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Doxygen consistency and all plugins to version 1.0.0 with compat 1.0.0

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@863 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
dankers 2010-06-23 02:33:53 +00:00 committed by dankers
parent 61c7be7765
commit 882cd5d006
82 changed files with 6976 additions and 7002 deletions
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2
ground/src/plugins/donothing/DoNothing.pluginspec
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@ -1,4 +1,4 @@
<plugin name="DoNothing" version="0.0.1" compatVersion="1.0.0">
<plugin name="DoNothing" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2010 OpenPilot Project</copyright>
<license>Your License goes here</license>

2
ground/src/plugins/rawhid/rawhid.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief QIODevice interface for USB RawHID
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhid_plugin
* @defgroup rawhidplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/rawhid/rawhid.h
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhid_plugin
* @defgroup rawhidplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/rawhid/rawhid_const.h
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhid_plugin
* @defgroup rawhidplugin
* @{
*
*****************************************************************************/

78
ground/src/plugins/rawhid/rawhid_global.h
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@ -1,39 +1,39 @@
/**
******************************************************************************
*
* @file rawhid_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhid_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RAWHID_GLOBAL_H
#define RAWHID_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(RAWHID_LIBRARY)
# define RAWHID_EXPORT Q_DECL_EXPORT
#else
# define RAWHID_EXPORT Q_DECL_IMPORT
#endif
#endif // RAWHID_GLOBAL_H
/**
******************************************************************************
*
* @file rawhid_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhidplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RAWHID_GLOBAL_H
#define RAWHID_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(RAWHID_LIBRARY)
# define RAWHID_EXPORT Q_DECL_EXPORT
#else
# define RAWHID_EXPORT Q_DECL_IMPORT
#endif
#endif // RAWHID_GLOBAL_H

404
ground/src/plugins/rawhid/rawhidplugin.cpp
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@ -1,202 +1,202 @@
/**
******************************************************************************
*
* @file rawhidplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Register connection object for the core connection manager
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhid_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "rawhidplugin.h"
#include "rawhid.h"
#include <extensionsystem/pluginmanager.h>
#include <QtCore/QtPlugin>
#include <QtCore/QMutexLocker>
#include "pjrc_rawhid.h"
#include "rawhid_const.h"
RawHIDEnumerationThread::RawHIDEnumerationThread(RawHIDConnection *rawhid)
: m_rawhid(rawhid),
m_running(true)
{
}
RawHIDEnumerationThread::~RawHIDEnumerationThread()
{
m_running = false;
//wait for the thread to terminate
if(wait(1000) == false)
qDebug() << "Cannot terminate RawHIDEnumerationThread";
}
void RawHIDEnumerationThread::run()
{
QStringList devices = m_rawhid->availableDevices();
while(m_running)
{
if(!m_rawhid->deviceOpened())
{
QStringList newDev = m_rawhid->availableDevices();
if(devices != newDev)
{
devices = newDev;
emit enumerationChanged();
}
}
msleep(500); //update available devices twice per second (doesn't need more)
}
}
RawHIDConnection::RawHIDConnection()
: m_enumerateThread(this)
{
QObject::connect(&m_enumerateThread, SIGNAL(enumerationChanged()),
this, SLOT(onEnumerationChanged()));
m_enumerateThread.start();
}
RawHIDConnection::~RawHIDConnection()
{}
void RawHIDConnection::onEnumerationChanged()
{
emit availableDevChanged(this);
}
QStringList RawHIDConnection::availableDevices()
{
QMutexLocker locker(&m_enumMutex);
QStringList devices;
pjrc_rawhid dev;
//open all device we can
int opened = dev.open(MAX_DEVICES, VID, PID, USAGE_PAGE, USAGE);
//for each devices found, get serial number and close it back
for(int i=0; i<opened; i++)
{
char serial[256];
dev.getserial(i, serial);
devices.append(QString::fromAscii(serial, DEV_SERIAL_LEN));
dev.close(i);
}
return devices;
}
QIODevice *RawHIDConnection::openDevice(const QString &deviceName)
{
m_deviceOpened = true;
return new RawHID(deviceName);
}
void RawHIDConnection::closeDevice(const QString &deviceName)
{
m_deviceOpened = false;
}
QString RawHIDConnection::connectionName()
{
return QString("Raw HID USB");
}
QString RawHIDConnection::shortName()
{
return QString("USB");
}
//usb hid test thread
//temporary...
RawHIDTestThread::RawHIDTestThread()
{
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
this, SLOT(onDeviceConnect(QIODevice *)));
QObject::connect(cm, SIGNAL(deviceDisconnected()),
this, SLOT(onDeviceDisconnect()));
}
void RawHIDTestThread::onDeviceConnect(QIODevice *dev)
{
this->dev = dev;
dev->open(QIODevice::ReadWrite);
QObject::connect(dev, SIGNAL(readyRead()),
this, SLOT(onReadyRead()));
QObject::connect(dev, SIGNAL(bytesWritten(qint64)),
this, SLOT(onBytesWritten(qint64)));
dev->write("Hello raw hid device\n");
}
void RawHIDTestThread::onDeviceDisconnect()
{
dev->close();
}
void RawHIDTestThread::onReadyRead()
{
qDebug() << "Rx:" << dev->readLine(32);
}
void RawHIDTestThread::onBytesWritten(qint64 sz)
{
qDebug() << "Sent " << sz << " bytes";
}
RawHIDPlugin::RawHIDPlugin()
{
}
RawHIDPlugin::~RawHIDPlugin()
{
}
void RawHIDPlugin::extensionsInitialized()
{
addAutoReleasedObject(new RawHIDConnection);
//temp for test
//addAutoReleasedObject(new RawHIDTestThread);
}
bool RawHIDPlugin::initialize(const QStringList & arguments, QString * errorString)
{
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
Q_EXPORT_PLUGIN(RawHIDPlugin)
/**
******************************************************************************
*
* @file rawhidplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Register connection object for the core connection manager
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhidplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "rawhidplugin.h"
#include "rawhid.h"
#include <extensionsystem/pluginmanager.h>
#include <QtCore/QtPlugin>
#include <QtCore/QMutexLocker>
#include "pjrc_rawhid.h"
#include "rawhid_const.h"
RawHIDEnumerationThread::RawHIDEnumerationThread(RawHIDConnection *rawhid)
: m_rawhid(rawhid),
m_running(true)
{
}
RawHIDEnumerationThread::~RawHIDEnumerationThread()
{
m_running = false;
//wait for the thread to terminate
if(wait(1000) == false)
qDebug() << "Cannot terminate RawHIDEnumerationThread";
}
void RawHIDEnumerationThread::run()
{
QStringList devices = m_rawhid->availableDevices();
while(m_running)
{
if(!m_rawhid->deviceOpened())
{
QStringList newDev = m_rawhid->availableDevices();
if(devices != newDev)
{
devices = newDev;
emit enumerationChanged();
}
}
msleep(500); //update available devices twice per second (doesn't need more)
}
}
RawHIDConnection::RawHIDConnection()
: m_enumerateThread(this)
{
QObject::connect(&m_enumerateThread, SIGNAL(enumerationChanged()),
this, SLOT(onEnumerationChanged()));
m_enumerateThread.start();
}
RawHIDConnection::~RawHIDConnection()
{}
void RawHIDConnection::onEnumerationChanged()
{
emit availableDevChanged(this);
}
QStringList RawHIDConnection::availableDevices()
{
QMutexLocker locker(&m_enumMutex);
QStringList devices;
pjrc_rawhid dev;
//open all device we can
int opened = dev.open(MAX_DEVICES, VID, PID, USAGE_PAGE, USAGE);
//for each devices found, get serial number and close it back
for(int i=0; i<opened; i++)
{
char serial[256];
dev.getserial(i, serial);
devices.append(QString::fromAscii(serial, DEV_SERIAL_LEN));
dev.close(i);
}
return devices;
}
QIODevice *RawHIDConnection::openDevice(const QString &deviceName)
{
m_deviceOpened = true;
return new RawHID(deviceName);
}
void RawHIDConnection::closeDevice(const QString &deviceName)
{
m_deviceOpened = false;
}
QString RawHIDConnection::connectionName()
{
return QString("Raw HID USB");
}
QString RawHIDConnection::shortName()
{
return QString("USB");
}
//usb hid test thread
//temporary...
RawHIDTestThread::RawHIDTestThread()
{
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
this, SLOT(onDeviceConnect(QIODevice *)));
QObject::connect(cm, SIGNAL(deviceDisconnected()),
this, SLOT(onDeviceDisconnect()));
}
void RawHIDTestThread::onDeviceConnect(QIODevice *dev)
{
this->dev = dev;
dev->open(QIODevice::ReadWrite);
QObject::connect(dev, SIGNAL(readyRead()),
this, SLOT(onReadyRead()));
QObject::connect(dev, SIGNAL(bytesWritten(qint64)),
this, SLOT(onBytesWritten(qint64)));
dev->write("Hello raw hid device\n");
}
void RawHIDTestThread::onDeviceDisconnect()
{
dev->close();
}
void RawHIDTestThread::onReadyRead()
{
qDebug() << "Rx:" << dev->readLine(32);
}
void RawHIDTestThread::onBytesWritten(qint64 sz)
{
qDebug() << "Sent " << sz << " bytes";
}
RawHIDPlugin::RawHIDPlugin()
{
}
RawHIDPlugin::~RawHIDPlugin()
{
}
void RawHIDPlugin::extensionsInitialized()
{
addAutoReleasedObject(new RawHIDConnection);
//temp for test
//addAutoReleasedObject(new RawHIDTestThread);
}
bool RawHIDPlugin::initialize(const QStringList & arguments, QString * errorString)
{
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
Q_EXPORT_PLUGIN(RawHIDPlugin)

