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https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-17 02:52:12 +01:00
Make object store with the minimal amount of space and deal with unsigned
values
This commit is contained in:
James Cotton
parent
f41980c276
commit
5aa8eb522a
@ -462,9 +462,7 @@ public abstract class UAVObject {
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* Return a string with the object information (only the header)
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*/
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public String toStringBrief() {
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return getName() + " ( " + getObjID() + " " + getInstID() + " " + getNumBytes() + ")\n";
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// getName(), getObjID(), getInstID(), getNumBytes(),
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// isSingleInstance());
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return getName() + " ( " + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
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}
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/**
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@ -27,8 +27,7 @@ public class UAVObjectField {
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public void initialize(UAVObject obj){
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this.obj = obj;
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clear();
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//clear();
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}
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public UAVObject getObject() {
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@ -161,19 +160,19 @@ public class UAVObjectField {
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{
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case INT8:
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{
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List<Integer> l = (List<Integer>) this.data;
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List<Byte> l = (List<Byte>) this.data;
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for (int index = 0 ; index < numElements; ++index) {
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Byte val = dataIn.get();
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l.set(index, val.intValue());
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Long val = bound(dataIn.get());
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l.set(index, val.byteValue());
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}
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break;
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}
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case INT16:
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{
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List<Integer> l = (List<Integer>) this.data;
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List<Short> l = (List<Short>) this.data;
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for (int index = 0 ; index < numElements; ++index) {
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Short val = dataIn.getShort();
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l.set(index, val.intValue());
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Long val = bound(dataIn.getShort());
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l.set(index, val.shortValue());
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}
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break;
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}
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@ -181,18 +180,18 @@ public class UAVObjectField {
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{
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List<Integer> l = (List<Integer>) this.data;
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for (int index = 0 ; index < numElements; ++index) {
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Integer val = dataIn.getInt();
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Long val = bound(dataIn.getInt());
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l.set(index, val.intValue());
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}
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break;
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}
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case UINT8:
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// TOOD: Deal with unsigned
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{
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List<Integer> l = (List<Integer>) this.data;
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List<Short> l = (List<Short>) this.data;
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for (int index = 0 ; index < numElements; ++index) {
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Byte val = dataIn.get();
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l.set(index, val.intValue());
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int signedval = (int) dataIn.get(); // this sign extends it
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int unsignedval = signedval & 0xff; // drop sign extension
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l.set(index, (short) unsignedval);
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}
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break;
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}
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@ -200,17 +199,19 @@ public class UAVObjectField {
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{
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List<Integer> l = (List<Integer>) this.data;
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for (int index = 0 ; index < numElements; ++index) {
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Short val = dataIn.getShort();
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l.set(index, val.intValue());
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int signedval = (int) dataIn.getShort(); // this sign extends it
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int unsignedval = signedval & 0xffff; // drop sign extension
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l.set(index, unsignedval);
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}
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break;
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}
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case UINT32:
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{
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List<Integer> l = (List<Integer>) this.data;
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List<Long> l = (List<Long>) this.data;
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for (int index = 0 ; index < numElements; ++index) {
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Integer val = dataIn.getInt();
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l.set(index, val.intValue());
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long signedval = (long) dataIn.getInt(); // this sign extends it
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long unsignedval = signedval & 0xffffffffL; // drop sign extension
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l.set(index, unsignedval);
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}
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break;
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}
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@ -240,36 +241,31 @@ public class UAVObjectField {
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}
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Object getValue() { return getValue(0); };
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Object getValue(int index) {
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@SuppressWarnings("unchecked")
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Object getValue(int index) {
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// QMutexLocker locker(obj->getMutex());
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// Check that index is not out of bounds
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if ( index >= numElements )
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{
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return null;
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}
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switch (type)
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{
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case INT8:
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return ((List<Byte>) data).get(index).intValue();
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case INT16:
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return ((List<Short>) data).get(index).intValue();
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case INT32:
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{
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List<Integer> l = (List<Integer>) data;
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return l.get(index);
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}
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return ((List<Integer>) data).get(index).intValue();
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case UINT8:
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return ((List<Short>) data).get(index).intValue();
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case UINT16:
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return ((List<Integer>) data).get(index).intValue();
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case UINT32:
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{
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// TODO: Correctly deal with unsigned values
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List<Integer> l = (List<Integer>) data;
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return l.get(index);
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}
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return ((List<Long>) data).get(index);
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case FLOAT32:
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{
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List<Float> l = (List<Float>) data;
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return l.get(index);
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}
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return ((List<Float>) data).get(index);
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case ENUM:
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{
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List<Byte> l = (List<Byte>) data;
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@ -290,10 +286,11 @@ public class UAVObjectField {
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}
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public void setValue(Object data) { setValue(data,0); }
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public void setValue(Object data, int index) {
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@SuppressWarnings("unchecked")
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public void setValue(Object data, int index) {
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// QMutexLocker locker(obj->getMutex());
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// Check that index is not out of bounds
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if ( index >= numElements );
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//if ( index >= numElements );
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//throw new Exception("Index out of bounds");
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// Get metadata
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@ -304,25 +301,45 @@ public class UAVObjectField {
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switch (type)
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{
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case INT8:
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{
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List<Byte> l = (List<Byte>) this.data;
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l.set(index, bound(data).byteValue());
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break;
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}
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case INT16:
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{
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List<Short> l = (List<Short>) this.data;
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l.set(index, bound(data).shortValue());
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break;
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}
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case INT32:
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{
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List<Integer> l = (List<Integer>) this.data;
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l.set(index,((Number) data).intValue());
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l.set(index, bound(data).intValue());
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break;
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}
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case UINT8:
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{
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List<Short> l = (List<Short>) this.data;
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l.set(index, bound(data).shortValue());
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break;
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}
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case UINT16:
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case UINT32:
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{
