mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +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 {
|
||||
* Return a string with the object information (only the header)
|
||||
*/
|
||||
public String toStringBrief() {
|
||||
return getName() + " ( " + getObjID() + " " + getInstID() + " " + getNumBytes() + ")\n";
|
||||
// getName(), getObjID(), getInstID(), getNumBytes(),
|
||||
// isSingleInstance());
|
||||
return getName() + " ( " + Integer.toHexString(getObjID()) + " " + Integer.toHexString(getInstID()) + " " + getNumBytes() + ")\n";
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -27,8 +27,7 @@ public class UAVObjectField {
|
||||
|
||||
public void initialize(UAVObject obj){
|
||||
this.obj = obj;
|
||||
clear();
|
||||
|
||||
//clear();
|
||||
}
|
||||
|
||||
public UAVObject getObject() {
|
||||
@ -161,19 +160,19 @@ public class UAVObjectField {
|
||||
{
|
||||
case INT8:
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
List<Byte> l = (List<Byte>) this.data;
|
||||
for (int index = 0 ; index < numElements; ++index) {
|
||||
Byte val = dataIn.get();
|
||||
l.set(index, val.intValue());
|
||||
Long val = bound(dataIn.get());
|
||||
l.set(index, val.byteValue());
|
||||
}
|
||||
break;
|
||||
}
|
||||
case INT16:
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
List<Short> l = (List<Short>) this.data;
|
||||
for (int index = 0 ; index < numElements; ++index) {
|
||||
Short val = dataIn.getShort();
|
||||
l.set(index, val.intValue());
|
||||
Long val = bound(dataIn.getShort());
|
||||
l.set(index, val.shortValue());
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -181,18 +180,18 @@ public class UAVObjectField {
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
for (int index = 0 ; index < numElements; ++index) {
|
||||
Integer val = dataIn.getInt();
|
||||
Long val = bound(dataIn.getInt());
|
||||
l.set(index, val.intValue());
|
||||
}
|
||||
break;
|
||||
}
|
||||
case UINT8:
|
||||
// TOOD: Deal with unsigned
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
List<Short> l = (List<Short>) this.data;
|
||||
for (int index = 0 ; index < numElements; ++index) {
|
||||
Byte val = dataIn.get();
|
||||
l.set(index, val.intValue());
|
||||
int signedval = (int) dataIn.get(); // this sign extends it
|
||||
int unsignedval = signedval & 0xff; // drop sign extension
|
||||
l.set(index, (short) unsignedval);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -200,17 +199,19 @@ public class UAVObjectField {
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
for (int index = 0 ; index < numElements; ++index) {
|
||||
Short val = dataIn.getShort();
|
||||
l.set(index, val.intValue());
|
||||
int signedval = (int) dataIn.getShort(); // this sign extends it
|
||||
int unsignedval = signedval & 0xffff; // drop sign extension
|
||||
l.set(index, unsignedval);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case UINT32:
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
List<Long> l = (List<Long>) this.data;
|
||||
for (int index = 0 ; index < numElements; ++index) {
|
||||
Integer val = dataIn.getInt();
|
||||
l.set(index, val.intValue());
|
||||
long signedval = (long) dataIn.getInt(); // this sign extends it
|
||||
long unsignedval = signedval & 0xffffffffL; // drop sign extension
|
||||
l.set(index, unsignedval);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -240,36 +241,31 @@ public class UAVObjectField {
|
||||
}
|
||||
|
||||
Object getValue() { return getValue(0); };
|
||||
Object getValue(int index) {
|
||||
@SuppressWarnings("unchecked")
|
||||
Object getValue(int index) {
|
||||
// QMutexLocker locker(obj->getMutex());
|
||||
// Check that index is not out of bounds
|
||||
if ( index >= numElements )
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
|
||||
switch (type)
|
||||
{
|
||||
case INT8:
|
||||
return ((List<Byte>) data).get(index).intValue();
|
||||
case INT16:
|
||||
return ((List<Short>) data).get(index).intValue();
|
||||
case INT32:
|
||||
{
|
||||
