst, const QString& name):
+UAVDataObject::UAVDataObject(quint32 objID, bool isSingleInst, bool isSet,const QString& name):
         UAVObject(objID, isSingleInst, name)
 {
     mobj = NULL;
+    this->isSet = isSet;
 }
 
 /**
@@ -55,6 +56,14 @@ void UAVDataObject::initialize(UAVMetaObject* mobj)
     this->mobj = mobj;
 }
 
+/**
+ * Returns true if this is a data object holding module settings
+ */
+bool UAVDataObject::isSettings()
+{
+    return isSet;
+}
+
 /**
  * Set the object's metadata
  */

ground/src/plugins/uavobjects/uavdataobject.h

@@ -39,9 +39,10 @@ class UAVOBJECTS_EXPORT UAVDataObject: public UAVObject
     Q_OBJECT
 
 public:
-    UAVDataObject(quint32 objID, bool isSingleInst, const QString& name);
+    UAVDataObject(quint32 objID, bool isSingleInst, bool isSet, const QString& name);
     void initialize(quint32 instID, UAVMetaObject* mobj);
     void initialize(UAVMetaObject* mobj);
+    bool isSettings();
     void setMetadata(const Metadata& mdata);
     Metadata getMetadata();
     UAVMetaObject* getMetaObject();
@@ -49,6 +50,7 @@ public:
 
 private:
     UAVMetaObject* mobj;
+    bool isSet;
 
 };
 

ground/src/plugins/uavobjects/uavobject.cpp

@@ -26,6 +26,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "uavobject.h"
+#include <QtEndian>
 
 /**
  * Constructor
@@ -242,6 +243,151 @@ qint32 UAVObject::unpack(const quint8* dataIn)
     return numBytes;
 }
 
+/**
+ * Save the object data to the file.
+ * The file will be created in the current directory
+ * and its name will be the same as the object with
+ * the .uavobj extension.
+ * @returns True on success, false on failure
+ */
+bool UAVObject::save()
+{
+    QMutexLocker locker(mutex);
+
+    // Open file
+    QFile file(name + ".uavobj");
+    if (!file.open(QFile::WriteOnly))
+    {
+        return false;
+    }
+
+    // Write object
+    if ( !save(file) )
+    {
+        return false;
+    }
+
+    // Close file
+    file.close();
+    return true;
+}
+
+/**
+ * Save the object data to the file.
+ * The file is expected to be already open for writting.
+ * The data will be appended and the file will not be closed.
+ * @returns True on success, false on failure
+ */
+bool UAVObject::save(QFile& file)
+{
+    QMutexLocker locker(mutex);
+    quint8 buffer[numBytes];
+    quint8 tmpId[4];
+
+    // Write the object ID
+    qToBigEndian<quint32>(objID, tmpId);
+    if ( file.write((const char*)tmpId, 4) == -1 )
+    {
+        return false;
+    }
+
+    // Write the instance ID
+    if (!isSingleInst)
+    {
+        qToBigEndian<quint16>(instID, tmpId);
+        if ( file.write((const char*)tmpId, 2) == -1 )
+        {
+            return false;
+        }
+    }
+
+    // Write the data
+    pack(buffer);
+    if ( file.write((const char*)buffer, numBytes) == -1 )
+    {
+        return false;
+    }
+
+    // Done
+    return true;
+}
+
+/**
+ * Load the object data from a file.
+ * The file will be openned in the current directory
+ * and its name will be the same as the object with
+ * the .uavobj extension.
+ * @returns True on success, false on failure
+ */
+bool UAVObject::load()
+{
+    QMutexLocker locker(mutex);
+
+    // Open file
+    QFile file(name + ".uavobj");
+    if (!file.open(QFile::ReadOnly))
+    {
+        return false;
+    }
+
+    // Load object
+    if ( !load(file) )
+    {
+        return false;
+    }
+
+    // Close file
+    file.close();
+    return true;
+}
+
+/**
+ * Load the object data from file.
+ * The file is expected to be already open for reading.
+ * The data will be read and the file will not be closed.
+ * @returns True on success, false on failure
+ */
+bool UAVObject::load(QFile& file)
+{
+    QMutexLocker locker(mutex);
+    quint8 buffer[numBytes];
+    quint8 tmpId[4];
+
+    // Read the object ID
+    if ( file.read((char*)tmpId, 4) != 4 )
+    {
+        return false;
+    }
+
+    // Check that the IDs match
+    if (qFromBigEndian<quint32>(tmpId) != objID)
+    {
+        return false;
+    }
+
+    // Read the instance ID
+    if ( file.read((char*)tmpId, 2) != 2 )
+    {
+        return false;
+    }
+
+    // Check that the IDs match
+    if (qFromBigEndian<quint16>(tmpId) != instID)
+    {
+        return false;
+    }
+
+    // Read and unpack the data
+    if ( file.read((char*)buffer, numBytes) != numBytes )
+    {
+        return false;
+    }
+    unpack(buffer);
+
+    // Done
+    return true;
+}
+
 /**
  * Return a string with the object information
  */

ground/src/plugins/uavobjects/uavobject.h

@@ -35,6 +35,7 @@
 #include <QMutexLocker>
 #include <QString>
 #include <QList>
+#include <QFile>
 #include "uavobjectfield.h"
 