256
ground/src/plugins/rawhid/rawhidplugin.h
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@ -1,128 +1,128 @@
/**
******************************************************************************
*
* @file rawhid.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhid_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RAWHIDPLUGIN_H
#define RAWHIDPLUGIN_H
#include "rawhid_global.h"
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>
#include <QtCore/QMutex>
#include <QtCore/QThread>
class IConnection;
class RawHIDConnection;
/**
* Helper thread to check on device connection/disconnection
* Underlying HID library is not really easy to use,
* so we have to poll for device modification in a separate thread
*/
class RAWHID_EXPORT RawHIDEnumerationThread : public QThread
{
Q_OBJECT
public:
RawHIDEnumerationThread(RawHIDConnection *rawhid);
virtual ~RawHIDEnumerationThread();
virtual void run();
signals:
void enumerationChanged();
protected:
RawHIDConnection *m_rawhid;
bool m_running;
};
/**
* Define a connection via the IConnection interface
* Plugin will add a instance of this class to the pool,
* so the connection manager can use it.
*/
class RAWHID_EXPORT RawHIDConnection
: public Core::IConnection
{
Q_OBJECT
public:
RawHIDConnection();
virtual ~RawHIDConnection();
virtual QStringList availableDevices();
virtual QIODevice *openDevice(const QString &deviceName);
virtual void closeDevice(const QString &deviceName);
virtual QString connectionName();
virtual QString shortName();
bool deviceOpened() {return m_deviceOpened;}
protected slots:
void onEnumerationChanged();
protected:
QMutex m_enumMutex;
RawHIDEnumerationThread m_enumerateThread;
bool m_deviceOpened;
};
class RAWHID_EXPORT RawHIDPlugin
: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
RawHIDPlugin();
~RawHIDPlugin();
virtual bool initialize(const QStringList &arguments, QString *error_message);
virtual void extensionsInitialized();
};
//usb hid test thread
#include "coreplugin/icore.h"
#include "coreplugin/connectionmanager.h"
class RawHIDTestThread: public QObject
{
Q_OBJECT
public:
RawHIDTestThread();
protected slots:
void onDeviceConnect(QIODevice *);
void onDeviceDisconnect();
void onReadyRead();
void onBytesWritten(qint64 sz);
protected:
QIODevice *dev;
};
#endif // RAWHIDPLUGIN_H
/**
******************************************************************************
*
* @file rawhid.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup rawhidplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RAWHIDPLUGIN_H
#define RAWHIDPLUGIN_H
#include "rawhid_global.h"
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>
#include <QtCore/QMutex>
#include <QtCore/QThread>
class IConnection;
class RawHIDConnection;
/**
* Helper thread to check on device connection/disconnection
* Underlying HID library is not really easy to use,
* so we have to poll for device modification in a separate thread
*/
class RAWHID_EXPORT RawHIDEnumerationThread : public QThread
{
Q_OBJECT
public:
RawHIDEnumerationThread(RawHIDConnection *rawhid);
virtual ~RawHIDEnumerationThread();
virtual void run();
signals:
void enumerationChanged();
protected:
RawHIDConnection *m_rawhid;
bool m_running;
};
/**
* Define a connection via the IConnection interface
* Plugin will add a instance of this class to the pool,
* so the connection manager can use it.
*/
class RAWHID_EXPORT RawHIDConnection
: public Core::IConnection
{
Q_OBJECT
public:
RawHIDConnection();
virtual ~RawHIDConnection();
virtual QStringList availableDevices();
virtual QIODevice *openDevice(const QString &deviceName);
virtual void closeDevice(const QString &deviceName);
virtual QString connectionName();
virtual QString shortName();
bool deviceOpened() {return m_deviceOpened;}
protected slots:
void onEnumerationChanged();
protected:
QMutex m_enumMutex;
RawHIDEnumerationThread m_enumerateThread;
bool m_deviceOpened;
};
class RAWHID_EXPORT RawHIDPlugin
: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
RawHIDPlugin();
~RawHIDPlugin();
virtual bool initialize(const QStringList &arguments, QString *error_message);
virtual void extensionsInitialized();
};
//usb hid test thread
#include "coreplugin/icore.h"
#include "coreplugin/connectionmanager.h"
class RawHIDTestThread: public QObject
{
Q_OBJECT
public:
RawHIDTestThread();
protected slots:
void onDeviceConnect(QIODevice *);
void onDeviceDisconnect();
void onReadyRead();
void onBytesWritten(qint64 sz);
protected:
QIODevice *dev;
};
#endif // RAWHIDPLUGIN_H

78
ground/src/plugins/serialconnection/serial_global.h
View File

@ -1,39 +1,39 @@
/**
******************************************************************************
*
* @file serial_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup serial_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SERIAL_GLOBAL_H
#define SERIAL_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(SERIAL_LIBRARY)
# define SERIAL_EXPORT Q_DECL_EXPORT
#else
# define SERIAL_EXPORT Q_DECL_IMPORT
#endif
#endif // SERIAL_GLOBAL_H
/**
******************************************************************************
*
* @file serial_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup serialplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SERIAL_GLOBAL_H
#define SERIAL_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(SERIAL_LIBRARY)
# define SERIAL_EXPORT Q_DECL_EXPORT
#else
# define SERIAL_EXPORT Q_DECL_IMPORT
#endif
#endif // SERIAL_GLOBAL_H

2
ground/src/plugins/serialconnection/serialplugin.cpp
View File

@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Register connection object for the core connection manager
* @see The GNU Public License (GPL) Version 3
* @defgroup serial_plugin
* @defgroup serialplugin
* @{
*
*****************************************************************************/

158
ground/src/plugins/serialconnection/serialplugin.h
View File

@ -1,79 +1,79 @@
/**
******************************************************************************
*
* @file serialplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup serial_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SERIALPLUGIN_H
#define SERIALPLUGIN_H
#include "serial_global.h"
#include <qextserialport.h>
#include <qextserialenumerator.h>
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>
class IConnection;
class QextSerialEnumerator;
/**
* Define a connection via the IConnection interface
* Plugin will add a instance of this class to the pool,
* so the connection manager can use it.
*/
class SERIAL_EXPORT SerialConnection
: public Core::IConnection
{
Q_OBJECT
public:
SerialConnection();
virtual ~SerialConnection();
virtual QStringList availableDevices();
virtual QIODevice *openDevice(const QString &deviceName);
virtual void closeDevice(const QString &deviceName);
virtual QString connectionName();
virtual QString shortName();
protected slots:
void onEnumerationChanged();
};
class SERIAL_EXPORT SerialPlugin
: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
SerialPlugin();
~SerialPlugin();
virtual bool initialize(const QStringList &arguments, QString *error_message);
virtual void extensionsInitialized();
};
#endif // SERIALPLUGIN_H
/**
******************************************************************************
*
* @file serialplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup serialplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SERIALPLUGIN_H
#define SERIALPLUGIN_H
#include "serial_global.h"
#include <qextserialport.h>
#include <qextserialenumerator.h>
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>
class IConnection;
class QextSerialEnumerator;
/**
* Define a connection via the IConnection interface
* Plugin will add a instance of this class to the pool,
* so the connection manager can use it.
*/
class SERIAL_EXPORT SerialConnection
: public Core::IConnection
{
Q_OBJECT
public:
SerialConnection();
virtual ~SerialConnection();
virtual QStringList availableDevices();
virtual QIODevice *openDevice(const QString &deviceName);
virtual void closeDevice(const QString &deviceName);
virtual QString connectionName();
virtual QString shortName();
protected slots:
void onEnumerationChanged();
};
class SERIAL_EXPORT SerialPlugin
: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
SerialPlugin();
~SerialPlugin();
virtual bool initialize(const QStringList &arguments, QString *error_message);
virtual void extensionsInitialized();
};
#endif // SERIALPLUGIN_H

