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Code Issues Releases Activity

GCS/UAVObjectGenerator Added support for named arrays (i.e. each array element can have a name - needed for alarms), updated object browser to display names instead of just array index.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@532 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-21 02:50:51 +00:00 committed by vassilis
parent f999028753
commit 8622b7323d
39 changed files with 325 additions and 94 deletions
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100
ground/src/libs/uavobjgenerator/uavobjectparser.cpp
View File

@ -350,15 +350,36 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
return QString("Object:field:type attribute value is invalid"); return QString("Object:field:type attribute value is invalid");
} }
} }
// Get numelements attribute // Get numelements or elementnames attribute
elemAttr = elemAttributes.namedItem("elements"); elemAttr = elemAttributes.namedItem("elementnames");
if ( elemAttr.isNull() ) if ( elemAttr.isNull() )
{ {
return QString("Object:field:elements attribute is missing"); elemAttr = elemAttributes.namedItem("elements");
if ( elemAttr.isNull() )
{
return QString("Object:field:elements attribute is missing");
}
else
{
field->numElements = elemAttr.nodeValue().toInt();
for (int n = 0; n < field->numElements; ++n)
{
field->elementNames.append(QString("[%1]").arg(n));
}
field->defaultElementNames = true;
}
} }
else else
{ {
field->numElements = elemAttr.nodeValue().toInt(); // Get element names
QStringList names = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
for (int n = 0; n < names.length(); ++n)
{
names[n] = names[n].trimmed();
}
field->elementNames = names;
field->numElements = names.length();
field->defaultElementNames = false;
} }
// Get options attribute (only if an enum type) // Get options attribute (only if an enum type)
if (field->type == FIELDTYPE_ENUM) if (field->type == FIELDTYPE_ENUM)
@ -559,6 +580,7 @@ bool UAVObjectParser::generateFlightObject(int objIndex, const QString& template
// Only for enum types // Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) if (info->fields[n]->type == FIELDTYPE_ENUM)
{ {
enums.append(QString("/* Enumeration options for field %1 */\n").arg(info->fields[n]->name));
enums.append("typedef enum { "); enums.append("typedef enum { ");
// Go through each option // Go through each option
QStringList options = info->fields[n]->options; QStringList options = info->fields[n]->options;
@ -571,9 +593,29 @@ bool UAVObjectParser::generateFlightObject(int objIndex, const QString& template
.arg(m) ); .arg(m) );
} }
enums.append( QString(" } %1%2Enum;\n") enums.append( QString(" } %1%2Options;\n")
.arg( info->name.toUpper() ) .arg( info->name )
.arg( info->fields[n]->name.toUpper() ) ); .arg( info->fields[n]->name ) );
}
// Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames)
{
enums.append(QString("/* Array element names for field %1 */\n").arg(info->fields[n]->name));
enums.append("typedef enum { ");
// Go through the element names
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m)
{
enums.append( QString("%1_%2_%3=%4, ")
.arg( info->name.toUpper() )
.arg( info->fields[n]->name.toUpper() )
.arg( elemNames[m].toUpper() )
.arg(m) );
}
enums.append( QString(" } %1%2Elem;\n")
.arg( info->name )
.arg( info->fields[n]->name ) );
} }
} }
outInclude.replace(QString("$(DATAENUM)"), enums); outInclude.replace(QString("$(DATAENUM)"), enums);
@ -624,31 +666,42 @@ bool UAVObjectParser::generateGCSObject(int objIndex, const QString& templateInc
QString finit; QString finit;
for (int n = 0; n < info->fields.length(); ++n) for (int n = 0; n < info->fields.length(); ++n)
{ {
// Setup element names
QString varElemName = info->fields[n]->name + "ElemNames";
finit.append( QString(" QStringList %1;\n").arg(varElemName) );
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m)
{
finit.append( QString(" %1.append(\"%2\");\n")
.arg(varElemName)
.arg(elemNames[m]) );
}
// Only for enum types // Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) if (info->fields[n]->type == FIELDTYPE_ENUM)
{ {
QString optionName = info->fields[n]->name + "EnumOptions"; QString varOptionName = info->fields[n]->name + "EnumOptions";
finit.append( QString(" QStringList %1;\n").arg(optionName) ); finit.append( QString(" QStringList %1;\n").arg(varOptionName) );
QStringList options = info->fields[n]->options; QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) for (int m = 0; m < options.length(); ++m)
{ {
finit.append( QString(" %1.append(\"%2\");\n") finit.append( QString(" %1.append(\"%2\");\n")
.arg(optionName) .arg(varOptionName)
.arg(options[m]) ); .arg(options[m]) );
} }
finit.append( QString(" fields.append(new UAVObjectFieldEnum(QString(\"%1\"), QString(\"%2\"), %3, %4));\n") finit.append( QString(" fields.append(new UAVObjectFieldEnum(QString(\"%1\"), QString(\"%2\"), %3, %4));\n")
.arg(info->fields[n]->name) .arg(info->fields[n]->name)
.arg(info->fields[n]->units) .arg(info->fields[n]->units)
.arg(info->fields[n]->numElements) .arg(varElemName)
.arg(optionName) ); .arg(varOptionName) );
} }
// For all other types
else else
{ {
finit.append( QString(" fields.append(new UAVObjectField%1(QString(\"%2\"), QString(\"%3\"), %4));\n") finit.append( QString(" fields.append(new UAVObjectField%1(QString(\"%2\"), QString(\"%3\"), %4));\n")
.arg(fieldTypeStrCPPClass[info->fields[n]->type]) .arg(fieldTypeStrCPPClass[info->fields[n]->type])
.arg(info->fields[n]->name) .arg(info->fields[n]->name)
.arg(info->fields[n]->units) .arg(info->fields[n]->units)
.arg(info->fields[n]->numElements) ); .arg(varElemName) );
} }
} }
outCode.replace(QString("$(FIELDSINIT)"), finit); outCode.replace(QString("$(FIELDSINIT)"), finit);
@ -661,6 +714,7 @@ bool UAVObjectParser::generateGCSObject(int objIndex, const QString& templateInc
// Only for enum types // Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) if (info->fields[n]->type == FIELDTYPE_ENUM)
{ {
enums.append(QString(" /* Enumeration options for field %1 */\n").arg(info->fields[n]->name));
enums.append(" typedef enum { "); enums.append(" typedef enum { ");
// Go through each option // Go through each option
QStringList options = info->fields[n]->options; QStringList options = info->fields[n]->options;
@ -672,7 +726,25 @@ bool UAVObjectParser::generateGCSObject(int objIndex, const QString& templateInc
.arg(m) ); .arg(m) );
} }
enums.append( QString(" } %1Enum;\n") enums.append( QString(" } %1Options;\n")
.arg( info->fields[n]->name ) );
}
// Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames)
{
enums.append(QString(" /* Array element names for field %1 */\n").arg(info->fields[n]->name));
enums.append(" typedef enum { ");
// Go through the element names
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m)
{
enums.append( QString("%1_%2=%3, ")
.arg( info->fields[n]->name.toUpper() )
.arg( elemNames[m].toUpper() )
.arg(m) );
}
enums.append( QString(" } %1Elem;\n")
.arg( info->fields[n]->name ) ); .arg( info->fields[n]->name ) );
} }
} }

