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Code Issues Releases Activity

Reduced the sizeof the UAVObject metadata by:

Browse Source 
1) Combining all binary or mode values into a single byte
  2) Adding accessor functions to read/write the flag bits
  3) Reduced the size of the time values from 32 bits to 16 bits
This commit is contained in:
Brian Webb 2012-02-20 18:45:18 -07:00
parent 4a0d101f12
commit 43f6458f86
21 changed files with 436 additions and 117 deletions
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2
flight/Modules/ManualControl/manualcontrol.c
View File

@ -196,7 +196,7 @@ static void manualControlTask(void *parameters)
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
ManualControlCommandGetMetadata(&metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetAccess(&metadata, ACCESS_READWRITE);
ManualControlCommandSetMetadata(&metadata);
}
}

12
flight/Modules/Telemetry/telemetry.c
View File

@ -168,13 +168,15 @@ static void registerObject(UAVObjHandle obj)
static void updateObject(UAVObjHandle obj)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC) {
if (updateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
@ -183,7 +185,7 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE) {
} else if (updateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
@ -192,7 +194,7 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_MANUAL) {
} else if (updateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
@ -201,7 +203,7 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_NEVER) {
} else if (updateMode == UPDATEMODE_NEVER) {
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
@ -235,7 +237,7 @@ static void processObjEvent(UAVObjEvent * ev)
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats

57
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -35,6 +35,17 @@
#define UAVOBJ_ALL_INSTANCES 0xFFFF
#define UAVOBJ_MAX_INSTANCES 1000
/*
* Shifts and masks used to read/write metadata flags.
*/
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// FIXME: All this typedef for SDCARD needs to be abstracted away
#if !defined(PIOS_INCLUDE_SDCARD)
@ -57,18 +68,24 @@ typedef enum {
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t access; /** Defines the access level for the local transactions (readonly and readwrite) */
uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) UAVObjMetadata;
/**
@ -76,9 +93,9 @@ typedef struct {
*/
typedef enum {
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
} UAVObjEventType;
/**
@ -162,6 +179,20 @@ 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);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
void UAVObjMetadataInitialize(UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
void UAVObjSetGcsAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryAcked( UAVObjMetadata* dataOut, uint8_t val);
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* dataOut, uint8_t val);
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);

150
flight/UAVObjects/uavobjectmanager.c
View File

@ -37,6 +37,9 @@
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & !(mask << shift)) | (value << shift);
/**
* List of event queues and the eventmask associated with the queue.
*/
@ -125,16 +128,7 @@ int32_t UAVObjInitialize()
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
UAVObjMetadataInitialize(&defMetadata);
// Done
return 0;
@ -1051,7 +1045,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (mdata->access == ACCESS_READONLY) {
if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
@ -1097,7 +1091,7 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( mdata->access == ACCESS_READONLY )
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
@ -1262,6 +1256,136 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
return 0;
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
{
metadata->flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata->telemetryUpdatePeriod = 0;
metadata->gcsTelemetryUpdatePeriod = 0;
metadata->loggingUpdatePeriod = 0;
}
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
{
return (metadata->flags >> UAVOBJ_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
{
SET_BITS(metadata->flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
{
return (metadata->flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
SET_BITS(metadata->flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Check if an object is read only
* \param[in] obj The object handle
@ -1283,7 +1407,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
return mdata->access == ACCESS_READONLY;
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
}
return -1;
}

14
flight/UAVObjects/uavobjecttemplate.c
View File

@ -85,15 +85,15 @@ $(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.telemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
metadata.gcsTelemetryUpdateMode = $(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = $(LOGGING_UPDATEMODE);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
}

6
ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
View File

@ -298,7 +298,7 @@ void ConfigAHRSWidget::launchAccelBiasCalibration()
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);
@ -380,7 +380,7 @@ void ConfigAHRSWidget::launchGyroDriftCalibration()
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);
@ -998,7 +998,7 @@ void ConfigAHRSWidget::multiPointCalibrationMode()
obj = getObjectManager()->getObject(QString("AttitudeRaw"));
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);

2
ground/openpilotgcs/src/plugins/config/configairframewidget.cpp
View File

@ -309,7 +309,7 @@ void ConfigAirframeWidget::enableFFTest()
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
obj->setMetadata(mdata);
}
// Depending on phase, either move actuator or send FF settings:

2
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -148,7 +148,7 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
// Speed up updates
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);