104
ground/src/plugins/systemhealth/systemhealthgadget.cpp
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@ -1,52 +1,52 @@
/**
******************************************************************************
*
* @file systemhealthgadget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthgadget.h"
#include "systemhealthgadgetwidget.h"
#include "systemhealthgadgetconfiguration.h"
SystemHealthGadget::SystemHealthGadget(QString classId, SystemHealthGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
SystemHealthGadget::~SystemHealthGadget()
{
}
/*
This is called when a configuration is loaded, and updates the plugin's settings.
Careful: the plugin is already drawn before the loadConfiguration method is called the
first time, so you have to be careful not to assume all the plugin values are initialized
the first time you use them
*/
void SystemHealthGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
SystemHealthGadgetConfiguration *m = qobject_cast<SystemHealthGadgetConfiguration*>(config);
m_widget->setSystemFile(m->getSystemFile()); // Triggers widget repaint
}
/**
******************************************************************************
*
* @file systemhealthgadget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthgadget.h"
#include "systemhealthgadgetwidget.h"
#include "systemhealthgadgetconfiguration.h"
SystemHealthGadget::SystemHealthGadget(QString classId, SystemHealthGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
SystemHealthGadget::~SystemHealthGadget()
{
}
/*
This is called when a configuration is loaded, and updates the plugin's settings.
Careful: the plugin is already drawn before the loadConfiguration method is called the
first time, so you have to be careful not to assume all the plugin values are initialized
the first time you use them
*/
void SystemHealthGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
SystemHealthGadgetConfiguration *m = qobject_cast<SystemHealthGadgetConfiguration*>(config);
m_widget->setSystemFile(m->getSystemFile()); // Triggers widget repaint
}

112
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@ -1,56 +1,56 @@
/**
******************************************************************************
*
* @file systemhealthgadget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief System health gadget to display system alarms
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHGADGET_H_
#define SYSTEMHEALTHGADGET_H_
#include <coreplugin/iuavgadget.h>
#include "systemhealthgadgetwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class SystemHealthGadgetWidget;
using namespace Core;
class SystemHealthGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
SystemHealthGadget(QString classId, SystemHealthGadgetWidget *widget, QWidget *parent = 0);
~SystemHealthGadget();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
SystemHealthGadgetWidget *m_widget;
};
#endif // SYSTEMHEALTHGADGET_H_
/**
******************************************************************************
*
* @file systemhealthgadget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief System health gadget to display system alarms
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHGADGET_H_
#define SYSTEMHEALTHGADGET_H_
#include <coreplugin/iuavgadget.h>
#include "systemhealthgadgetwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class SystemHealthGadgetWidget;
using namespace Core;
class SystemHealthGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
SystemHealthGadget(QString classId, SystemHealthGadgetWidget *widget, QWidget *parent = 0);
~SystemHealthGadget();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
SystemHealthGadgetWidget *m_widget;
};
#endif // SYSTEMHEALTHGADGET_H_

2
ground/src/plugins/systemhealth/systemhealthgadgetconfiguration.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System Health Plugin Gadget configuration
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/systemhealth/systemhealthgadgetconfiguration.h
View File

@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System Health Plugin Gadget configuration
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/

120
ground/src/plugins/systemhealth/systemhealthgadgetfactory.cpp
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@ -1,60 +1,60 @@
/**
******************************************************************************
*
* @file systemhealthgadgetfactory.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthgadgetfactory.h"
#include "systemhealthgadgetwidget.h"
#include "systemhealthgadget.h"
#include "systemhealthgadgetconfiguration.h"
#include "systemhealthgadgetoptionspage.h"
#include <coreplugin/iuavgadget.h>
SystemHealthGadgetFactory::SystemHealthGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("SystemHealthGadget"),
tr("System Health Gadget"),
parent)
{
}
SystemHealthGadgetFactory::~SystemHealthGadgetFactory()
{
}
Core::IUAVGadget* SystemHealthGadgetFactory::createGadget(QWidget *parent)
{
SystemHealthGadgetWidget* gadgetWidget = new SystemHealthGadgetWidget(parent);
return new SystemHealthGadget(QString("SystemHealthGadget"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *SystemHealthGadgetFactory::createConfiguration(const QByteArray &state)
{
return new SystemHealthGadgetConfiguration(QString("SystemHealthGadget"), state);
}
IOptionsPage *SystemHealthGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new SystemHealthGadgetOptionsPage(qobject_cast<SystemHealthGadgetConfiguration*>(config));
}
/**
******************************************************************************
*
* @file systemhealthgadgetfactory.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthgadgetfactory.h"
#include "systemhealthgadgetwidget.h"
#include "systemhealthgadget.h"
#include "systemhealthgadgetconfiguration.h"
#include "systemhealthgadgetoptionspage.h"
#include <coreplugin/iuavgadget.h>
SystemHealthGadgetFactory::SystemHealthGadgetFactory(QObject *parent) :
IUAVGadgetFactory(QString("SystemHealthGadget"),
tr("System Health Gadget"),
parent)
{
}
SystemHealthGadgetFactory::~SystemHealthGadgetFactory()
{
}
Core::IUAVGadget* SystemHealthGadgetFactory::createGadget(QWidget *parent)
{
SystemHealthGadgetWidget* gadgetWidget = new SystemHealthGadgetWidget(parent);
return new SystemHealthGadget(QString("SystemHealthGadget"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *SystemHealthGadgetFactory::createConfiguration(const QByteArray &state)
{
return new SystemHealthGadgetConfiguration(QString("SystemHealthGadget"), state);
}
IOptionsPage *SystemHealthGadgetFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new SystemHealthGadgetOptionsPage(qobject_cast<SystemHealthGadgetConfiguration*>(config));
}

104
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@ -1,52 +1,52 @@
/**
******************************************************************************
*
* @file systemhealthgadgetfactory.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHGADGETFACTORY_H_
#define SYSTEMHEALTHGADGETFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class SystemHealthGadgetFactory : public IUAVGadgetFactory
{
Q_OBJECT
public:
SystemHealthGadgetFactory(QObject *parent = 0);
~SystemHealthGadgetFactory();
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // SYSTEMHEALTHGADGETFACTORY_H_
/**
******************************************************************************
*
* @file systemhealthgadgetfactory.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHGADGETFACTORY_H_
#define SYSTEMHEALTHGADGETFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class SystemHealthGadgetFactory : public IUAVGadgetFactory
{
Q_OBJECT
public:
SystemHealthGadgetFactory(QObject *parent = 0);
~SystemHealthGadgetFactory();
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // SYSTEMHEALTHGADGETFACTORY_H_

2
ground/src/plugins/systemhealth/systemhealthgadgetoptionspage.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System Health Plugin Gadget options page
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/systemhealth/systemhealthgadgetoptionspage.h
View File

@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief System Health Plugin Gadget options page
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/