2
ground/src/libs/uavobjgenerator/uavobjectparser.h
View File

@ -64,7 +64,9 @@ public:
QString units; QString units;
FieldType type; FieldType type;
int numElements; int numElements;
QStringList elementNames;
QStringList options; // for enums only QStringList options; // for enums only
bool defaultElementNames;
} FieldInfo; } FieldInfo;
typedef struct { typedef struct {

2
ground/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
View File

@ -121,7 +121,7 @@ void UAVObjectBrowserWidget::readSettings()
updateSettings(SettingsPersistence::OPERATION_LOAD); updateSettings(SettingsPersistence::OPERATION_LOAD);
} }
void UAVObjectBrowserWidget::updateSettings(SettingsPersistence::OperationEnum op) void UAVObjectBrowserWidget::updateSettings(SettingsPersistence::OperationOptions op)
{ {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();

2
ground/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
View File

@ -65,7 +65,7 @@ private:
Ui_UAVObjectBrowser *m_browser; Ui_UAVObjectBrowser *m_browser;
UAVObjectTreeModel *m_model; UAVObjectTreeModel *m_model;
void updateSettings(SettingsPersistence::OperationEnum op); void updateSettings(SettingsPersistence::OperationOptions op);
void enableSendRequest(bool enable); void enableSendRequest(bool enable);
ObjectTreeItem *findCurrentObjectTreeItem(); ObjectTreeItem *findCurrentObjectTreeItem();
}; };

2
ground/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -161,7 +161,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
if (field->getNumElements() == 1) if (field->getNumElements() == 1)
data.append(field->getName()); data.append(field->getName());
else else
data.append(QString("[%1]").arg(index)); data.append((field->getElementNames())[index]);
UAVObjectFieldEnum *enumField = dynamic_cast<UAVObjectFieldEnum*>(field); UAVObjectFieldEnum *enumField = dynamic_cast<UAVObjectFieldEnum*>(field);
UAVObjectFieldInt8 *int8Field = dynamic_cast<UAVObjectFieldInt8*>(field); UAVObjectFieldInt8 *int8Field = dynamic_cast<UAVObjectFieldInt8*>(field);
UAVObjectFieldInt16 *int16Field = dynamic_cast<UAVObjectFieldInt16*>(field); UAVObjectFieldInt16 *int16Field = dynamic_cast<UAVObjectFieldInt16*>(field);