List<Integer> l = (List<Integer>) data;
|
||||
return l.get(index);
|
||||
}
|
||||
return ((List<Integer>) data).get(index).intValue();
|
||||
case UINT8:
|
||||
return ((List<Short>) data).get(index).intValue();
|
||||
case UINT16:
|
||||
return ((List<Integer>) data).get(index).intValue();
|
||||
case UINT32:
|
||||
{
|
||||
// TODO: Correctly deal with unsigned values
|
||||
List<Integer> l = (List<Integer>) data;
|
||||
return l.get(index);
|
||||
}
|
||||
return ((List<Long>) data).get(index);
|
||||
case FLOAT32:
|
||||
{
|
||||
List<Float> l = (List<Float>) data;
|
||||
return l.get(index);
|
||||
}
|
||||
return ((List<Float>) data).get(index);
|
||||
case ENUM:
|
||||
{
|
||||
List<Byte> l = (List<Byte>) data;
|
||||
@ -290,10 +286,11 @@ public class UAVObjectField {
|
||||
}
|
||||
|
||||
public void setValue(Object data) { setValue(data,0); }
|
||||
public void setValue(Object data, int index) {
|
||||
@SuppressWarnings("unchecked")
|
||||
public void setValue(Object data, int index) {
|
||||
// QMutexLocker locker(obj->getMutex());
|
||||
// Check that index is not out of bounds
|
||||
if ( index >= numElements );
|
||||
//if ( index >= numElements );
|
||||
//throw new Exception("Index out of bounds");
|
||||
|
||||
// Get metadata
|
||||
@ -304,25 +301,45 @@ public class UAVObjectField {
|
||||
switch (type)
|
||||
{
|
||||
case INT8:
|
||||
{
|
||||
List<Byte> l = (List<Byte>) this.data;
|
||||
l.set(index, bound(data).byteValue());
|
||||
break;
|
||||
}
|
||||
case INT16:
|
||||
{
|
||||
List<Short> l = (List<Short>) this.data;
|
||||
l.set(index, bound(data).shortValue());
|
||||
break;
|
||||
}
|
||||
case INT32:
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
l.set(index,((Number) data).intValue());
|
||||
l.set(index, bound(data).intValue());
|
||||
break;
|
||||
}
|
||||
case UINT8:
|
||||
{
|
||||
List<Short> l = (List<Short>) this.data;
|
||||
l.set(index, bound(data).shortValue());
|
||||
break;
|
||||
}
|
||||
case UINT16:
|
||||
case UINT32:
|
||||
{
|
||||
List<Integer> l = (List<Integer>) this.data;
|
||||
l.set(index,((Number) data).intValue());
|
||||
l.set(index, bound(data).intValue());
|
||||
break;
|
||||
}
|
||||
case UINT32:
|
||||
{
|
||||
List<Long> l = (List<Long>) this.data;
|
||||
l.set(index, bound(data));
|
||||
break;
|
||||
}
|
||||
case FLOAT32:
|
||||
{
|
||||
List<Float> l = (List<Float>) this.data;
|
||||
l.set(index, (Float) data);
|
||||
l.set(index, ((Number) data).floatValue());
|
||||
break;
|
||||
}
|
||||
case ENUM:
|
||||
@ -431,37 +448,46 @@ public class UAVObjectField {
|
||||
|
||||
}
|
||||
|
||||
public void clear() {
|
||||
@SuppressWarnings("unchecked")
|
||||
public void clear() {
|
||||
switch (type)
|
||||
{
|
||||
case INT8:
|
||||
((ArrayList<Byte>) data).clear();
|
||||
for(int index = 0; index < numElements; ++index) {
|
||||
((ArrayList<Byte>) data).add((byte) 0);
|
||||
}
|
||||
break;
|
||||
case INT16:
|
||||
((ArrayList<Short>) data).clear();
|
||||
for(int index = 0; index < numElements; ++index) {
|
||||
((ArrayList<Short>) data).add((short) 0);
|
||||
}
|
||||
break;
|
||||
case INT32:
|
||||
case UINT8:
|
||||
case UINT16:
|
||||
case UINT32:
|
||||
((ArrayList<Integer>) data).clear();
|
||||
for(int index = 0; index < numElements; ++index) {
|
||||
((ArrayList<Integer>) data).add(0);
|
||||
}
|
||||
break;
|
||||
case FLOAT32:
|
||||
((ArrayList<Float>) data).clear();
|
||||
case UINT8:
|
||||
((ArrayList<Short>) data).clear();
|
||||
for(int index = 0; index < numElements; ++index) {
|
||||
((ArrayList<Float>) data).add((float) 0);
|
||||
((ArrayList<Short>) data).add((short) 0);
|
||||
}
|
||||
break;
|
||||
case ENUM:
|
||||
((ArrayList<Byte>) data).clear();
|
||||
case UINT16:
|
||||
((ArrayList<Integer>) data).clear();
|
||||
for(int index = 0; index < numElements; ++index) {
|
||||
((ArrayList<Byte>) data).add((byte)0);
|
||||
((ArrayList<Integer>) data).add(0);
|
||||
}
|
||||
break;
|
||||
case STRING:
|
||||
// TODO: Add string