346
ground/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
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@ -1,173 +1,173 @@
/**
******************************************************************************
*
* @file systemhealthgadgetwidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @brief System Health widget, does the actual drawing
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/systemalarms.h"
#include <iostream>
#include <QtGui/QFileDialog>
#include <QDebug>
/*
* Initialize the widget
*/
SystemHealthGadgetWidget::SystemHealthGadgetWidget(QWidget *parent) : QGraphicsView(parent)
{
setMinimumSize(128,128);
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setScene(new QGraphicsScene(this));
m_renderer = new QSvgRenderer();
background = new QGraphicsSvgItem();
foreground = new QGraphicsSvgItem();
paint();
// Now connect the widget to the SystemAlarms UAVObject
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
SystemAlarms* obj = dynamic_cast<SystemAlarms*>(objManager->getObject(QString("SystemAlarms")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAlarms(UAVObject*)));
// Test code for timer to move the index
testValue=0;
connect(&m_testTimer, SIGNAL(timeout()), this, SLOT(testRotate()));
m_testTimer.start(1000);
}
void SystemHealthGadgetWidget::updateAlarms(UAVObject* systemAlarm)
{
// This code does not know anything about alarms beforehand, and
// I found to efficient way to locate items inside the scene by
// name, so it's just as simple to reset the scene:
// And add the one with the right name.
QGraphicsScene *m_scene = scene();
foreach ( QGraphicsItem* item , m_scene->items()){
m_scene->removeItem(item);
}
m_scene->addItem(background);
QString alarm = systemAlarm->getName();
foreach (UAVObjectField *field, systemAlarm->getFields()) {
for (uint i = 0; i < field->getNumElements(); ++i) {
QString element = field->getElementNames()[i];
QString value = field->getValue(i).toString();
if (m_renderer->elementExists(element)) {
QMatrix blockMatrix = m_renderer->matrixForElement(element);
qreal startX = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).x();
qreal startY = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).y();
QString element2 = element + "-" + value;
if (m_renderer->elementExists(element2)) {
QGraphicsSvgItem *ind = new QGraphicsSvgItem();
ind->setSharedRenderer(m_renderer);
ind->setElementId(element2);
QTransform matrix;
matrix.translate(startX,startY);
ind->setTransform(matrix,false);
m_scene->addItem(ind);
} else {
std::cout << "Warning: element " << element2.toStdString() << " not found in SVG."<<std::endl;
}
} else {
std::cout << "Warning: Element " << element.toStdString() << " not found in SVG." << std::endl;
}
}
}
m_scene->addItem(foreground);
}
SystemHealthGadgetWidget::~SystemHealthGadgetWidget()
{
// Do nothing
}
void SystemHealthGadgetWidget::setSystemFile(QString dfn)
{
if (QFile::exists(dfn))
{
m_renderer->load(dfn);
if(m_renderer->isValid())
{
fgenabled = false;
background->setSharedRenderer(m_renderer);
background->setElementId("background");
if (m_renderer->elementExists("foreground")) {
foreground->setSharedRenderer(m_renderer);
foreground->setElementId("foreground");
foreground->setZValue(99);
fgenabled = true;
}
std::cout<<"Dial file loaded"<<std::endl;
QGraphicsScene *l_scene = scene();
l_scene->setSceneRect(background->boundingRect());
fitInView(background, Qt::KeepAspectRatio );
}
}
else
{ std::cout<<"no file: "<<std::endl; }
}
void SystemHealthGadgetWidget::paint()
{
QGraphicsScene *l_scene = scene();
l_scene->clear();
l_scene->addItem(background);
l_scene->addItem(foreground);
update();
}
void SystemHealthGadgetWidget::paintEvent(QPaintEvent *event)
{
// Skip painting until the dial file is loaded
if (! m_renderer->isValid()) {
std::cout<<"System file not loaded, not rendering"<<std::endl;
return;
}
QGraphicsView::paintEvent(event);
}
// This event enables the dial to be dynamically resized
// whenever the gadget is resized, taking advantage of the vector
// nature of SVG dials.
void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
{
fitInView(background, Qt::KeepAspectRatio );
}
// Test function for timer to rotate needles
void SystemHealthGadgetWidget::test()
{
testValue=0;
}
/**
******************************************************************************
*
* @file systemhealthgadgetwidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @brief System Health widget, does the actual drawing
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/systemalarms.h"
#include <iostream>
#include <QtGui/QFileDialog>
#include <QDebug>
/*
* Initialize the widget
*/
SystemHealthGadgetWidget::SystemHealthGadgetWidget(QWidget *parent) : QGraphicsView(parent)
{
setMinimumSize(128,128);
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setScene(new QGraphicsScene(this));
m_renderer = new QSvgRenderer();
background = new QGraphicsSvgItem();
foreground = new QGraphicsSvgItem();
paint();
// Now connect the widget to the SystemAlarms UAVObject
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
SystemAlarms* obj = dynamic_cast<SystemAlarms*>(objManager->getObject(QString("SystemAlarms")));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAlarms(UAVObject*)));
// Test code for timer to move the index
testValue=0;
connect(&m_testTimer, SIGNAL(timeout()), this, SLOT(testRotate()));
m_testTimer.start(1000);
}
void SystemHealthGadgetWidget::updateAlarms(UAVObject* systemAlarm)
{
// This code does not know anything about alarms beforehand, and
// I found to efficient way to locate items inside the scene by
// name, so it's just as simple to reset the scene:
// And add the one with the right name.
QGraphicsScene *m_scene = scene();
foreach ( QGraphicsItem* item , m_scene->items()){
m_scene->removeItem(item);
}
m_scene->addItem(background);
QString alarm = systemAlarm->getName();
foreach (UAVObjectField *field, systemAlarm->getFields()) {
for (uint i = 0; i < field->getNumElements(); ++i) {
QString element = field->getElementNames()[i];
QString value = field->getValue(i).toString();
if (m_renderer->elementExists(element)) {
QMatrix blockMatrix = m_renderer->matrixForElement(element);
qreal startX = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).x();
qreal startY = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).y();
QString element2 = element + "-" + value;
if (m_renderer->elementExists(element2)) {
QGraphicsSvgItem *ind = new QGraphicsSvgItem();
ind->setSharedRenderer(m_renderer);
ind->setElementId(element2);
QTransform matrix;
matrix.translate(startX,startY);
ind->setTransform(matrix,false);
m_scene->addItem(ind);
} else {
std::cout << "Warning: element " << element2.toStdString() << " not found in SVG."<<std::endl;
}
} else {
std::cout << "Warning: Element " << element.toStdString() << " not found in SVG." << std::endl;
}
}
}
m_scene->addItem(foreground);
}
SystemHealthGadgetWidget::~SystemHealthGadgetWidget()
{
// Do nothing
}
void SystemHealthGadgetWidget::setSystemFile(QString dfn)
{
if (QFile::exists(dfn))
{
m_renderer->load(dfn);
if(m_renderer->isValid())
{
fgenabled = false;
background->setSharedRenderer(m_renderer);
background->setElementId("background");
if (m_renderer->elementExists("foreground")) {
foreground->setSharedRenderer(m_renderer);
foreground->setElementId("foreground");
foreground->setZValue(99);
fgenabled = true;
}
std::cout<<"Dial file loaded"<<std::endl;
QGraphicsScene *l_scene = scene();
l_scene->setSceneRect(background->boundingRect());
fitInView(background, Qt::KeepAspectRatio );
}
}
else
{ std::cout<<"no file: "<<std::endl; }
}
void SystemHealthGadgetWidget::paint()
{
QGraphicsScene *l_scene = scene();
l_scene->clear();
l_scene->addItem(background);
l_scene->addItem(foreground);
update();
}
void SystemHealthGadgetWidget::paintEvent(QPaintEvent *event)
{
// Skip painting until the dial file is loaded
if (! m_renderer->isValid()) {
std::cout<<"System file not loaded, not rendering"<<std::endl;
return;
}
QGraphicsView::paintEvent(event);
}
// This event enables the dial to be dynamically resized
// whenever the gadget is resized, taking advantage of the vector
// nature of SVG dials.
void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
{
fitInView(background, Qt::KeepAspectRatio );
}
// Test function for timer to rotate needles
void SystemHealthGadgetWidget::test()
{
testValue=0;
}