35
ground/src/plugins/uavobjects/exampleobject1.cpp
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@ -37,17 +37,36 @@ ExampleObject1::ExampleObject1(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
fields.append(new UAVObjectFieldInt8(QString("Field1"), QString("unit1"), 1)); QStringList Field1ElemNames;
fields.append(new UAVObjectFieldInt16(QString("Field2"), QString("unit2"), 1)); Field1ElemNames.append("[0]");
fields.append(new UAVObjectFieldInt32(QString("Field3"), QString("unit3"), 1)); fields.append(new UAVObjectFieldInt8(QString("Field1"), QString("unit1"), Field1ElemNames));
fields.append(new UAVObjectFieldFloat(QString("Field4"), QString("unit4"), 4)); QStringList Field2ElemNames;
fields.append(new UAVObjectFieldUInt8(QString("Field5"), QString("unit5"), 1)); Field2ElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt16(QString("Field6"), QString("unit6"), 1)); fields.append(new UAVObjectFieldInt16(QString("Field2"), QString("unit2"), Field2ElemNames));
fields.append(new UAVObjectFieldUInt32(QString("Field7"), QString("unit7"), 1)); QStringList Field3ElemNames;
Field3ElemNames.append("[0]");
fields.append(new UAVObjectFieldInt32(QString("Field3"), QString("unit3"), Field3ElemNames));
QStringList Field4ElemNames;
Field4ElemNames.append("[0]");
Field4ElemNames.append("[1]");
Field4ElemNames.append("[2]");
Field4ElemNames.append("[3]");
fields.append(new UAVObjectFieldFloat(QString("Field4"), QString("unit4"), Field4ElemNames));
QStringList Field5ElemNames;
Field5ElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt8(QString("Field5"), QString("unit5"), Field5ElemNames));
QStringList Field6ElemNames;
Field6ElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt16(QString("Field6"), QString("unit6"), Field6ElemNames));
QStringList Field7ElemNames;
Field7ElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("Field7"), QString("unit7"), Field7ElemNames));
QStringList Field8ElemNames;
Field8ElemNames.append("[0]");
QStringList Field8EnumOptions; QStringList Field8EnumOptions;
Field8EnumOptions.append("Option1"); Field8EnumOptions.append("Option1");
Field8EnumOptions.append("Option2"); Field8EnumOptions.append("Option2");
fields.append(new UAVObjectFieldEnum(QString("Field8"), QString("unit8"), 1, Field8EnumOptions)); fields.append(new UAVObjectFieldEnum(QString("Field8"), QString("unit8"), Field8ElemNames, Field8EnumOptions));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

3
ground/src/plugins/uavobjects/exampleobject1.h
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@ -52,7 +52,8 @@ public:
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Enumeration types // Enumeration types
typedef enum { FIELD8_OPTION1=0, FIELD8_OPTION2=1, } Field8Enum; /* Enumeration options for field Field8 */
typedef enum { FIELD8_OPTION1=0, FIELD8_OPTION2=1, } Field8Options;
// Constants // Constants

19
ground/src/plugins/uavobjects/exampleobject2.cpp
View File

@ -37,10 +37,21 @@ ExampleObject2::ExampleObject2(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
fields.append(new UAVObjectFieldInt8(QString("Field1"), QString("unit1"), 1)); QStringList Field1ElemNames;
fields.append(new UAVObjectFieldInt16(QString("Field2"), QString("unit2"), 1)); Field1ElemNames.append("[0]");
fields.append(new UAVObjectFieldInt32(QString("Field3"), QString("unit3"), 1)); fields.append(new UAVObjectFieldInt8(QString("Field1"), QString("unit1"), Field1ElemNames));
fields.append(new UAVObjectFieldFloat(QString("Field4"), QString("unit4"), 4)); QStringList Field2ElemNames;
Field2ElemNames.append("[0]");
fields.append(new UAVObjectFieldInt16(QString("Field2"), QString("unit2"), Field2ElemNames));
QStringList Field3ElemNames;
Field3ElemNames.append("[0]");
fields.append(new UAVObjectFieldInt32(QString("Field3"), QString("unit3"), Field3ElemNames));
QStringList Field4ElemNames;
Field4ElemNames.append("[0]");
Field4ElemNames.append("[1]");
Field4ElemNames.append("[2]");
Field4ElemNames.append("[3]");
fields.append(new UAVObjectFieldFloat(QString("Field4"), QString("unit4"), Field4ElemNames));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

