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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1212_telemetry_prio_queue' into next

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This commit is contained in:
Alessio Morale 2014-02-21 19:16:52 +01:00
commit 3cf1662bc8
18 changed files with 163 additions and 166 deletions
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57
flight/modules/Telemetry/telemetry.c
View File

@ -45,7 +45,6 @@
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
@ -59,8 +58,6 @@ static xQueueHandle queue;
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static xQueueHandle priorityQueue;
static xTaskHandle telemetryTxPriTaskHandle;
static void telemetryTxPriTask(void *parameters);
#else
#define priorityQueue queue
#endif
@ -119,11 +116,6 @@ int32_t TelemetryStart(void)
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
#endif
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
@ -276,7 +268,12 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
eventMask |= EV_LOGGING_MANUAL;
break;
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
// note that all setting objects have implicitly IsPriority=true
if (UAVObjIsPriority(obj)) {
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else {
UAVObjConnectQueue(obj, queue, eventMask);
}
}
/**
@ -374,32 +371,24 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
// Loop forever
while (1) {
// Wait for queue message
if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
}
}
/**
* Telemetry transmit task, high priority
*/
/**
* Tries to empty the high priority queue before handling any standard priority item
*/
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static void telemetryTxPriTask(__attribute__((unused)) void *parameters)
{
UAVObjEvent ev;
// Loop forever
while (1) {
// Loop forever
while (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
#endif
// Wait for queue message
if (xQueueReceive(priorityQueue, &ev, portMAX_DELAY) == pdTRUE) {
if (xQueueReceive(queue, &ev, 0) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
}
}
#endif
/**
* Telemetry receive task. Processes queue events and periodic updates.
@ -488,9 +477,11 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_PERIODIC;
ret = EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
xQueueHandle targetQueue = UAVObjIsPriority(obj) ? priorityQueue : queue;
ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
if (ret == -1) {
ret = EventPeriodicQueueCreate(&ev, queue, updatePeriodMs);
ret = EventPeriodicQueueCreate(&ev, targetQueue, updatePeriodMs);
}
return ret;
}
@ -512,9 +503,11 @@ static int32_t setLoggingPeriod(UAVObjHandle obj, int32_t updatePeriodMs)
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_LOGGING_PERIODIC;
ret = EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
xQueueHandle targetQueue = UAVObjIsPriority(obj) ? priorityQueue : queue;
ret = EventPeriodicQueueUpdate(&ev, targetQueue, updatePeriodMs);
if (ret == -1) {
ret = EventPeriodicQueueCreate(&ev, queue, updatePeriodMs);
ret = EventPeriodicQueueCreate(&ev, targetQueue, updatePeriodMs);
}
return ret;
}

1
flight/uavobjects/inc/uavobject.h.template
View File

@ -44,6 +44,7 @@
#define $(NAMEUC)_OBJID $(OBJIDHEX)
#define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST)
#define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
#define $(NAMEUC)_ISPRIORITY $(ISPRIORITY)
#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
/* Generic interface functions */

4
flight/uavobjects/inc/uavobjectmanager.h
View File

@ -147,8 +147,7 @@ typedef struct {
int32_t UAVObjInitialize();
void UAVObjGetStats(UAVObjStats *statsOut);
void UAVObjClearStats();
UAVObjHandle UAVObjRegister(uint32_t id,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjRegister(uint32_t id, bool isSingleInstance, bool isSettings, bool isPriority, uint32_t num_bytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjGetByID(uint32_t id);
uint32_t UAVObjGetID(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
@ -158,6 +157,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback
bool UAVObjIsSingleInstance(UAVObjHandle obj);
bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
bool UAVObjIsPriority(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);

2
flight/uavobjects/uavobject.c.template
View File

@ -65,7 +65,7 @@ int32_t $(NAME)Initialize(void)
// Register object with the object manager
handle = UAVObjRegister($(NAMEUC)_OBJID,
$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_ISPRIORITY, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
// Done
return handle ? 0 : -1;