 class UAVObjectField;
@@ -78,8 +79,12 @@ public:
     bool isSingleInstance();
     QString getName();
     quint32 getNumBytes(); 
-    virtual qint32 pack(quint8* dataOut);
+    qint32 pack(quint8* dataOut);
-    virtual qint32 unpack(const quint8* dataIn);
+    qint32 unpack(const quint8* dataIn);
+    bool save();
+    bool save(QFile& file);
+    bool load();
+    bool load(QFile& file);
     virtual void setMetadata(const Metadata& mdata) = 0;
     virtual Metadata getMetadata() = 0;
     virtual Metadata getDefaultMetadata() = 0;

ground/src/plugins/uavobjects/uavobjects.pro

@@ -1,9 +1,7 @@
 TEMPLATE = lib
 TARGET = UAVObjects
-
 include(../../openpilotgcsplugin.pri)
 include(uavobjects_dependencies.pri)
-
 HEADERS += uavobjects_global.h \
     uavobject.h \
     uavmetaobject.h \
@@ -11,15 +9,17 @@ HEADERS += uavobjects_global.h \
     uavdataobject.h \
     uavobjectfield.h \
     uavobjectsinit.h \
-    uavobjectsplugin.h
+    uavobjectsplugin.h \
-
+    examplesettings.h \
+    exampleobject.h
 SOURCES += uavobject.cpp \
     uavmetaobject.cpp \
     uavobjectmanager.cpp \
     uavdataobject.cpp \
     uavobjectfield.cpp \
     uavobjectsinit.cpp \
-    uavobjectsplugin.cpp
+    uavobjectsplugin.cpp \
-
+    examplesettings.cpp \
+    exampleobject.cpp
 DEFINES += UAVOBJECTS_LIBRARY
 OTHER_FILES += UAVObjects.pluginspec

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -31,6 +31,7 @@
  */
 #include "uavobjectsinit.h"
 #include "exampleobject.h"
+#include "examplesettings.h"
 
 
 /**
@@ -40,4 +41,6 @@
 void UAVObjectsInitialize(UAVObjectManager* objMngr)
 {
     objMngr->registerObject( new ExampleObject() );
+    objMngr->registerObject( new ExampleSettings() );
+
 }

ground/src/plugins/uavobjects/uavobjecttemplate.cpp

@@ -32,7 +32,7 @@
 
 const QString $(NAME)::NAME = QString("$(NAME)");
 
-$(NAME)::$(NAME)(): UAVDataObject(OBJID, SINGLEINST, NAME)
+$(NAME)::$(NAME)(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
 {
     // Create fields
     QList<UAVObjectField*> fields;

ground/src/plugins/uavobjects/uavobjecttemplate.h

@@ -42,7 +42,8 @@ $(DATAFIELDS)
   
     static const quint32 OBJID = $(OBJID)U;
     static const QString NAME;
-    static const bool SINGLEINST = $(SINGLEINST);
+    static const bool ISSINGLEINST = $(ISSINGLEINST);
+	static const bool ISSETTINGS = $(ISSETTINGS);
     static const quint32 NUMBYTES = sizeof(DataFields);
 
     $(NAME)();

ground/src/plugins/uavtalk/uavtalk.cpp

@@ -160,7 +160,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
         if (rxCount == 4)
         {
             // Search for object, if not found reset state machine
-            rxObjId = (qint32)qFromBigEndian<qint32>(rxTmpBuffer);
+            rxObjId = (qint32)qFromBigEndian<quint32>(rxTmpBuffer);
             UAVObject* rxObj = objMngr->getObject(rxObjId);
             if (rxObj == NULL)
             {
@@ -214,7 +214,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
         rxTmpBuffer[rxCount++] = rxbyte;
         if (rxCount == 2)
         {
-            rxInstId = (qint16)qFromBigEndian<qint16>(rxTmpBuffer);
+            rxInstId = (qint16)qFromBigEndian<quint16>(rxTmpBuffer);
             rxCS = updateChecksum(rxCS, rxTmpBuffer, 2);
             rxCount = 0;
             // If there is a payload get it, otherwise receive checksum
@@ -241,7 +241,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
         rxTmpBuffer[rxCount++] = rxbyte;
         if (rxCount == 2)
         {
-            rxCSPacket = (qint16)qFromBigEndian<qint16>(rxTmpBuffer);
+            rxCSPacket = (qint16)qFromBigEndian<quint16>(rxTmpBuffer);
             if (rxCS == rxCSPacket)
             {
                 mutex->lock();
@@ -491,7 +491,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     // Setup type and object id fields
     objId = obj->getObjID();
     txBuffer[0] = type;
-    qToBigEndian<qint32>(objId, &txBuffer[1]);
+    qToBigEndian<quint32>(objId, &txBuffer[1]);
 
     // Setup instance ID if one is required
     if ( obj->isSingleInstance() )
@@ -503,12 +503,12 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
         // Check if all instances are requested
         if (allInstances)
         {
-            qToBigEndian<qint16>(allInstId, &txBuffer[5]);
+            qToBigEndian<quint16>(allInstId, &txBuffer[5]);
         }
         else
         {
             instId = obj->getInstID();
-            qToBigEndian<qint16>(instId, &txBuffer[5]);
+            qToBigEndian<quint16>(instId, &txBuffer[5]);
         }
         dataOffset = 7;
     }
@@ -541,7 +541,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     // Calculate checksum
     cs = 0;
     cs = updateChecksum(cs, txBuffer, dataOffset+length);
-    qToBigEndian<qint16>(cs, &txBuffer[dataOffset+length]);
+    qToBigEndian<quint16>(cs, &txBuffer[dataOffset+length]);
 
     // Send buffer
     io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);