12
ground/src/plugins/uavobjects/examplesettings.cpp
View File

@ -37,12 +37,18 @@ ExampleSettings::ExampleSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
fields.append(new UAVObjectFieldInt32(QString("UpdatePeriod"), QString("ms"), 1)); QStringList UpdatePeriodElemNames;
fields.append(new UAVObjectFieldInt32(QString("StepSize"), QString(""), 1)); UpdatePeriodElemNames.append("[0]");
fields.append(new UAVObjectFieldInt32(QString("UpdatePeriod"), QString("ms"), UpdatePeriodElemNames));
QStringList StepSizeElemNames;
StepSizeElemNames.append("[0]");
fields.append(new UAVObjectFieldInt32(QString("StepSize"), QString(""), StepSizeElemNames));
QStringList StepDirectionElemNames;
StepDirectionElemNames.append("[0]");
QStringList StepDirectionEnumOptions; QStringList StepDirectionEnumOptions;
StepDirectionEnumOptions.append("up"); StepDirectionEnumOptions.append("up");
StepDirectionEnumOptions.append("down"); StepDirectionEnumOptions.append("down");
fields.append(new UAVObjectFieldEnum(QString("StepDirection"), QString(""), 1, StepDirectionEnumOptions)); fields.append(new UAVObjectFieldEnum(QString("StepDirection"), QString(""), StepDirectionElemNames, StepDirectionEnumOptions));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

3
ground/src/plugins/uavobjects/examplesettings.h
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@ -47,7 +47,8 @@ public:
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Enumeration types // Enumeration types
typedef enum { STEPDIRECTION_UP=0, STEPDIRECTION_DOWN=1, } StepDirectionEnum; /* Enumeration options for field StepDirection */
typedef enum { STEPDIRECTION_UP=0, STEPDIRECTION_DOWN=1, } StepDirectionOptions;
// Constants // Constants

24
ground/src/plugins/uavobjects/flighttelemetrystats.cpp
View File

@ -37,15 +37,27 @@ FlightTelemetryStats::FlightTelemetryStats(): UAVDataObject(OBJID, ISSINGLEINST,
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
QStringList ConnectedElemNames;
ConnectedElemNames.append("[0]");
QStringList ConnectedEnumOptions; QStringList ConnectedEnumOptions;
ConnectedEnumOptions.append("True"); ConnectedEnumOptions.append("True");
ConnectedEnumOptions.append("False"); ConnectedEnumOptions.append("False");
fields.append(new UAVObjectFieldEnum(QString("Connected"), QString("bool"), 1, ConnectedEnumOptions)); fields.append(new UAVObjectFieldEnum(QString("Connected"), QString("bool"), ConnectedElemNames, ConnectedEnumOptions));
fields.append(new UAVObjectFieldFloat(QString("TxDataRate"), QString("bytes/sec"), 1)); QStringList TxDataRateElemNames;
fields.append(new UAVObjectFieldFloat(QString("RxDataRate"), QString("bytes/sec"), 1)); TxDataRateElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("TxFailures"), QString("count"), 1)); fields.append(new UAVObjectFieldFloat(QString("TxDataRate"), QString("bytes/sec"), TxDataRateElemNames));
fields.append(new UAVObjectFieldUInt32(QString("RxFailures"), QString("count"), 1)); QStringList RxDataRateElemNames;
fields.append(new UAVObjectFieldUInt32(QString("TxRetries"), QString("count"), 1)); RxDataRateElemNames.append("[0]");
fields.append(new UAVObjectFieldFloat(QString("RxDataRate"), QString("bytes/sec"), RxDataRateElemNames));
QStringList TxFailuresElemNames;
TxFailuresElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("TxFailures"), QString("count"), TxFailuresElemNames));
QStringList RxFailuresElemNames;
RxFailuresElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("RxFailures"), QString("count"), RxFailuresElemNames));
QStringList TxRetriesElemNames;
TxRetriesElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("TxRetries"), QString("count"), TxRetriesElemNames));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

3
ground/src/plugins/uavobjects/flighttelemetrystats.h
View File

@ -50,7 +50,8 @@ public:
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Enumeration types // Enumeration types
typedef enum { CONNECTED_TRUE=0, CONNECTED_FALSE=1, } ConnectedEnum; /* Enumeration options for field Connected */
typedef enum { CONNECTED_TRUE=0, CONNECTED_FALSE=1, } ConnectedOptions;
// Constants // Constants