148
ground/src/plugins/systemhealth/systemhealthgadgetwidget.h
View File

@ -1,74 +1,74 @@
/**
******************************************************************************
*
* @file systemhealthgadgetwidget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHGADGETWIDGET_H_
#define SYSTEMHEALTHGADGETWIDGET_H_
#include "systemhealthgadgetconfiguration.h"
#include "uavobjects/uavobject.h"
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QFile>
#include <QTimer>
class SystemHealthGadgetWidget : public QGraphicsView
{
Q_OBJECT
public:
SystemHealthGadgetWidget(QWidget *parent = 0);
~SystemHealthGadgetWidget();
void setSystemFile(QString dfn);
void setIndicator(QString indicator);
void paint();
protected:
void paintEvent(QPaintEvent *event);
void resizeEvent(QResizeEvent *event);
private slots:
// Test function
void test();
void updateAlarms(UAVObject *systemAlarm); // Called by the systemalarms UAVObject
private:
QSvgRenderer *m_renderer;
QGraphicsSvgItem *background;
QGraphicsSvgItem *foreground;
// Simple flag to skip rendering if the
bool fgenabled; // layer does not exist.
// Test variables
double testValue;
QTimer m_testTimer;
// End test variables
};
#endif /* SYSTEMHEALTHGADGETWIDGET_H_ */
/**
******************************************************************************
*
* @file systemhealthgadgetwidget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHGADGETWIDGET_H_
#define SYSTEMHEALTHGADGETWIDGET_H_
#include "systemhealthgadgetconfiguration.h"
#include "uavobjects/uavobject.h"
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QFile>
#include <QTimer>
class SystemHealthGadgetWidget : public QGraphicsView
{
Q_OBJECT
public:
SystemHealthGadgetWidget(QWidget *parent = 0);
~SystemHealthGadgetWidget();
void setSystemFile(QString dfn);
void setIndicator(QString indicator);
void paint();
protected:
void paintEvent(QPaintEvent *event);
void resizeEvent(QResizeEvent *event);
private slots:
// Test function
void test();
void updateAlarms(UAVObject *systemAlarm); // Called by the systemalarms UAVObject
private:
QSvgRenderer *m_renderer;
QGraphicsSvgItem *background;
QGraphicsSvgItem *foreground;
// Simple flag to skip rendering if the
bool fgenabled; // layer does not exist.
// Test variables
double testValue;
QTimer m_testTimer;
// End test variables
};
#endif /* SYSTEMHEALTHGADGETWIDGET_H_ */

130
ground/src/plugins/systemhealth/systemhealthplugin.cpp
View File

@ -1,65 +1,65 @@
/**
******************************************************************************
*
* @file systemhealthplugin.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthplugin.h"
#include "systemhealthgadgetfactory.h"
#include <QDebug>
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
SystemHealthPlugin::SystemHealthPlugin()
{
// Do nothing
}
SystemHealthPlugin::~SystemHealthPlugin()
{
// Do nothing
}
bool SystemHealthPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new SystemHealthGadgetFactory(this);
addAutoReleasedObject(mf);
return true;
}
void SystemHealthPlugin::extensionsInitialized()
{
// Do nothing
}
void SystemHealthPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(SystemHealthPlugin)
/**
******************************************************************************
*
* @file systemhealthplugin.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "systemhealthplugin.h"
#include "systemhealthgadgetfactory.h"
#include <QDebug>
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
SystemHealthPlugin::SystemHealthPlugin()
{
// Do nothing
}
SystemHealthPlugin::~SystemHealthPlugin()
{
// Do nothing
}
bool SystemHealthPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new SystemHealthGadgetFactory(this);
addAutoReleasedObject(mf);
return true;
}
void SystemHealthPlugin::extensionsInitialized()
{
// Do nothing
}
void SystemHealthPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(SystemHealthPlugin)

94
ground/src/plugins/systemhealth/systemhealthplugin.h
View File

@ -1,47 +1,47 @@
/**
******************************************************************************
*
* @file systemhealthplugin.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealth
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHPLUGIN_H_
#define SYSTEMHEALTHPLUGIN_H_
#include <extensionsystem/iplugin.h>
class SystemHealthGadgetFactory;
class SystemHealthPlugin : public ExtensionSystem::IPlugin
{
public:
SystemHealthPlugin();
~SystemHealthPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
SystemHealthGadgetFactory *mf;
};
#endif /* SYSTEMHEALTHPLUGIN_H_ */
/**
******************************************************************************
*
* @file systemhealthplugin.h
* @author Edouard Lafargue Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup systemhealthplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef SYSTEMHEALTHPLUGIN_H_
#define SYSTEMHEALTHPLUGIN_H_
#include <extensionsystem/iplugin.h>
class SystemHealthGadgetFactory;
class SystemHealthPlugin : public ExtensionSystem::IPlugin
{
public:
SystemHealthPlugin();
~SystemHealthPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
SystemHealthGadgetFactory *mf;
};
#endif /* SYSTEMHEALTHPLUGIN_H_ */

144
ground/src/plugins/uavobjectbrowser/browseritemdelegate.cpp
View File

@ -1,72 +1,72 @@
/**
******************************************************************************
*
* @file browseritemdelegate.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "browseritemdelegate.h"
#include "fieldtreeitem.h"
BrowserItemDelegate::BrowserItemDelegate(QObject *parent) :
QStyledItemDelegate(parent)
{
}
QWidget *BrowserItemDelegate::createEditor(QWidget *parent,
const QStyleOptionViewItem & option ,
const QModelIndex & index ) const
{
FieldTreeItem *item = static_cast<FieldTreeItem*>(index.internalPointer());
QWidget *editor = item->createEditor(parent);
Q_ASSERT(editor);
return editor;
}
void BrowserItemDelegate::setEditorData(QWidget *editor,
const QModelIndex &index) const
{
FieldTreeItem *item = static_cast<FieldTreeItem*>(index.internalPointer());
QVariant value = index.model()->data(index, Qt::EditRole);
item->setEditorValue(editor, value);
}
void BrowserItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const
{
FieldTreeItem *item = static_cast<FieldTreeItem*>(index.internalPointer());
QVariant value = item->getEditorValue(editor);
model->setData(index, value, Qt::EditRole);
}
void BrowserItemDelegate::updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
{
editor->setGeometry(option.rect);
}
QSize BrowserItemDelegate::sizeHint(const QStyleOptionViewItem & option, const QModelIndex &index) const
{
return QSpinBox().sizeHint();
}
/**
******************************************************************************
*
* @file browseritemdelegate.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "browseritemdelegate.h"
#include "fieldtreeitem.h"
BrowserItemDelegate::BrowserItemDelegate(QObject *parent) :
QStyledItemDelegate(parent)
{
}
QWidget *BrowserItemDelegate::createEditor(QWidget *parent,
const QStyleOptionViewItem & option ,
const QModelIndex & index ) const
{
FieldTreeItem *item = static_cast<FieldTreeItem*>(index.internalPointer());
QWidget *editor = item->createEditor(parent);
Q_ASSERT(editor);
return editor;
}
void BrowserItemDelegate::setEditorData(QWidget *editor,
const QModelIndex &index) const
{
FieldTreeItem *item = static_cast<FieldTreeItem*>(index.internalPointer());
QVariant value = index.model()->data(index, Qt::EditRole);
item->setEditorValue(editor, value);
}
void BrowserItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const
{
FieldTreeItem *item = static_cast<FieldTreeItem*>(index.internalPointer());
QVariant value = item->getEditorValue(editor);
model->setData(index, value, Qt::EditRole);
}
void BrowserItemDelegate::updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &/* index */) const
{
editor->setGeometry(option.rect);
}
QSize BrowserItemDelegate::sizeHint(const QStyleOptionViewItem & option, const QModelIndex &index) const
{
return QSpinBox().sizeHint();
}

116
ground/src/plugins/uavobjectbrowser/browseritemdelegate.h
View File

@ -1,58 +1,58 @@
/**
******************************************************************************
*
* @file browseritemdelegate.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef BROWSERITEMDELEGATE_H
#define BROWSERITEMDELEGATE_H
#include <QStyledItemDelegate>
class BrowserItemDelegate : public QStyledItemDelegate
{
Q_OBJECT
public:
explicit BrowserItemDelegate(QObject *parent = 0);
QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option,
const QModelIndex &index) const;
void setEditorData(QWidget *editor, const QModelIndex &index) const;
void setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const;
void updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &index) const;
QSize sizeHint(const QStyleOptionViewItem & option,
const QModelIndex &index) const;
signals:
public slots:
};
#endif // BROWSERITEMDELEGATE_H
/**
******************************************************************************
*
* @file browseritemdelegate.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef BROWSERITEMDELEGATE_H
#define BROWSERITEMDELEGATE_H
#include <QStyledItemDelegate>
class BrowserItemDelegate : public QStyledItemDelegate
{
Q_OBJECT
public:
explicit BrowserItemDelegate(QObject *parent = 0);
QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option,
const QModelIndex &index) const;
void setEditorData(QWidget *editor, const QModelIndex &index) const;
void setModelData(QWidget *editor, QAbstractItemModel *model,
const QModelIndex &index) const;
void updateEditorGeometry(QWidget *editor,
const QStyleOptionViewItem &option, const QModelIndex &index) const;
QSize sizeHint(const QStyleOptionViewItem & option,
const QModelIndex &index) const;
signals:
public slots:
};
#endif // BROWSERITEMDELEGATE_H

