OP-48 GCS/UAVObjects Update object generator to support the new access mode metadata fields. XML object definitions also updated, see r643 for more details.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@644 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/libs/uavobjgenerator/uavobjectparser.cpp

@@ -58,6 +58,10 @@ UAVObjectParser::UAVObjectParser()
 
     updateModeStrXML << QString("periodic") << QString("onchange") <<
                         QString("manual") << QString("never");
+
+    accessModeStr << QString("ACCESS_READWRITE") << QString("ACCESS_READONLY");
+
+    accessModeStrXML << QString("readwrite") << QString("readonly");
 }
 
 /**
@@ -138,6 +142,11 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
 
         // Process child elements (fields and metadata)
         QDomNode childNode = node.firstChild();
+        bool fieldFound = false;
+        bool accessFound = false;
+        bool telGCSFound = false;
+        bool telFlightFound = false;
+        bool logFound = false;
         while ( !childNode.isNull() )
         {
             // Process element depending on its type
@@ -148,6 +157,16 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
                 {
                     return status;
                 }
+                fieldFound = true;
+            }
+            else if ( childNode.nodeName().compare(QString("access")) == 0 )
+            {
+                QString status = processObjectAccess(childNode, info);
+                if (!status.isNull())
+                {
+                    return status;
+                }
+                accessFound = true;
             }
             else if ( childNode.nodeName().compare(QString("telemetrygcs")) == 0 )
             {
@@ -157,6 +176,7 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
                 {
                     return status;
                 }
+                telGCSFound = true;
             }
             else if ( childNode.nodeName().compare(QString("telemetryflight")) == 0 )
             {
@@ -166,6 +186,7 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
                 {
                     return status;
                 }
+                telFlightFound = true;
             }
             else if ( childNode.nodeName().compare(QString("logging")) == 0 )
             {
@@ -175,6 +196,7 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
                 {
                     return status;
                 }
+                logFound = true;
             }
             else
             {
@@ -184,6 +206,24 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
             childNode = childNode.nextSibling();
         }
 
+        // Make sure that required elements were found
+        if ( !accessFound )
+        {
+            return QString("Object::access element is missing");
+        }
+        else if ( !telGCSFound )
+        {
+            return QString("Object::telemetrygcs element is missing");
+        }
+        else if ( !telFlightFound )
+        {
+            return QString("Object::telemetryflight element is missing");
+        }
+        else if ( !logFound )
+        {
+            return QString("Object::logging element is missing");
+        }
+
         // Calculate ID
         calculateID(info);
 
@@ -308,6 +348,52 @@ QString UAVObjectParser::processObjectMetadata(QDomNode& childNode, UpdateMode*
     return QString();
 }
 
+/**
+ * Process the object access tag of the XML
+ */
+QString UAVObjectParser::processObjectAccess(QDomNode& childNode, ObjectInfo* info)
+{
+    // Get gcs attribute
+    QDomNamedNodeMap elemAttributes = childNode.attributes();
+    QDomNode elemAttr = elemAttributes.namedItem("gcs");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:access:gcs attribute is missing");
+    }
+    else
+    {   
+        int index = accessModeStrXML.indexOf( elemAttr.nodeValue() );
+        if (index >= 0)
+        {
+            info->gcsAccess = (AccessMode)index;
+        }
+        else
+        {
+            return QString("Object:access:gcs attribute value is invalid");
+        }
+    }
+    // Get flight attribute
+    elemAttr = elemAttributes.namedItem("flight");
+    if ( elemAttr.isNull() )
+    {
+        return QString("Object:access:flight attribute is missing");
+    }
+    else
+    {
+        int index = accessModeStrXML.indexOf( elemAttr.nodeValue() );
+        if (index >= 0)
+        {
+            info->flightAccess = (AccessMode)index;
+        }
+        else
+        {
+            return QString("Object:access:flight attribute value is invalid");
+        }
+    }
+    // Done
+    return QString();
+}
+
 /**
  * Process the object fields of the XML
  */
@@ -517,6 +603,12 @@ void UAVObjectParser::replaceCommonTags(QString& out, ObjectInfo* info)
     // Replace $(ISSETTINGS) tag
     value = boolToString( info->isSettings );
     out.replace(QString("$(ISSETTINGS)"), value);  
+    // Replace $(GCSACCESS) tag
+    value = accessModeStr[info->gcsAccess];
+    out.replace(QString("$(GCSACCESS)"), value);
+    // Replace $(FLIGHTACCESS) tag
+    value = accessModeStr[info->flightAccess];
+    out.replace(QString("$(FLIGHTACCESS)"), value);
     // Replace $(FLIGHTTELEM_ACKED) tag
     value = boolToString( info->flightTelemetryAcked );
     out.replace(QString("$(FLIGHTTELEM_ACKED)"), value);

ground/src/libs/uavobjgenerator/uavobjectparser.h

@@ -59,6 +59,11 @@ public:
             UPDATEMODE_NEVER /** Object is never updated */
     } UpdateMode;
 