24
ground/src/plugins/uavobjects/gcstelemetrystats.cpp
View File

@ -37,15 +37,27 @@ GCSTelemetryStats::GCSTelemetryStats(): UAVDataObject(OBJID, ISSINGLEINST, ISSET
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
QStringList ConnectedElemNames;
ConnectedElemNames.append("[0]");
QStringList ConnectedEnumOptions; QStringList ConnectedEnumOptions;
ConnectedEnumOptions.append("True"); ConnectedEnumOptions.append("True");
ConnectedEnumOptions.append("False"); ConnectedEnumOptions.append("False");
fields.append(new UAVObjectFieldEnum(QString("Connected"), QString("bool"), 1, ConnectedEnumOptions)); fields.append(new UAVObjectFieldEnum(QString("Connected"), QString("bool"), ConnectedElemNames, ConnectedEnumOptions));
fields.append(new UAVObjectFieldFloat(QString("TxDataRate"), QString("bytes/sec"), 1)); QStringList TxDataRateElemNames;
fields.append(new UAVObjectFieldFloat(QString("RxDataRate"), QString("bytes/sec"), 1)); TxDataRateElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("TxFailures"), QString("count"), 1)); fields.append(new UAVObjectFieldFloat(QString("TxDataRate"), QString("bytes/sec"), TxDataRateElemNames));
fields.append(new UAVObjectFieldUInt32(QString("RxFailures"), QString("count"), 1)); QStringList RxDataRateElemNames;
fields.append(new UAVObjectFieldUInt32(QString("TxRetries"), QString("count"), 1)); RxDataRateElemNames.append("[0]");
fields.append(new UAVObjectFieldFloat(QString("RxDataRate"), QString("bytes/sec"), RxDataRateElemNames));
QStringList TxFailuresElemNames;
TxFailuresElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("TxFailures"), QString("count"), TxFailuresElemNames));
QStringList RxFailuresElemNames;
RxFailuresElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("RxFailures"), QString("count"), RxFailuresElemNames));
QStringList TxRetriesElemNames;
TxRetriesElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt32(QString("TxRetries"), QString("count"), TxRetriesElemNames));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

3
ground/src/plugins/uavobjects/gcstelemetrystats.h
View File

@ -50,7 +50,8 @@ public:
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Enumeration types // Enumeration types
typedef enum { CONNECTED_TRUE=0, CONNECTED_FALSE=1, } ConnectedEnum; /* Enumeration options for field Connected */
typedef enum { CONNECTED_TRUE=0, CONNECTED_FALSE=1, } ConnectedOptions;
// Constants // Constants

20
ground/src/plugins/uavobjects/gpsobject.cpp
View File

@ -37,11 +37,21 @@ GpsObject::GpsObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
fields.append(new UAVObjectFieldFloat(QString("Latitude"), QString("degrees"), 1)); QStringList LatitudeElemNames;
fields.append(new UAVObjectFieldFloat(QString("Longitude"), QString("degrees"), 1)); LatitudeElemNames.append("[0]");
fields.append(new UAVObjectFieldFloat(QString("Altitude"), QString("meters"), 1)); fields.append(new UAVObjectFieldFloat(QString("Latitude"), QString("degrees"), LatitudeElemNames));
fields.append(new UAVObjectFieldInt8(QString("Satellites"), QString(""), 1)); QStringList LongitudeElemNames;
fields.append(new UAVObjectFieldUInt16(QString("Updates"), QString(""), 1)); LongitudeElemNames.append("[0]");
fields.append(new UAVObjectFieldFloat(QString("Longitude"), QString("degrees"), LongitudeElemNames));
QStringList AltitudeElemNames;
AltitudeElemNames.append("[0]");
fields.append(new UAVObjectFieldFloat(QString("Altitude"), QString("meters"), AltitudeElemNames));
QStringList SatellitesElemNames;
SatellitesElemNames.append("[0]");
fields.append(new UAVObjectFieldInt8(QString("Satellites"), QString(""), SatellitesElemNames));
QStringList UpdatesElemNames;
UpdatesElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt16(QString("Updates"), QString(""), UpdatesElemNames));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

4
ground/src/plugins/uavobjects/settingspersistence.cpp
View File

@ -37,10 +37,12 @@ SettingsPersistence::SettingsPersistence(): UAVDataObject(OBJID, ISSINGLEINST, I
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
QStringList OperationElemNames;
OperationElemNames.append("[0]");
QStringList OperationEnumOptions; QStringList OperationEnumOptions;
OperationEnumOptions.append("Load"); OperationEnumOptions.append("Load");
OperationEnumOptions.append("Save"); OperationEnumOptions.append("Save");
fields.append(new UAVObjectFieldEnum(QString("Operation"), QString(""), 1, OperationEnumOptions)); fields.append(new UAVObjectFieldEnum(QString("Operation"), QString(""), OperationElemNames, OperationEnumOptions));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

3
ground/src/plugins/uavobjects/settingspersistence.h
View File

@ -45,7 +45,8 @@ public:
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Enumeration types // Enumeration types
typedef enum { OPERATION_LOAD=0, OPERATION_SAVE=1, } OperationEnum; /* Enumeration options for field Operation */
typedef enum { OPERATION_LOAD=0, OPERATION_SAVE=1, } OperationOptions;
// Constants // Constants