|
||||
case UINT32:
|
||||
((ArrayList<Long>) data).clear();
|
||||
for(int index = 0; index < numElements; ++index) {
|
||||
((ArrayList<Long>) data).add((long) 0);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
numBytesPerElement = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@ -481,11 +507,11 @@ public class UAVObjectField {
|
||||
switch (type)
|
||||
{
|
||||
case INT8:
|
||||
data = (Object) new ArrayList<Integer>(this.numElements);
|
||||
data = (Object) new ArrayList<Byte>(this.numElements);
|
||||
numBytesPerElement = 1;
|
||||
break;
|
||||
case INT16:
|
||||
data = (Object) new ArrayList<Integer>(this.numElements);
|
||||
data = (Object) new ArrayList<Short>(this.numElements);
|
||||
numBytesPerElement = 2;
|
||||
break;
|
||||
case INT32:
|
||||
@ -493,7 +519,7 @@ public class UAVObjectField {
|
||||
numBytesPerElement = 4;
|
||||
break;
|
||||
case UINT8:
|
||||
data = (Object) new ArrayList<Integer>(this.numElements);
|
||||
data = (Object) new ArrayList<Short>(this.numElements);
|
||||
numBytesPerElement = 1;
|
||||
break;
|
||||
case UINT16:
|
||||
@ -501,11 +527,11 @@ public class UAVObjectField {
|
||||
numBytesPerElement = 2;
|
||||
break;
|
||||
case UINT32:
|
||||
data = (Object) new ArrayList<Integer>(this.numElements);
|
||||
data = (Object) new ArrayList<Long>(this.numElements);
|
||||
numBytesPerElement = 4;
|
||||
break;
|
||||
case FLOAT32:
|
||||
data = (Object) new ArrayList<Double>(this.numElements);
|
||||
data = (Object) new ArrayList<Float>(this.numElements);
|
||||
numBytesPerElement = 4;
|
||||
break;
|
||||
case ENUM:
|
||||
@ -520,8 +546,69 @@ public class UAVObjectField {
|
||||
numBytesPerElement = 0;
|
||||
}
|
||||
clear();
|
||||
|
||||
System.out.println(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* For numerical types bounds the data appropriately
|
||||
* @param val Can be any object, for numerical tries to cast to Number
|
||||
* @return long value with the right range (for float rounds)
|
||||
* @note This is mostly needed because java has no unsigned integer
|
||||
*/
|
||||
protected Long bound (Object val) {
|
||||
|
||||
switch(type) {
|
||||
case ENUM:
|
||||
case STRING:
|
||||
return 0L;
|
||||
case FLOAT32:
|
||||
return ((Number) val).longValue();
|
||||
}
|
||||
|
||||
long num = ((Number) val).longValue();
|
||||
|
||||
switch(type) {
|
||||
case INT8:
|
||||
if(num < Byte.MIN_VALUE)
|
||||
return (long) Byte.MAX_VALUE;
|
||||
if(num > Byte.MAX_VALUE)
|
||||
return (long) Byte.MAX_VALUE;
|
||||
return num;
|
||||
case INT16:
|
||||
if(num < Short.MIN_VALUE)
|
||||
return (long) Short.MIN_VALUE;
|
||||
if(num > Short.MAX_VALUE)
|
||||
return (long) Short.MAX_VALUE;
|
||||
return num;
|
||||
case INT32:
|
||||
if(num < Integer.MIN_VALUE)
|
||||
return (long) Integer.MIN_VALUE;
|
||||
if(num > Integer.MAX_VALUE)
|
||||
return (long) Integer.MAX_VALUE;
|
||||
return num;
|
||||
case UINT8:
|
||||
if(num < 0)
|
||||
return (long) 0;
|
||||
if(num > 255)
|
||||
return (long) 255;
|
||||
return num;
|
||||
case UINT16:
|
||||
if(num < 0)
|
||||
return (long) 0;
|
||||
if(num > 65535)
|
||||
return (long) 65535;
|
||||
return num;
|
||||
case UINT32:
|
||||
if(num < 0)
|
||||
return (long) 0;
|
||||
if(num > 4294967295L)
|
||||
return 4294967295L;
|
||||
return num;
|
||||
}
|
||||
|
||||
return num;
|
||||
}
|
||||
|
||||
private String name;
|
||||
private String units;
|
||||
|
||||
@ -29,8 +29,8 @@
|
||||
using namespace std;
|
||||
|
||||
bool UAVObjectGeneratorJava::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
|
||||
fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
|
||||
"quint8" << "quint16" << "quint32" << "float" << "quint8";
|
||||
fieldTypeStrCPP << "Byte" << "Short" << "Int" <<
|
||||
"Short" << "Int" << "Long" << "Float" << "Byte";
|
||||
|
||||
fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
|
||||
<< "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
|
||||
|
||||
Loading…
Reference in New Issue
Block a user