+    typedef enum {
+            ACCESS_READWRITE = 0,
+            ACCESS_READONLY = 1
+    } AccessMode;
+
     typedef struct {
         QString name;
         QString units;
@@ -75,6 +80,8 @@ public:
         quint32 id;
         bool isSingleInst;
         bool isSettings;
+        AccessMode gcsAccess;
+        AccessMode flightAccess;
         bool flightTelemetryAcked;
         UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
         int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
@@ -109,9 +116,12 @@ private:
     QStringList fieldTypeStrXML;
     QStringList updateModeStr;
     QStringList updateModeStrXML;
+    QStringList accessModeStr;
+    QStringList accessModeStrXML;
 
     QString processObjectAttributes(QDomNode& node, ObjectInfo* info);
     QString processObjectFields(QDomNode& childNode, ObjectInfo* info);
+    QString processObjectAccess(QDomNode& childNode, ObjectInfo* info);
     QString processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked);
     void calculateID(ObjectInfo* info);
     quint32 updateHash(quint32 value, quint32 hash);

ground/src/plugins/uavobjects/actuatorcommand.cpp

@@ -63,6 +63,8 @@ ActuatorCommand::ActuatorCommand(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
 UAVObject::Metadata ActuatorCommand::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -99,9 +101,15 @@ ActuatorCommand::DataFields ActuatorCommand::getData()
 void ActuatorCommand::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/actuatordesired.cpp

@@ -65,6 +65,8 @@ ActuatorDesired::ActuatorDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
 UAVObject::Metadata ActuatorDesired::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -101,9 +103,15 @@ ActuatorDesired::DataFields ActuatorDesired::getData()
 void ActuatorDesired::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/actuatorsettings.cpp

@@ -269,6 +269,8 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
 UAVObject::Metadata ActuatorSettings::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -345,9 +347,15 @@ ActuatorSettings::DataFields ActuatorSettings::getData()
 void ActuatorSettings::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/attitudedesired.cpp

@@ -65,6 +65,8 @@ AttitudeDesired::AttitudeDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
 UAVObject::Metadata AttitudeDesired::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -101,9 +103,15 @@ AttitudeDesired::DataFields AttitudeDesired::getData()
 void AttitudeDesired::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/exampleobject1.cpp

@@ -83,6 +83,8 @@ ExampleObject1::ExampleObject1(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
 UAVObject::Metadata ExampleObject1::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
     metadata.gcsTelemetryUpdatePeriod = 200;
@@ -119,9 +121,15 @@ ExampleObject1::DataFields ExampleObject1::getData()
 void ExampleObject1::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/exampleobject2.cpp

@@ -68,6 +68,8 @@ ExampleObject2::ExampleObject2(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
 UAVObject::Metadata ExampleObject2::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -104,9 +106,15 @@ ExampleObject2::DataFields ExampleObject2::getData()
 void ExampleObject2::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/examplesettings.cpp

@@ -65,6 +65,8 @@ ExampleSettings::ExampleSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
 UAVObject::Metadata ExampleSettings::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -104,9 +106,15 @@ ExampleSettings::DataFields ExampleSettings::getData()
 void ExampleSettings::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/flighttelemetrystats.cpp

@@ -76,6 +76,8 @@ FlightTelemetryStats::FlightTelemetryStats(): UAVDataObject(OBJID, ISSINGLEINST,
 UAVObject::Metadata FlightTelemetryStats::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -112,9 +114,15 @@ FlightTelemetryStats::DataFields FlightTelemetryStats::getData()
 void FlightTelemetryStats::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/gcstelemetrystats.cpp

@@ -76,6 +76,8 @@ GCSTelemetryStats::GCSTelemetryStats(): UAVDataObject(OBJID, ISSINGLEINST, ISSET
 UAVObject::Metadata GCSTelemetryStats::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
     metadata.gcsTelemetryUpdatePeriod = 5000;
@@ -112,9 +114,15 @@ GCSTelemetryStats::DataFields GCSTelemetryStats::getData()
 void GCSTelemetryStats::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/gpsobject.cpp

@@ -68,6 +68,8 @@ GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
 UAVObject::Metadata GpsObject::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -104,9 +106,15 @@ GpsObject::DataFields GpsObject::getData()
 void GpsObject::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/manualcontrolcommand.cpp

@@ -88,6 +88,8 @@ ManualControlCommand::ManualControlCommand(): UAVDataObject(OBJID, ISSINGLEINST,
 UAVObject::Metadata ManualControlCommand::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -124,9 +126,15 @@ ManualControlCommand::DataFields ManualControlCommand::getData()
 void ManualControlCommand::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/manualcontrolsettings.cpp