35
ground/src/plugins/uavobjects/systemalarms.cpp
View File

@ -37,22 +37,17 @@ SystemAlarms::SystemAlarms(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
QStringList TypeEnumOptions; QStringList AlarmElemNames;
TypeEnumOptions.append("None"); AlarmElemNames.append("OutOfMemory");
TypeEnumOptions.append("StackOverflow"); AlarmElemNames.append("StackOverflow");
TypeEnumOptions.append("OutOfMemory"); AlarmElemNames.append("CPUOverload");
fields.append(new UAVObjectFieldEnum(QString("Type"), QString(""), 1, TypeEnumOptions)); AlarmElemNames.append("EventSystem");
QStringList SeverityEnumOptions; QStringList AlarmEnumOptions;
SeverityEnumOptions.append("Info"); AlarmEnumOptions.append("None");
SeverityEnumOptions.append("Warning"); AlarmEnumOptions.append("Warning");
SeverityEnumOptions.append("Error"); AlarmEnumOptions.append("Error");
SeverityEnumOptions.append("Critical"); AlarmEnumOptions.append("Critical");
fields.append(new UAVObjectFieldEnum(QString("Severity"), QString(""), 1, SeverityEnumOptions)); fields.append(new UAVObjectFieldEnum(QString("Alarm"), QString(""), AlarmElemNames, AlarmEnumOptions));
QStringList ActiveEnumOptions;
ActiveEnumOptions.append("True");
ActiveEnumOptions.append("False");
fields.append(new UAVObjectFieldEnum(QString("Active"), QString("bool"), 1, ActiveEnumOptions));
fields.append(new UAVObjectFieldUInt32(QString("Info"), QString(""), 1));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);
@ -65,10 +60,10 @@ UAVObject::Metadata SystemAlarms::getDefaultMetadata()
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0; metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1; metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 0; metadata.flightTelemetryUpdatePeriod = 4000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_ONCHANGE; metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 0; metadata.loggingUpdatePeriod = 1000;
return metadata; return metadata;
} }

14
ground/src/plugins/uavobjects/systemalarms.h
View File

@ -40,21 +40,19 @@ class UAVOBJECTS_EXPORT SystemAlarms: public UAVDataObject
public: public:
// Field structure // Field structure
typedef struct { typedef struct {
quint8 Type; quint8 Alarm[4];
quint8 Severity;
quint8 Active;
quint32 Info;
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
// Enumeration types // Enumeration types
typedef enum { TYPE_NONE=0, TYPE_STACKOVERFLOW=1, TYPE_OUTOFMEMORY=2, } TypeEnum; /* Enumeration options for field Alarm */
typedef enum { SEVERITY_INFO=0, SEVERITY_WARNING=1, SEVERITY_ERROR=2, SEVERITY_CRITICAL=3, } SeverityEnum; typedef enum { ALARM_NONE=0, ALARM_WARNING=1, ALARM_ERROR=2, ALARM_CRITICAL=3, } AlarmOptions;
typedef enum { ACTIVE_TRUE=0, ACTIVE_FALSE=1, } ActiveEnum; /* Array element names for field Alarm */
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, } AlarmElem;
// Constants // Constants
static const quint32 OBJID = 1784134234U; static const quint32 OBJID = 2311311912U;
static const QString NAME; static const QString NAME;
static const bool ISSINGLEINST = 1; static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0; static const bool ISSETTINGS = 0;

12
ground/src/plugins/uavobjects/systemstats.cpp
View File

@ -37,9 +37,15 @@ SystemStats::SystemStats(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{ {
// Create fields // Create fields
QList<UAVObjectField*> fields; QList<UAVObjectField*> fields;
fields.append(new UAVObjectFieldUInt32(QString("FlightTime"), QString("ms"), 1)); QStringList FlightTimeElemNames;
fields.append(new UAVObjectFieldUInt16(QString("HeapRemaining"), QString("bytes"), 1)); FlightTimeElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt8(QString("CPULoad"), QString("%"), 1)); fields.append(new UAVObjectFieldUInt32(QString("FlightTime"), QString("ms"), FlightTimeElemNames));
QStringList HeapRemainingElemNames;
HeapRemainingElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt16(QString("HeapRemaining"), QString("bytes"), HeapRemainingElemNames));
QStringList CPULoadElemNames;
CPULoadElemNames.append("[0]");
fields.append(new UAVObjectFieldUInt8(QString("CPULoad"), QString("%"), CPULoadElemNames));
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);