8
ground/openpilotgcs/src/plugins/config/configccpmwidget.cpp
View File

@ -1703,10 +1703,10 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
if (state)
{
SwashLvlaccInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
SwashLvlConfigurationInProgress=1;
m_ccpm->TabObject->setTabEnabled(0,0);

2
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -601,7 +601,7 @@ void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}

12
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -89,7 +89,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
}
@ -152,10 +152,10 @@ void ConfigOutputWidget::runChannelTests(bool state)
{
wasItMe=true;
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
@ -382,7 +382,7 @@ void ConfigOutputWidget::stopTests()
void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
{
if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
{
if(!wasItMe)
this->setEnabled(false);

10
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -49,7 +49,7 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
UAVObject::Metadata mdata = obj->getMetadata();
m_gcscontrol->checkBoxGcsControl->setChecked(mdata.flightAccess == UAVObject::ACCESS_READONLY);
m_gcscontrol->checkBoxGcsControl->setChecked(UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READONLY);
// Set up the drop down box for the flightmode
UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
@ -117,10 +117,10 @@ void GCSControlGadgetWidget::toggleControl(int state)
if (state)
{
mccInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}

20
ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
View File

@ -236,12 +236,12 @@ void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryAcked = false;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryAcked(mdata, false);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = updatePeriod;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
obj->setMetadata(mdata);
}
@ -249,11 +249,11 @@ void Simulator::setupOutputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryUpdateMode(mdata,UAVObject::UPDATEMODE_NEVER);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.gcsTelemetryUpdatePeriod = updatePeriod;
obj->setMetadata(mdata);
}

11
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -36,16 +36,7 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
{
this->parent = parent;
// Setup default metadata of metaobject (can not be changed)
ownMetadata.flightAccess = ACCESS_READWRITE;
ownMetadata.gcsAccess = ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = 1;
ownMetadata.flightTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = 1;
ownMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
UAVObject::MetadataInitialize(ownMetadata);
// Setup fields
QStringList boolEnum;
boolEnum << tr("False") << tr("True");

141
ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
View File

@ -29,6 +29,18 @@
#include <QtEndian>
#include <QDebug>
// Constants
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & !(mask << shift)) | (value << shift);
/**
* Constructor
* @param objID The object ID
@ -456,3 +468,132 @@ void UAVObject::emitTransactionCompleted(bool success)
{
emit transactionCompleted(this, success);
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObject::MetadataInitialize(UAVObject::Metadata& metadata)
{
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
}
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObject::AccessMode UAVObject::GetFlightAccess(const UAVObject::Metadata& metadata)
{
return UAVObject::AccessMode((metadata.flags >> UAVOBJ_ACCESS_SHIFT) & 1);
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObject::SetFlightAccess(UAVObject::Metadata& metadata, UAVObject::AccessMode mode)
{
SET_BITS(metadata.flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObject::AccessMode UAVObject::GetGcsAccess(const UAVObject::Metadata& metadata)
{
return UAVObject::AccessMode((metadata.flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1);
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObject::SetGcsAccess(UAVObject::Metadata& metadata, UAVObject::AccessMode mode) {
SET_BITS(metadata.flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObject::GetFlightTelemetryAcked(const UAVObject::Metadata& metadata) {
return (metadata.flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObject::SetFlightTelemetryAcked(UAVObject::Metadata& metadata, uint8_t val) {
SET_BITS(metadata.flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObject::GetGcsTelemetryAcked(const UAVObject::Metadata& metadata) {
return (metadata.flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObject::SetGcsTelemetryAcked(UAVObject::Metadata& metadata, uint8_t val) {
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObject::UpdateMode UAVObject::GetFlightTelemetryUpdateMode(const UAVObject::Metadata& metadata) {
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObject::SetFlightTelemetryUpdateMode(UAVObject::Metadata& metadata, UAVObject::UpdateMode val) {
SET_BITS(metadata.flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObject::UpdateMode UAVObject::GetGcsTelemetryUpdateMode(const UAVObject::Metadata& metadata) {
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObject::SetGcsTelemetryUpdateMode(UAVObject::Metadata& metadata, UAVObject::UpdateMode val) {
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}