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List<Integer> l = (List<Integer>) this.data;
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l.set(index,((Number) data).intValue());
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l.set(index, bound(data).intValue());
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break;
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}
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case UINT32:
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{
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List<Long> l = (List<Long>) this.data;
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l.set(index, bound(data));
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break;
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}
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case FLOAT32:
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{
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List<Float> l = (List<Float>) this.data;
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l.set(index, (Float) data);
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l.set(index, ((Number) data).floatValue());
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break;
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}
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case ENUM:
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@ -431,37 +448,46 @@ public class UAVObjectField {
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}
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public void clear() {
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@SuppressWarnings("unchecked")
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public void clear() {
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switch (type)
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{
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case INT8:
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((ArrayList<Byte>) data).clear();
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for(int index = 0; index < numElements; ++index) {
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((ArrayList<Byte>) data).add((byte) 0);
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}
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break;
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case INT16:
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((ArrayList<Short>) data).clear();
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for(int index = 0; index < numElements; ++index) {
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((ArrayList<Short>) data).add((short) 0);
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}
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break;
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case INT32:
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case UINT8:
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case UINT16:
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case UINT32:
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((ArrayList<Integer>) data).clear();
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for(int index = 0; index < numElements; ++index) {
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((ArrayList<Integer>) data).add(0);
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}
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break;
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case FLOAT32:
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((ArrayList<Float>) data).clear();
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case UINT8:
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((ArrayList<Short>) data).clear();
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for(int index = 0; index < numElements; ++index) {
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((ArrayList<Float>) data).add((float) 0);
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((ArrayList<Short>) data).add((short) 0);
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}
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break;
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case ENUM:
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((ArrayList<Byte>) data).clear();
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case UINT16:
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((ArrayList<Integer>) data).clear();
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for(int index = 0; index < numElements; ++index) {
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((ArrayList<Byte>) data).add((byte)0);
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((ArrayList<Integer>) data).add(0);
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}
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break;
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case STRING:
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// TODO: Add string
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case UINT32:
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((ArrayList<Long>) data).clear();
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for(int index = 0; index < numElements; ++index) {
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((ArrayList<Long>) data).add((long) 0);
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}
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break;
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default:
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numBytesPerElement = 0;
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}
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}
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@ -481,11 +507,11 @@ public class UAVObjectField {
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switch (type)
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{
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case INT8:
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data = (Object) new ArrayList<Integer>(this.numElements);
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data = (Object) new ArrayList<Byte>(this.numElements);
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numBytesPerElement = 1;
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break;
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case INT16:
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data = (Object) new ArrayList<Integer>(this.numElements);
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data = (Object) new ArrayList<Short>(this.numElements);
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numBytesPerElement = 2;
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break;
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case INT32:
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@ -493,7 +519,7 @@ public class UAVObjectField {
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numBytesPerElement = 4;
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break;
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case UINT8:
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data = (Object) new ArrayList<Integer>(this.numElements);
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data = (Object) new ArrayList<Short>(this.numElements);
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numBytesPerElement = 1;
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break;
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case UINT16:
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@ -501,11 +527,11 @@ public class UAVObjectField {
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numBytesPerElement = 2;
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break;
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case UINT32:
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data = (Object) new ArrayList<Integer>(this.numElements);
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data = (Object) new ArrayList<Long>(this.numElements);
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numBytesPerElement = 4;
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break;
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case FLOAT32:
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data = (Object) new ArrayList<Double>(this.numElements);
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data = (Object) new ArrayList<Float>(this.numElements);
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numBytesPerElement = 4;
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break;
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case ENUM:
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@ -520,8 +546,69 @@ public class UAVObjectField {
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numBytesPerElement = 0;
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}
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clear();
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System.out.println(this);
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}
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/**
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* For numerical types bounds the data appropriately
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* @param val Can be any object, for numerical tries to cast to Number
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* @return long value with the right range (for float rounds)
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* @note This is mostly needed because java has no unsigned integer
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*/
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protected Long bound (Object val) {
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switch(type) {
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case ENUM:
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case STRING:
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return 0L;
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case FLOAT32:
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return ((Number) val).longValue();
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}
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long num = ((Number) val).longValue();
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switch(type) {
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case INT8:
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if(num < Byte.MIN_VALUE)
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return (long) Byte.MAX_VALUE;
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if(num > Byte.MAX_VALUE)
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return (long) Byte.MAX_VALUE;
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return num;
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case INT16:
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if(num < Short.MIN_VALUE)
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return (long) Short.MIN_VALUE;
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if(num > Short.MAX_VALUE)
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return (long) Short.MAX_VALUE;
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return num;
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case INT32:
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if(num < Integer.MIN_VALUE)
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return (long) Integer.MIN_VALUE;
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if(num > Integer.MAX_VALUE)
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return (long) Integer.MAX_VALUE;
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return num;
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case UINT8:
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if(num < 0)
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return (long) 0;
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if(num > 255)
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return (long) 255;
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return num;
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case UINT16:
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if(num < 0)
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return (long) 0;
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if(num > 65535)
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return (long) 65535;
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return num;
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case UINT32:
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if(num < 0)
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return (long) 0;
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if(num > 4294967295L)
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return 4294967295L;
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return num;
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}
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return num;
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}
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private String name;
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private String units;
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@ -29,8 +29,8 @@
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using namespace std;
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bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
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fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
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"quint8" << "quint16" << "quint32" << "float" << "quint8";
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fieldTypeStrCPP << "Byte" << "Short" << "Int" <<
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"Short" << "Int" << "Long" << "Float" << "Byte";
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fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
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<< "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
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