22
ground/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -37,6 +37,23 @@ UAVObjectField::UAVObjectField(const QString& name, const QString& units, quint3
this->offset = 0; this->offset = 0;
this->data = NULL; this->data = NULL;
this->obj = NULL; this->obj = NULL;
// Set element names
for (quint32 n = 0; n < numElements; ++n)
{
elementNames.append(QString("[%1]").arg(n));
}
}
UAVObjectField::UAVObjectField(const QString& name, const QString& units, const QStringList& elementNames)
{
// Copy params
this->name = name;
this->units = units;
this->numElements = elementNames.length();
this->offset = 0;
this->data = NULL;
this->obj = NULL;
this->elementNames = elementNames;
} }
void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj) void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)
@ -48,6 +65,11 @@ void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj
initializeValues(); initializeValues();
} }
QStringList UAVObjectField::getElementNames()
{
return elementNames;
}
UAVObject* UAVObjectField::getObject() UAVObject* UAVObjectField::getObject()
{ {
return obj; return obj;

4
ground/src/plugins/uavobjects/uavobjectfield.h
View File

@ -30,6 +30,7 @@
#include "uavobjects_global.h" #include "uavobjects_global.h"
#include "uavobject.h" #include "uavobject.h"
#include <QStringList>
class UAVObject; class UAVObject;
@ -39,12 +40,14 @@ class UAVOBJECTS_EXPORT UAVObjectField: public QObject
public: public:
UAVObjectField(const QString& name, const QString& units, quint32 numElements); UAVObjectField(const QString& name, const QString& units, quint32 numElements);
UAVObjectField(const QString& name, const QString& units, const QStringList& elementNames);
void initialize(quint8* data, quint32 dataOffset, UAVObject* obj); void initialize(quint8* data, quint32 dataOffset, UAVObject* obj);
virtual void initializeValues() = 0; virtual void initializeValues() = 0;
UAVObject* getObject(); UAVObject* getObject();
QString getName(); QString getName();
QString getUnits(); QString getUnits();
quint32 getNumElements(); quint32 getNumElements();
QStringList getElementNames();
virtual qint32 pack(quint8* dataOut) = 0; virtual qint32 pack(quint8* dataOut) = 0;
virtual qint32 unpack(const quint8* dataIn) = 0; virtual qint32 unpack(const quint8* dataIn) = 0;
virtual double getDouble(quint32 index = 0) = 0; virtual double getDouble(quint32 index = 0) = 0;
@ -60,6 +63,7 @@ signals:
protected: protected:
QString name; QString name;
QString units; QString units;
QStringList elementNames;
quint32 numElements; quint32 numElements;
quint32 offset; quint32 offset;
quint8* data; quint8* data;

9
ground/src/plugins/uavobjects/uavobjectfieldenum.cpp
View File

@ -29,13 +29,20 @@
#include "uavobjectfieldenum.h" #include "uavobjectfieldenum.h"
#include <QtEndian> #include <QtEndian>
UAVObjectFieldEnum::UAVObjectFieldEnum(const QString& name, const QString& units, quint32 numElements, QStringList& options): UAVObjectFieldEnum::UAVObjectFieldEnum(const QString& name, const QString& units, quint32 numElements, const QStringList& options):
UAVObjectField(name, units, numElements) UAVObjectField(name, units, numElements)
{ {
numBytesPerElement = sizeof(quint8); numBytesPerElement = sizeof(quint8);
this->options = options; this->options = options;
} }
UAVObjectFieldEnum::UAVObjectFieldEnum(const QString& name, const QString& units, const QStringList& elementNames, const QStringList& options):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(quint8);
this->options = options;
}
QStringList UAVObjectFieldEnum::getOptions() QStringList UAVObjectFieldEnum::getOptions()
{ {
return options; return options;

3
ground/src/plugins/uavobjects/uavobjectfieldenum.h
View File

@ -40,7 +40,8 @@ class UAVOBJECTS_EXPORT UAVObjectFieldEnum: public UAVObjectField
Q_OBJECT Q_OBJECT
public: public:
UAVObjectFieldEnum(const QString& name, const QString& units, quint32 numElements, QStringList& options); UAVObjectFieldEnum(const QString& name, const QString& units, quint32 numElements, const QStringList& options);
UAVObjectFieldEnum(const QString& name, const QString& units, const QStringList& elementNames, const QStringList& options);
QStringList getOptions(); QStringList getOptions();
QString getSelected(quint32 arrayIndex); QString getSelected(quint32 arrayIndex);
void setSelected(QString& val, quint32 arrayIndex); void setSelected(QString& val, quint32 arrayIndex);

6
ground/src/plugins/uavobjects/uavobjectfieldfloat.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldFloat::UAVObjectFieldFloat(const QString& name, const QString& uni
numBytesPerElement = sizeof(float); numBytesPerElement = sizeof(float);
} }
UAVObjectFieldFloat::UAVObjectFieldFloat(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(float);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfieldfloat.h
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@ -41,6 +41,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldFloat: public UAVObjectField
public: public:
UAVObjectFieldFloat(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldFloat(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldFloat(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