61
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -38,6 +38,14 @@
#include <QFile>
#include "uavobjectfield.h"
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
class UAVObjectField;
class UAVOBJECTS_EXPORT UAVObject: public QObject
@ -64,22 +72,28 @@ public:
ACCESS_READONLY = 1
} AccessMode;
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*/
typedef struct {
quint8 flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
quint8 gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
quint8 flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
quint8 gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t flightTelemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
UAVObject(quint32 objID, bool isSingleInst, const QString& name);
@ -111,6 +125,21 @@ public:
QString toStringData();
void emitTransactionCompleted(bool success);
// Metadata accessors
static void MetadataInitialize(Metadata& meta);
static AccessMode GetFlightAccess(const Metadata& meta);
static void SetFlightAccess(Metadata& meta, AccessMode mode);
static AccessMode GetGcsAccess(const Metadata& meta);
static void SetGcsAccess(Metadata& meta, AccessMode mode);
static uint8_t GetFlightTelemetryAcked(const Metadata& meta);
static void SetFlightTelemetryAcked(Metadata& meta, uint8_t val);
static uint8_t GetGcsTelemetryAcked(const Metadata& meta);
static void SetGcsTelemetryAcked(Metadata& meta, uint8_t val);
static UpdateMode GetFlightTelemetryUpdateMode(const Metadata& meta);
static void SetFlightTelemetryUpdateMode(Metadata& meta, UpdateMode val);
static UpdateMode GetGcsTelemetryUpdateMode(const Metadata& meta);
static void SetGcsTelemetryUpdateMode(Metadata& meta, UpdateMode val);
public slots:
void requestUpdate();
void updated();

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -833,7 +833,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
if ( UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
@ -873,7 +873,7 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
if ( UAVObject::GetGcsAccess(mdata) == UAVObject::ACCESS_READWRITE )
{
switch (type)
{

22
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.cpp
View File

@ -61,16 +61,16 @@ $(FIELDSINIT)
UAVObject::Metadata $(NAME)::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
metadata.gcsTelemetryUpdateMode = UAVObject::$(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.flightTelemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.flightTelemetryUpdateMode = UAVObject::$(FLIGHTTELEM_UPDATEMODE);
metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = UAVObject::$(LOGGING_UPDATEMODE);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
return metadata;
}
@ -102,7 +102,7 @@ void $(NAME)::setData(const DataFields& data)
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
if ( UAVObject::GetGcsAccess(mdata) == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
View File

@ -77,7 +77,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
foreach(UAVDataObject * obj,objects)
{
UAVObject::Metadata mdata= obj->getMetadata();
if(mdata.gcsAccess==UAVObject::ACCESS_READONLY)
if(UAVObject::GetGcsAccess(mdata)==UAVObject::ACCESS_READONLY)
continue;
up_result=false;
current_object=obj;

11
ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
View File

@ -156,10 +156,11 @@ void Telemetry::updateObject(UAVObject* obj)
{
// Get metadata
UAVObject::Metadata metadata = obj->getMetadata();
UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
// Setup object depending on update mode
qint32 eventMask;
if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_PERIODIC )
if ( updateMode == UAVObject::UPDATEMODE_PERIODIC )
{
// Set update period
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
@ -171,7 +172,7 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
else if ( updateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -183,7 +184,7 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_MANUAL )
else if ( updateMode == UAVObject::UPDATEMODE_MANUAL )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -195,7 +196,7 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_NEVER )
else if ( updateMode == UAVObject::UPDATEMODE_NEVER )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -387,7 +388,7 @@ void Telemetry::processObjectQueue()
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = metadata.gcsTelemetryAcked;
transInfo.acked = UAVObject::GetGcsTelemetryAcked(metadata);
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
{
transInfo.objRequest = false;

4
ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
View File

@ -77,7 +77,7 @@ void TelemetryMonitor::startRetrievingObjects()
UAVMetaObject* mobj = dynamic_cast<UAVMetaObject*>(obj);
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(obj);
UAVObject::Metadata mdata = obj->getMetadata();
if ( mdata.gcsTelemetryUpdateMode != UAVObject::UPDATEMODE_NEVER )
if ( UAVObject::GetGcsTelemetryUpdateMode(mdata) != UAVObject::UPDATEMODE_NEVER )
{
if ( mobj != NULL )
{
@ -91,7 +91,7 @@ void TelemetryMonitor::startRetrievingObjects()
}
else
{
if ( mdata.flightTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
if ( UAVObject::GetFlightTelemetryUpdateMode(mdata) == UAVObject::UPDATEMODE_ONCHANGE )
{
queue.enqueue(obj);
}