126
ground/src/plugins/uavobjectbrowser/browserplugin.cpp
View File

@ -1,63 +1,63 @@
/**
******************************************************************************
*
* @file mapplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "browserplugin.h"
#include "uavobjectbrowserfactory.h"
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
BrowserPlugin::BrowserPlugin()
{
// Do nothing
}
BrowserPlugin::~BrowserPlugin()
{
// Do nothing
}
bool BrowserPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new UAVObjectBrowserFactory(this);
addAutoReleasedObject(mf);
return true;
}
void BrowserPlugin::extensionsInitialized()
{
// Do nothing
}
void BrowserPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(BrowserPlugin)
/**
******************************************************************************
*
* @file mapplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "browserplugin.h"
#include "uavobjectbrowserfactory.h"
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
BrowserPlugin::BrowserPlugin()
{
// Do nothing
}
BrowserPlugin::~BrowserPlugin()
{
// Do nothing
}
bool BrowserPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new UAVObjectBrowserFactory(this);
addAutoReleasedObject(mf);
return true;
}
void BrowserPlugin::extensionsInitialized()
{
// Do nothing
}
void BrowserPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(BrowserPlugin)

94
ground/src/plugins/uavobjectbrowser/browserplugin.h
View File

@ -1,47 +1,47 @@
/**
******************************************************************************
*
* @file browserplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERPLUGIN_H_
#define UAVOBJECTBROWSERPLUGIN_H_
#include <extensionsystem/iplugin.h>
class UAVObjectBrowserFactory;
class BrowserPlugin : public ExtensionSystem::IPlugin
{
public:
BrowserPlugin();
~BrowserPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
UAVObjectBrowserFactory *mf;
};
#endif /* UAVOBJECTBROWSERPLUGIN_H_ */
/**
******************************************************************************
*
* @file browserplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERPLUGIN_H_
#define UAVOBJECTBROWSERPLUGIN_H_
#include <extensionsystem/iplugin.h>
class UAVObjectBrowserFactory;
class BrowserPlugin : public ExtensionSystem::IPlugin
{
public:
BrowserPlugin();
~BrowserPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
UAVObjectBrowserFactory *mf;
};
#endif /* UAVOBJECTBROWSERPLUGIN_H_ */

58
ground/src/plugins/uavobjectbrowser/fieldtreeitem.cpp
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@ -1,29 +1,29 @@
/**
******************************************************************************
*
* @file fieldtreeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "fieldtreeitem.h"
/**
******************************************************************************
*
* @file fieldtreeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "fieldtreeitem.h"