6
ground/src/plugins/uavobjects/uavobjectfieldint16.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldInt16::UAVObjectFieldInt16(const QString& name, const QString& uni
numBytesPerElement = sizeof(qint16); numBytesPerElement = sizeof(qint16);
} }
UAVObjectFieldInt16::UAVObjectFieldInt16(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(qint16);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfieldint16.h
View File

@ -41,6 +41,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldInt16: public UAVObjectField
public: public:
UAVObjectFieldInt16(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldInt16(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldInt16(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

6
ground/src/plugins/uavobjects/uavobjectfieldint32.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldInt32::UAVObjectFieldInt32(const QString& name, const QString& uni
numBytesPerElement = sizeof(qint32); numBytesPerElement = sizeof(qint32);
} }
UAVObjectFieldInt32::UAVObjectFieldInt32(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(qint32);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfieldint32.h
View File

@ -39,6 +39,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldInt32: public UAVObjectField
public: public:
UAVObjectFieldInt32(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldInt32(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldInt32(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

6
ground/src/plugins/uavobjects/uavobjectfieldint8.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldInt8::UAVObjectFieldInt8(const QString& name, const QString& units
numBytesPerElement = sizeof(qint8); numBytesPerElement = sizeof(qint8);
} }
UAVObjectFieldInt8::UAVObjectFieldInt8(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(qint8);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfieldint8.h
View File

@ -41,6 +41,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldInt8: public UAVObjectField
public: public:
UAVObjectFieldInt8(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldInt8(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldInt8(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

6
ground/src/plugins/uavobjects/uavobjectfielduint16.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldUInt16::UAVObjectFieldUInt16(const QString& name, const QString& u
numBytesPerElement = sizeof(quint16); numBytesPerElement = sizeof(quint16);
} }
UAVObjectFieldUInt16::UAVObjectFieldUInt16(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(quint16);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfielduint16.h
View File

@ -41,6 +41,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldUInt16: public UAVObjectField
public: public:
UAVObjectFieldUInt16(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldUInt16(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldUInt16(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

6
ground/src/plugins/uavobjects/uavobjectfielduint32.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldUInt32::UAVObjectFieldUInt32(const QString& name, const QString& u
numBytesPerElement = sizeof(quint32); numBytesPerElement = sizeof(quint32);
} }
UAVObjectFieldUInt32::UAVObjectFieldUInt32(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(quint32);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfielduint32.h
View File

@ -41,6 +41,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldUInt32: public UAVObjectField
public: public:
UAVObjectFieldUInt32(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldUInt32(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldUInt32(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

6
ground/src/plugins/uavobjects/uavobjectfielduint8.cpp
View File

@ -36,6 +36,12 @@ UAVObjectFieldUInt8::UAVObjectFieldUInt8(const QString& name, const QString& uni
numBytesPerElement = sizeof(quint8); numBytesPerElement = sizeof(quint8);
} }
UAVObjectFieldUInt8::UAVObjectFieldUInt8(const QString& name, const QString& units, const QStringList& elementNames):
UAVObjectField(name, units, elementNames)
{
numBytesPerElement = sizeof(quint8);
}
/** /**
* Initialize all values * Initialize all values
*/ */

1
ground/src/plugins/uavobjects/uavobjectfielduint8.h
View File

@ -41,6 +41,7 @@ class UAVOBJECTS_EXPORT UAVObjectFieldUInt8: public UAVObjectField
public: public:
UAVObjectFieldUInt8(const QString& name, const QString& units, quint32 numElements); UAVObjectFieldUInt8(const QString& name, const QString& units, quint32 numElements);
UAVObjectFieldUInt8(const QString& name, const QString& units, const QStringList& elementNames);
void initializeValues(); void initializeValues();
qint32 pack(quint8* dataOut); qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn); qint32 unpack(const quint8* dataIn);

10
ground/src/shared/uavobjectdefinition/systemalarms.xml
View File

@ -1,11 +1,9 @@
<xml> <xml>
<object name="SystemAlarms" singleinstance="true" settings="false"> <object name="SystemAlarms" singleinstance="true" settings="false">
<field name="Type" units="" type="enum" elements="1" options="None,StackOverflow,OutOfMemory"/> <field name="Alarm" units="" type="enum" options="None,Warning,Error,Critical"
<field name="Severity" units="" type="enum" elements="1" options="Info,Warning,Error,Critical"/> elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem"/>
<field name="Active" units="bool" type="enum" elements="1" options="True,False"/>
<field name="Info" units="" type="uint32" elements="1"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="periodic" period="4000"/>
<logging updatemode="onchange" period="0"/> <logging updatemode="periodic" period="1000"/>
</object> </object>
</xml> </xml>