24
flight/uavobjects/uavobjectmanager.c
View File

@ -108,6 +108,7 @@ struct UAVOBase {
bool isMeta : 1;
bool isSingle : 1;
bool isSettings : 1;
bool isPriority : 1;
} flags;
} __attribute__((packed));
@ -339,7 +340,7 @@ static struct UAVOData *UAVObjAllocMulti(uint32_t num_bytes)
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id,
int32_t isSingleInstance, int32_t isSettings,
bool isSingleInstance, bool isSettings, bool isPriority,
uint32_t num_bytes,
UAVObjInitializeCallback initCb)
{
@ -368,8 +369,11 @@ UAVObjHandle UAVObjRegister(uint32_t id,
uavo_data->instance_size = num_bytes;
if (isSettings) {
uavo_data->base.flags.isSettings = true;
// settings defaults to being sent with priority
uavo_data->base.flags.isPriority = true;
} else {
uavo_data->base.flags.isPriority = isPriority;
}
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData(&uavo_data->metaObj);
@ -605,6 +609,22 @@ bool UAVObjIsSettings(UAVObjHandle obj_handle)
return uavo_base->flags.isSettings;
}
/**
* Is this a prioritized object?
* \param[in] obj The object handle
* \return True (1) if this is a prioritized object
*/
bool UAVObjIsPriority(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isPriority;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle

130
ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
View File

@ -2252,49 +2252,29 @@
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4294945280</color>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>1.02360527502876e-306</yMaximum>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92921153577169e-310</yMinimum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Actuator</uavField>
<uavField>StackRemaining-CallbackScheduler0</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve10>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Guidance</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>6.92921442421083e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>-1.29073709209104e-231</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurve11>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Watchdog</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>6.92920724098472e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>3.91299991506267e-321</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve11>
<plotCurve2>
<color>4294945280</color>
<color>4278190335</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavField>StackRemaining-CallbackScheduler1</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2302,43 +2282,43 @@
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTxPri</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>6.92921438535612e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-GPS</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.03979250816176e-312</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4294945280</color>
<color>4294967040</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>6.92921438705062e-310</yMaximum>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92921152810932e-310</yMinimum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4278255615</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4294923775</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4289331327</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Sensors</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
@ -2346,32 +2326,42 @@
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Altitude</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>7.4109846876187e-323</yMaximum>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurve8>
<color>4294945280</color>
<color>4283760767</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-AHRSComms</uavField>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>5.43472210425371e-323</yMaximum>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve8>
<plotCurve9>
<color>4294945280</color>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Stabilization</uavField>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
<plotCurveCount>12</plotCurveCount>
<plotCurve10>
<color>4283782527</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-RadioRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurveCount>11</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>

16
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -2375,16 +2375,6 @@
<yScalePower>0</yScalePower>
</plotCurve8>
<plotCurve9>
<color>4289331327</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTxPri</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
<plotCurve10>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryRx</uavField>
@ -2393,8 +2383,8 @@
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurve11>
</plotCurve9>
<plotCurve10>
<color>4283782527</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-RadioRx</uavField>
@ -2403,7 +2393,7 @@
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve11>
</plotCurve10>
<plotCurveCount>12</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>

64
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -2260,7 +2260,7 @@
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4294945280</color>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
@ -2272,37 +2272,17 @@
<plotCurve1>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Actuator</uavField>
<uavField>StackRemaining-CallbackScheduler0</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve10>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Guidance</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurve11>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Watchdog</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve11>
<plotCurve2>
<color>4294945280</color>
<color>4278190335</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavField>StackRemaining-CallbackScheduler1</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2310,9 +2290,9 @@
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294945280</color>
<color>4294967040</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTxPri</uavField>
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2320,9 +2300,9 @@
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4294945280</color>
<color>4278255615</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2330,9 +2310,9 @@
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4294945280</color>
<color>4294923775</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-GPS</uavField>
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2340,9 +2320,9 @@
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4294945280</color>
<color>4289331327</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-ManualControl</uavField>
<uavField>StackRemaining-Sensors</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2360,9 +2340,9 @@
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurve8>
<color>4294945280</color>
<color>4283760767</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-AHRSComms</uavField>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2370,16 +2350,26 @@
<yScalePower>0</yScalePower>
</plotCurve8>
<plotCurve9>
<color>4294945280</color>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Stabilization</uavField>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
<plotCurveCount>12</plotCurveCount>
<plotCurve10>
<color>4283782527</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-RadioRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurveCount>11</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>

3
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -72,6 +72,9 @@ void replaceCommonTags(QString & out, ObjectInfo *info)
// Replace $(ISSETTINGS) tag
out.replace(QString("$(ISSETTINGS)"), boolTo01String(info->isSettings));
out.replace(QString("$(ISSETTINGSTF)"), boolToTRUEFALSEString(info->isSettings));
// Replace $(ISPRIORITY) tag
out.replace(QString("$(ISPRIORITY)"), boolTo01String(info->isPriority));
out.replace(QString("$(ISPRIORITYTF)"), boolToTRUEFALSEString(info->isPriority));
// Replace $(GCSACCESS) tag
value = accessModeStr[info->gcsAccess];
out.replace(QString("$(GCSACCESS)"), value);