@@ -155,6 +155,8 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
 UAVObject::Metadata ManualControlSettings::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -221,9 +223,15 @@ ManualControlSettings::DataFields ManualControlSettings::getData()
 void ManualControlSettings::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/objectpersistence.cpp

@@ -74,6 +74,8 @@ ObjectPersistence::ObjectPersistence(): UAVDataObject(OBJID, ISSINGLEINST, ISSET
 UAVObject::Metadata ObjectPersistence::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -110,9 +112,15 @@ ObjectPersistence::DataFields ObjectPersistence::getData()
 void ObjectPersistence::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/stabilizationsettings.cpp

@@ -62,6 +62,8 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS
 UAVObject::Metadata StabilizationSettings::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -101,9 +103,15 @@ StabilizationSettings::DataFields StabilizationSettings::getData()
 void StabilizationSettings::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/systemalarms.cpp

@@ -68,6 +68,8 @@ SystemAlarms::SystemAlarms(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
 UAVObject::Metadata SystemAlarms::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -104,9 +106,15 @@ SystemAlarms::DataFields SystemAlarms::getData()
 void SystemAlarms::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/systemsettings.cpp

@@ -60,6 +60,8 @@ SystemSettings::SystemSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
 UAVObject::Metadata SystemSettings::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -97,9 +99,15 @@ SystemSettings::DataFields SystemSettings::getData()
 void SystemSettings::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/systemstats.cpp

@@ -62,6 +62,8 @@ SystemStats::SystemStats(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
 UAVObject::Metadata SystemStats::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -98,9 +100,15 @@ SystemStats::DataFields SystemStats::getData()
 void SystemStats::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/telemetrysettings.cpp

@@ -60,6 +60,8 @@ TelemetrySettings::TelemetrySettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSET
 UAVObject::Metadata TelemetrySettings::getDefaultMetadata()
 {
     UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
     metadata.gcsTelemetryAcked = 1;
     metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
     metadata.gcsTelemetryUpdatePeriod = 0;
@@ -97,9 +99,15 @@ TelemetrySettings::DataFields TelemetrySettings::getData()
 void TelemetrySettings::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/plugins/uavobjects/uavmetaobject.cpp

@@ -36,6 +36,8 @@ 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;
@@ -49,7 +51,11 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
     boolEnum << tr("False") << tr("True");
     QStringList updateModeEnum;
     updateModeEnum << tr("Periodic") << tr("On Change") << tr("Manual") << tr("Never");
+    QStringList accessModeEnum;
+    accessModeEnum << tr("Read/Write") << tr("Read Only");
     QList<UAVObjectField*> fields;    
+    fields.append( new UAVObjectField(tr("Flight Access Mode"), tr(""), UAVObjectField::ENUM, 1, accessModeEnum) );
+    fields.append( new UAVObjectField(tr("GCS Access Mode"), tr(""), UAVObjectField::ENUM, 1, accessModeEnum) );
     fields.append( new UAVObjectField(tr("Flight Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
     fields.append( new UAVObjectField(tr("Flight Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
     fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );

ground/src/plugins/uavobjects/uavobject.h

@@ -56,11 +56,21 @@ public:
             UPDATEMODE_NEVER = 3 /** Object is never updated */
     } UpdateMode;
 
+    /**
+     * Access mode
+     */
+    typedef enum {
+            ACCESS_READWRITE = 0,
+            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) */

ground/src/plugins/uavobjects/uavobjectfield.cpp

@@ -467,7 +467,11 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
     {
         return;
     } 
-    // Set value
+    // Get metadata
+    UAVObject::Metadata mdata = obj->getMetadata();
+    // Update value if the access mode permits
+    if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
+    {
         switch (type)
         {
             case INT8:
@@ -531,6 +535,7 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
                 break;
             }
         }
+    }
 }
 
 double UAVObjectField::getDouble(quint32 index)

ground/src/plugins/uavobjects/uavobjecttemplate.cpp

@@ -53,6 +53,8 @@ $(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);
@@ -89,9 +91,15 @@ $(NAME)::DataFields $(NAME)::getData()
 void $(NAME)::setData(const DataFields& data)
 {
     QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
         this->data = data;
         emit objectUpdatedAuto(this); // trigger object updated event
         emit objectUpdated(this);
+    }
 }
 
 /**

ground/src/shared/uavobjectdefinition/actuatorcommand.xml

@@ -1,6 +1,7 @@
 <xml>
         <object name="ActuatorCommand" singleinstance="true" settings="false">
             <field name="Channel" units="us" type="int16" elements="8"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="1000"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/actuatordesired.xml