500
ground/src/plugins/uavobjectbrowser/fieldtreeitem.h
View File

@ -1,250 +1,250 @@
/**
******************************************************************************
*
* @file fieldtreeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef FIELDTREEITEM_H
#define FIELDTREEITEM_H
#include "treeitem.h"
#include <QtCore/QStringList>
#include <QtGui/QWidget>
#include <QtGui/QSpinBox>
#include <QtGui/QDoubleSpinBox>
#include <QtGui/QComboBox>
#include <limits>
#define QINT8MIN std::numeric_limits<qint8>::min()
#define QINT8MAX std::numeric_limits<qint8>::max()
#define QUINTMIN std::numeric_limits<quint8>::min()
#define QUINT8MAX std::numeric_limits<quint8>::max()
#define QINT16MIN std::numeric_limits<qint16>::min()
#define QINT16MAX std::numeric_limits<qint16>::max()
#define QUINT16MAX std::numeric_limits<quint16>::max()
#define QINT32MIN std::numeric_limits<qint32>::min()
#define QINT32MAX std::numeric_limits<qint32>::max()
#define QUINT32MAX std::numeric_limits<qint32>::max()
class FieldTreeItem : public TreeItem
{
Q_OBJECT
public:
FieldTreeItem(int index, const QList<QVariant> &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_index(index) { }
FieldTreeItem(int index, const QVariant &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_index(index) { }
bool isEditable() { return true; }
virtual QWidget *createEditor(QWidget *parent) = 0;
virtual QVariant getEditorValue(QWidget *editor) = 0;
virtual void setEditorValue(QWidget *editor, QVariant value) = 0;
virtual void apply() { }
protected:
int m_index;
};
class EnumFieldTreeItem : public FieldTreeItem
{
Q_OBJECT
public:
EnumFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data,
TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_enumOptions(field->getOptions()), m_field(field) { }
EnumFieldTreeItem(UAVObjectField *field, int index, const QVariant &data,
TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_enumOptions(field->getOptions()), m_field(field) { }
void setData(QVariant value, int column) {
QStringList options = m_field->getOptions();
QVariant tmpValue = m_field->getValue(m_index);
int tmpValIndex = options.indexOf(tmpValue.toString());
setChanged(tmpValIndex != value);
TreeItem::setData(value, column);
}
QString enumOptions(int index) { return m_enumOptions.at(index); }
void apply() {
int value = data(dataColumn).toInt();
QStringList options = m_field->getOptions();
m_field->setValue(options[value], m_index);
setChanged(false);
}
void update() {
QStringList options = m_field->getOptions();
QVariant value = m_field->getValue(m_index);
int valIndex = options.indexOf(value.toString());
if (data() != valIndex || changed()) {
TreeItem::setData(valIndex);
setHighlight(true);
}
}
QWidget *createEditor(QWidget *parent) {
QComboBox *editor = new QComboBox(parent);
foreach (QString option, m_enumOptions)
editor->addItem(option);
return editor;
}
QVariant getEditorValue(QWidget *editor) {
QComboBox *comboBox = static_cast<QComboBox*>(editor);
return comboBox->currentIndex();
}
void setEditorValue(QWidget *editor, QVariant value) {
QComboBox *comboBox = static_cast<QComboBox*>(editor);
comboBox->setCurrentIndex(value.toInt());
}
private:
QStringList m_enumOptions;
UAVObjectField *m_field;
};
class IntFieldTreeItem : public FieldTreeItem
{
Q_OBJECT
public:
IntFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) {
setMinMaxValues();
}
IntFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) {
setMinMaxValues();
}
void setMinMaxValues() {
switch (m_field->getType()) {
case UAVObjectField::INT8:
m_minValue = QINT8MIN;
m_maxValue = QINT8MAX;
break;
case UAVObjectField::INT16:
m_minValue = QINT16MIN;
m_maxValue = QINT16MAX;
break;
case UAVObjectField::INT32:
m_minValue = QINT32MIN;
m_maxValue = QINT32MAX;
break;
case UAVObjectField::UINT8:
m_minValue = QUINTMIN;
m_maxValue = QUINT8MAX;
break;
case UAVObjectField::UINT16:
m_minValue = QUINTMIN;
m_maxValue = QUINT16MAX;
break;
case UAVObjectField::UINT32:
m_minValue = QUINTMIN;
m_maxValue = QUINT32MAX;
break;
default:
Q_ASSERT(false);
break;
}
}
QWidget *createEditor(QWidget *parent) {
QSpinBox *editor = new QSpinBox(parent);
editor->setMinimum(m_minValue);
editor->setMaximum(m_maxValue);
return editor;
}
QVariant getEditorValue(QWidget *editor) {
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
return spinBox->value();
}
void setEditorValue(QWidget *editor, QVariant value) {
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->setValue(value.toInt());
}
void setData(QVariant value, int column) {
setChanged(m_field->getValue(m_index) != value);
TreeItem::setData(value, column);
}
void apply() {
m_field->setValue(data(dataColumn).toInt(), m_index);
setChanged(false);
}
void update() {
int value = m_field->getValue(m_index).toInt();
if (data() != value || changed()) {
TreeItem::setData(value);
setHighlight(true);
}
}
private:
UAVObjectField *m_field;
int m_minValue;
int m_maxValue;
};
class FloatFieldTreeItem : public FieldTreeItem
{
Q_OBJECT
public:
FloatFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) { }
FloatFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) { }
void setData(QVariant value, int column) {
setChanged(m_field->getValue(m_index) != value);
TreeItem::setData(value, column);
}
void apply() {
m_field->setValue(data(dataColumn).toDouble(), m_index);
setChanged(false);
}
void update() {
double value = m_field->getValue(m_index).toDouble();
if (data() != value || changed()) {
TreeItem::setData(value);
setHighlight(true);
}
}
QWidget *createEditor(QWidget *parent) {
QDoubleSpinBox *editor = new QDoubleSpinBox(parent);
editor->setDecimals(6);
editor->setMinimum(-std::numeric_limits<float>::max());
editor->setMaximum(std::numeric_limits<float>::max());
return editor;
}
QVariant getEditorValue(QWidget *editor) {
QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
spinBox->interpretText();
return spinBox->value();
}
void setEditorValue(QWidget *editor, QVariant value) {
QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
spinBox->setValue(value.toDouble());
}
private:
UAVObjectField *m_field;
};
#endif // FIELDTREEITEM_H
/**
******************************************************************************
*
* @file fieldtreeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef FIELDTREEITEM_H
#define FIELDTREEITEM_H
#include "treeitem.h"
#include <QtCore/QStringList>
#include <QtGui/QWidget>
#include <QtGui/QSpinBox>
#include <QtGui/QDoubleSpinBox>
#include <QtGui/QComboBox>
#include <limits>
#define QINT8MIN std::numeric_limits<qint8>::min()
#define QINT8MAX std::numeric_limits<qint8>::max()
#define QUINTMIN std::numeric_limits<quint8>::min()
#define QUINT8MAX std::numeric_limits<quint8>::max()
#define QINT16MIN std::numeric_limits<qint16>::min()
#define QINT16MAX std::numeric_limits<qint16>::max()
#define QUINT16MAX std::numeric_limits<quint16>::max()
#define QINT32MIN std::numeric_limits<qint32>::min()
#define QINT32MAX std::numeric_limits<qint32>::max()
#define QUINT32MAX std::numeric_limits<qint32>::max()
class FieldTreeItem : public TreeItem
{
Q_OBJECT
public:
FieldTreeItem(int index, const QList<QVariant> &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_index(index) { }
FieldTreeItem(int index, const QVariant &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_index(index) { }
bool isEditable() { return true; }
virtual QWidget *createEditor(QWidget *parent) = 0;
virtual QVariant getEditorValue(QWidget *editor) = 0;
virtual void setEditorValue(QWidget *editor, QVariant value) = 0;
virtual void apply() { }
protected:
int m_index;
};
class EnumFieldTreeItem : public FieldTreeItem
{
Q_OBJECT
public:
EnumFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data,
TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_enumOptions(field->getOptions()), m_field(field) { }
EnumFieldTreeItem(UAVObjectField *field, int index, const QVariant &data,
TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_enumOptions(field->getOptions()), m_field(field) { }
void setData(QVariant value, int column) {
QStringList options = m_field->getOptions();
QVariant tmpValue = m_field->getValue(m_index);
int tmpValIndex = options.indexOf(tmpValue.toString());
setChanged(tmpValIndex != value);
TreeItem::setData(value, column);
}
QString enumOptions(int index) { return m_enumOptions.at(index); }
void apply() {
int value = data(dataColumn).toInt();
QStringList options = m_field->getOptions();
m_field->setValue(options[value], m_index);
setChanged(false);
}
void update() {
QStringList options = m_field->getOptions();
QVariant value = m_field->getValue(m_index);
int valIndex = options.indexOf(value.toString());
if (data() != valIndex || changed()) {
TreeItem::setData(valIndex);
setHighlight(true);
}
}
QWidget *createEditor(QWidget *parent) {
QComboBox *editor = new QComboBox(parent);
foreach (QString option, m_enumOptions)
editor->addItem(option);
return editor;
}
QVariant getEditorValue(QWidget *editor) {
QComboBox *comboBox = static_cast<QComboBox*>(editor);
return comboBox->currentIndex();
}
void setEditorValue(QWidget *editor, QVariant value) {
QComboBox *comboBox = static_cast<QComboBox*>(editor);
comboBox->setCurrentIndex(value.toInt());
}
private:
QStringList m_enumOptions;
UAVObjectField *m_field;
};
class IntFieldTreeItem : public FieldTreeItem
{
Q_OBJECT
public:
IntFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) {
setMinMaxValues();
}
IntFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) {
setMinMaxValues();
}
void setMinMaxValues() {
switch (m_field->getType()) {
case UAVObjectField::INT8:
m_minValue = QINT8MIN;
m_maxValue = QINT8MAX;
break;
case UAVObjectField::INT16:
m_minValue = QINT16MIN;
m_maxValue = QINT16MAX;
break;
case UAVObjectField::INT32:
m_minValue = QINT32MIN;
m_maxValue = QINT32MAX;
break;
case UAVObjectField::UINT8:
m_minValue = QUINTMIN;
m_maxValue = QUINT8MAX;
break;
case UAVObjectField::UINT16:
m_minValue = QUINTMIN;
m_maxValue = QUINT16MAX;
break;
case UAVObjectField::UINT32:
m_minValue = QUINTMIN;
m_maxValue = QUINT32MAX;
break;
default:
Q_ASSERT(false);
break;
}
}
QWidget *createEditor(QWidget *parent) {
QSpinBox *editor = new QSpinBox(parent);
editor->setMinimum(m_minValue);
editor->setMaximum(m_maxValue);
return editor;
}
QVariant getEditorValue(QWidget *editor) {
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->interpretText();
return spinBox->value();
}
void setEditorValue(QWidget *editor, QVariant value) {
QSpinBox *spinBox = static_cast<QSpinBox*>(editor);
spinBox->setValue(value.toInt());
}
void setData(QVariant value, int column) {
setChanged(m_field->getValue(m_index) != value);
TreeItem::setData(value, column);
}
void apply() {
m_field->setValue(data(dataColumn).toInt(), m_index);
setChanged(false);
}
void update() {
int value = m_field->getValue(m_index).toInt();
if (data() != value || changed()) {
TreeItem::setData(value);
setHighlight(true);
}
}
private:
UAVObjectField *m_field;
int m_minValue;
int m_maxValue;
};
class FloatFieldTreeItem : public FieldTreeItem
{
Q_OBJECT
public:
FloatFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) { }
FloatFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, TreeItem *parent = 0) :
FieldTreeItem(index, data, parent), m_field(field) { }
void setData(QVariant value, int column) {
setChanged(m_field->getValue(m_index) != value);
TreeItem::setData(value, column);
}
void apply() {
m_field->setValue(data(dataColumn).toDouble(), m_index);
setChanged(false);
}
void update() {
double value = m_field->getValue(m_index).toDouble();
if (data() != value || changed()) {
TreeItem::setData(value);
setHighlight(true);
}
}
QWidget *createEditor(QWidget *parent) {
QDoubleSpinBox *editor = new QDoubleSpinBox(parent);
editor->setDecimals(6);
editor->setMinimum(-std::numeric_limits<float>::max());
editor->setMaximum(std::numeric_limits<float>::max());
return editor;
}
QVariant getEditorValue(QWidget *editor) {
QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
spinBox->interpretText();
return spinBox->value();
}
void setEditorValue(QWidget *editor, QVariant value) {
QDoubleSpinBox *spinBox = static_cast<QDoubleSpinBox*>(editor);
spinBox->setValue(value.toDouble());
}
private:
UAVObjectField *m_field;
};
#endif // FIELDTREEITEM_H