12
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -623,9 +623,19 @@ QString UAVObjectParser::processObjectAttributes(QDomNode & node, ObjectInfo *in
} else if (attr.nodeValue().compare(QString("false")) == 0) {
info->isSettings = false;
} else {
return QString("Object:settings attribute value is invalid");
return QString("Object:settings attribute value is invalid (true|false)");
}
// Get priority attribute
attr = attributes.namedItem("priority");
info->isPriority = false;
if (!attr.isNull()) {
if (attr.nodeValue().compare(QString("true")) == 0) {
info->isPriority = true;
} else if (attr.nodeValue().compare(QString("false")) != 0) {
return QString("Object:priority attribute value is invalid (true|false)");
}
}
// Settings objects can only have a single instance
if (info->isSettings && !info->isSingleInst) {

1
ground/uavobjgenerator/uavobjectparser.h
View File

@ -84,6 +84,7 @@ typedef struct {
quint32 id;
bool isSingleInst;
bool isSettings;
bool isPriority;
AccessMode gcsAccess;
AccessMode flightAccess;
bool flightTelemetryAcked;

2
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -1,5 +1,5 @@
<xml>
<object name="FirmwareIAPObj" singleinstance="true" settings="false" category="System">
<object name="FirmwareIAPObj" singleinstance="true" settings="false" category="System" priority="true">
<description>Queries board for SN, model, revision, and sends reset command</description>
<field name="Command" units="" type="uint16" elements="1"/>
<field name="Description" units="" type="uint8" elements="100"/>

2
shared/uavobjectdefinition/flighttelemetrystats.xml
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@ -1,5 +1,5 @@
<xml>
<object name="FlightTelemetryStats" singleinstance="true" settings="false" category="System">
<object name="FlightTelemetryStats" singleinstance="true" settings="false" category="System" priority="true">
<description>Maintains the telemetry statistics from the OpenPilot flight computer.</description>
<field name="Status" units="" type="enum" elements="1" options="Disconnected,HandshakeReq,HandshakeAck,Connected"/>

2
shared/uavobjectdefinition/gcstelemetrystats.xml
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@ -1,5 +1,5 @@
<xml>
<object name="GCSTelemetryStats" singleinstance="true" settings="false" category="System">
<object name="GCSTelemetryStats" singleinstance="true" settings="false" category="System" priority="true">
<description>The telemetry statistics from the ground computer</description>
<field name="Status" units="" type="enum" elements="1" options="Disconnected,HandshakeReq,HandshakeAck,Connected"/>

4
shared/uavobjectdefinition/objectpersistence.xml
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@ -1,6 +1,6 @@
<xml>
<object name="ObjectPersistence" singleinstance="true" settings="false" category="System">
<description>Someone who knows please enter this</description>
<object name="ObjectPersistence" singleinstance="true" settings="false" category="System" priority="true">
<description>Used by gcs to handle object persistence to flash memory</description>
<field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed,Error"/>
<field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
<field name="ObjectID" units="" type="uint32" elements="1"/>

2
shared/uavobjectdefinition/oplinkstatus.xml
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@ -1,5 +1,5 @@
<xml>
<object name="OPLinkStatus" singleinstance="true" settings="false" category="System">
<object name="OPLinkStatus" singleinstance="true" settings="false" category="System" priority="true">
<description>OPLink device status.</description>
<field name="Description" units="" type="uint8" elements="40"/>
<field name="CPUSerial" units="hex" type="uint8" elements="12" />

2
shared/uavobjectdefinition/systemalarms.xml
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@ -1,5 +1,5 @@
<xml>
<object name="SystemAlarms" singleinstance="true" settings="false" category="System">
<object name="SystemAlarms" singleinstance="true" settings="false" category="System" priority="true">
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules. Some modules may have a module defined Status and Substatus fields that details its condition.</description>
<field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
<elementnames>

1
shared/uavobjectdefinition/taskinfo.xml
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@ -23,7 +23,6 @@
<elementname>FlightPlan</elementname>
<!-- telemetry -->
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<!-- com -->
<elementname>RadioRx</elementname>