@@ -4,6 +4,7 @@
             <field name="Pitch" units="%" type="float" elements="1"/>
             <field name="Yaw" units="%" type="float" elements="1"/>
             <field name="Throttle" units="%" type="float" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="1000"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/actuatorsettings.xml

@@ -18,6 +18,7 @@
             <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
             <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
             <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/attitudedesired.xml

@@ -4,6 +4,7 @@
             <field name="Pitch" units="degrees" type="float" elements="1"/>
             <field name="Yaw" units="degrees" type="float" elements="1"/>
             <field name="Throttle" units="%" type="float" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="1000"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/exampleobject1.xml

@@ -8,6 +8,7 @@
             <field name="Field6" units="unit6" type="uint16" elements="1"/>
             <field name="Field7" units="unit7" type="uint32" elements="1"/>
             <field name="Field8" units="unit8" type="enum" elements="1" options="Option1, Option2"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="periodic" period="200"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/exampleobject2.xml

@@ -4,6 +4,7 @@
             <field name="Field2" units="unit2" type="int16" elements="1"/>
             <field name="Field3" units="unit3" type="int32" elements="1"/>
             <field name="Field4" units="unit4" type="float" elements="4"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="100"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/examplesettings.xml

@@ -3,6 +3,7 @@
             <field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="10"/>
             <field name="StepSize" units="" type="int32" elements="1" defaultvalue="1"/>
             <field name="StepDirection" units="" type="enum" elements="1" options="up,down" defaultvalue="up"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/flighttelemetrystats.xml

@@ -6,6 +6,7 @@
             <field name="TxFailures" units="count" type="uint32" elements="1"/>
             <field name="RxFailures" units="count" type="uint32" elements="1"/>
             <field name="TxRetries" units="count" type="uint32" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="5000"/>
             <logging updatemode="periodic" period="5000"/>

ground/src/shared/uavobjectdefinition/gcstelemetrystats.xml

@@ -6,6 +6,7 @@
             <field name="TxFailures" units="count" type="uint32" elements="1"/>
             <field name="RxFailures" units="count" type="uint32" elements="1"/>
             <field name="TxRetries" units="count" type="uint32" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="periodic" period="5000"/>
             <telemetryflight acked="true" updatemode="manual" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/gpsobject.xml

@@ -5,6 +5,7 @@
             <field name="Altitude" units="meters" type="float" elements="1"/>
             <field name="Satellites" units="" type="int8" elements="1"/>
             <field name="Updates" units="" type="uint16" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="1000"/>
             <logging updatemode="periodic" period="1000"/>

ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml

@@ -7,6 +7,7 @@
             <field name="Throttle" units="%" type="float" elements="1"/>
             <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/>
             <field name="Channel" units="us" type="int16" elements="8"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="3000"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -9,6 +9,7 @@
             <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
             <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
             <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/objectpersistence.xml

@@ -4,6 +4,7 @@
             <field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
             <field name="ObjectID" units="" type="uint32" elements="1"/>
             <field name="InstanceID" units="" type="uint32" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="manual" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/stabilizationsettings.xml

@@ -3,6 +3,7 @@
             <field name="RollMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
             <field name="PitchMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
             <field name="ThrottleMax" units="%" type="float" elements="1" defaultvalue="100.0"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/systemalarms.xml

@@ -2,6 +2,7 @@
         <object name="SystemAlarms" singleinstance="true" settings="false">
             <field name="Alarm" units="" type="enum" options="OK,Warning,Error,Critical"
                 elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="4000"/>
             <logging updatemode="periodic" period="1000"/>

ground/src/shared/uavobjectdefinition/systemsettings.xml

@@ -1,6 +1,7 @@
 <xml>
         <object name="SystemSettings" singleinstance="true" settings="true">
             <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,VTOL" defaultvalue="FixedWing"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>

ground/src/shared/uavobjectdefinition/systemstats.xml

@@ -3,6 +3,7 @@
             <field name="FlightTime" units="ms" type="uint32" elements="1"/>
             <field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
             <field name="CPULoad" units="%" type="uint8" elements="1"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="manual" period="0"/>
             <telemetryflight acked="true" updatemode="periodic" period="1000"/>
             <logging updatemode="periodic" period="1000"/>

ground/src/shared/uavobjectdefinition/telemetrysettings.xml

@@ -1,6 +1,7 @@
 <xml>
         <object name="TelemetrySettings" singleinstance="true" settings="true">
             <field name="Speed" units="" type="enum" elements="1" options="9600,38400,57600" defaultvalue="57600"/>
+            <access gcs="readwrite" flight="readwrite"/>
             <telemetrygcs acked="true" updatemode="onchange" period="0"/>
             <telemetryflight acked="true" updatemode="onchange" period="0"/>
             <logging updatemode="never" period="0"/>