256
ground/src/plugins/uavobjectbrowser/treeitem.cpp
View File

@ -1,128 +1,128 @@
/**
******************************************************************************
*
* @file treeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "treeitem.h"
int TreeItem::m_highlightTimeMs = 500;
TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
QObject(0),
m_data(data),
m_parent(parent),
m_highlight(false),
m_changed(false)
{
connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
}
TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
QObject(0),
m_parent(parent),
m_highlight(false),
m_changed(false)
{
m_data << data << "" << "";
connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
}
TreeItem::~TreeItem()
{
qDeleteAll(m_children);
}
void TreeItem::appendChild(TreeItem *child)
{
m_children.append(child);
child->setParentTree(this);
}
void TreeItem::insert(int index, TreeItem *child)
{
m_children.insert(index, child);
child->setParentTree(this);
}
TreeItem *TreeItem::child(int row)
{
return m_children.value(row);
}
int TreeItem::childCount() const
{
return m_children.count();
}
int TreeItem::row() const
{
if (m_parent)
return m_parent->m_children.indexOf(const_cast<TreeItem*>(this));
return 0;
}
int TreeItem::columnCount() const
{
return m_data.count();
}
QVariant TreeItem::data(int column) const
{
return m_data.value(column);
}
void TreeItem::setData(QVariant value, int column)
{
m_data.replace(column, value);
}
void TreeItem::update() {
foreach(TreeItem *child, treeChildren())
child->update();
}
void TreeItem::apply() {
foreach(TreeItem *child, treeChildren())
child->apply();
}
void TreeItem::setHighlight(bool highlight) {
m_highlight = highlight;
m_changed = false;
if (highlight) {
if (m_timer.isActive()) {
m_timer.stop();
}
m_timer.setSingleShot(true);
m_timer.start(m_highlightTimeMs);
}
emit updateHighlight(this);
}
void TreeItem::removeHighlight() {
m_highlight = false;
update();
emit updateHighlight(this);
}
/**
******************************************************************************
*
* @file treeitem.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "treeitem.h"
int TreeItem::m_highlightTimeMs = 500;
TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
QObject(0),
m_data(data),
m_parent(parent),
m_highlight(false),
m_changed(false)
{
connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
}
TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
QObject(0),
m_parent(parent),
m_highlight(false),
m_changed(false)
{
m_data << data << "" << "";
connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
}
TreeItem::~TreeItem()
{
qDeleteAll(m_children);
}
void TreeItem::appendChild(TreeItem *child)
{
m_children.append(child);
child->setParentTree(this);
}
void TreeItem::insert(int index, TreeItem *child)
{
m_children.insert(index, child);
child->setParentTree(this);
}
TreeItem *TreeItem::child(int row)
{
return m_children.value(row);
}
int TreeItem::childCount() const
{
return m_children.count();
}
int TreeItem::row() const
{
if (m_parent)
return m_parent->m_children.indexOf(const_cast<TreeItem*>(this));
return 0;
}
int TreeItem::columnCount() const
{
return m_data.count();
}
QVariant TreeItem::data(int column) const
{
return m_data.value(column);
}
void TreeItem::setData(QVariant value, int column)
{
m_data.replace(column, value);
}
void TreeItem::update() {
foreach(TreeItem *child, treeChildren())
child->update();
}
void TreeItem::apply() {
foreach(TreeItem *child, treeChildren())
child->apply();
}
void TreeItem::setHighlight(bool highlight) {
m_highlight = highlight;
m_changed = false;
if (highlight) {
if (m_timer.isActive()) {
m_timer.stop();
}
m_timer.setSingleShot(true);
m_timer.start(m_highlightTimeMs);
}
emit updateHighlight(this);
}
void TreeItem::removeHighlight() {
m_highlight = false;
update();
emit updateHighlight(this);
}

366
ground/src/plugins/uavobjectbrowser/treeitem.h
View File

@ -1,183 +1,183 @@
/**
******************************************************************************
*
* @file treeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TREEITEM_H
#define TREEITEM_H
#include "uavobjects/uavobject.h"
#include "uavobjects/uavmetaobject.h"
#include "uavobjects/uavobjectfield.h"
#include <QtCore/QList>
#include <QtCore/QVariant>
#include <QtCore/QTimer>
#include <QtCore/QObject>
class TreeItem : public QObject
{
Q_OBJECT
public:
TreeItem(const QList<QVariant> &data, TreeItem *parent = 0);
TreeItem(const QVariant &data, TreeItem *parent = 0);
virtual ~TreeItem();
void appendChild(TreeItem *child);
void insert(int index, TreeItem *child);
TreeItem *child(int row);
inline QList<TreeItem*> treeChildren() const { return m_children; }
int childCount() const;
int columnCount() const;
QVariant data(int column = 1) const;
// only column 1 (TreeItem::dataColumn) is changed with setData currently
// other columns are initialized in constructor
virtual void setData(QVariant value, int column = 1);
int row() const;
TreeItem *parent() { return m_parent; }
void setParentTree(TreeItem *parent) { m_parent = parent; }
inline virtual bool isEditable() { return false; }
virtual void update();
virtual void apply();
inline bool highlighted() { return m_highlight; }
void setHighlight(bool highlight);
static void setHighlightTime(int time) { m_highlightTimeMs = time; }
inline bool changed() { return m_changed; }
inline void setChanged(bool changed) { m_changed = changed; }
signals:
void updateHighlight(TreeItem*);
private slots:
void removeHighlight();
private:
QList<TreeItem*> m_children;
// m_data contains: [0] property name, [1] value, and [2] unit
QList<QVariant> m_data;
TreeItem *m_parent;
bool m_highlight;
bool m_changed;
QTimer m_timer;
public:
static const int dataColumn = 1;
private:
static int m_highlightTimeMs;
};
class TopTreeItem : public TreeItem
{
Q_OBJECT
public:
TopTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
TopTreeItem(const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
QList<quint32> objIds() { return m_objIds; }
void addObjId(quint32 objId) { m_objIds.append(objId); }
void insertObjId(int index, quint32 objId) { m_objIds.insert(index, objId); }
int nameIndex(QString name) {
for (int i = 0; i < childCount(); ++i) {
if (name < child(i)->data(0).toString())
return i;
}
return childCount();
}
private:
QList<quint32> m_objIds;
};
class ObjectTreeItem : public TreeItem
{
Q_OBJECT
public:
ObjectTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_obj(0) { }
ObjectTreeItem(const QVariant &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_obj(0) { }
void setObject(UAVObject *obj) { m_obj = obj; }
inline UAVObject *object() { return m_obj; }
private:
UAVObject *m_obj;
};
class MetaObjectTreeItem : public ObjectTreeItem
{
Q_OBJECT
public:
MetaObjectTreeItem(UAVObject *obj, const QList<QVariant> &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { setObject(obj); }
MetaObjectTreeItem(UAVObject *obj, const QVariant &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { setObject(obj); }
};
class DataObjectTreeItem : public ObjectTreeItem
{
Q_OBJECT
public:
DataObjectTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { }
DataObjectTreeItem(const QVariant &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { }
virtual void apply() {
foreach(TreeItem *child, treeChildren()) {
MetaObjectTreeItem *metaChild = dynamic_cast<MetaObjectTreeItem*>(child);
if (!metaChild)
child->apply();
}
}
virtual void update() {
foreach(TreeItem *child, treeChildren()) {
MetaObjectTreeItem *metaChild = dynamic_cast<MetaObjectTreeItem*>(child);
if (!metaChild)
child->update();
}
}
};
class InstanceTreeItem : public DataObjectTreeItem
{
Q_OBJECT
public:
InstanceTreeItem(UAVObject *obj, const QList<QVariant> &data, TreeItem *parent = 0) :
DataObjectTreeItem(data, parent) { setObject(obj); }
InstanceTreeItem(UAVObject *obj, const QVariant &data, TreeItem *parent = 0) :
DataObjectTreeItem(data, parent) { setObject(obj); }
virtual void apply() { TreeItem::apply(); }
virtual void update() { TreeItem::update(); }
};
class ArrayFieldTreeItem : public TreeItem
{
Q_OBJECT
public:
ArrayFieldTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
ArrayFieldTreeItem(const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
};
#endif // TREEITEM_H
/**
******************************************************************************
*
* @file treeitem.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TREEITEM_H
#define TREEITEM_H
#include "uavobjects/uavobject.h"
#include "uavobjects/uavmetaobject.h"
#include "uavobjects/uavobjectfield.h"
#include <QtCore/QList>
#include <QtCore/QVariant>
#include <QtCore/QTimer>
#include <QtCore/QObject>
class TreeItem : public QObject
{
Q_OBJECT
public:
TreeItem(const QList<QVariant> &data, TreeItem *parent = 0);
TreeItem(const QVariant &data, TreeItem *parent = 0);
virtual ~TreeItem();
void appendChild(TreeItem *child);
void insert(int index, TreeItem *child);
TreeItem *child(int row);
inline QList<TreeItem*> treeChildren() const { return m_children; }
int childCount() const;
int columnCount() const;
QVariant data(int column = 1) const;
// only column 1 (TreeItem::dataColumn) is changed with setData currently
// other columns are initialized in constructor
virtual void setData(QVariant value, int column = 1);
int row() const;
TreeItem *parent() { return m_parent; }
void setParentTree(TreeItem *parent) { m_parent = parent; }
inline virtual bool isEditable() { return false; }
virtual void update();
virtual void apply();
inline bool highlighted() { return m_highlight; }
void setHighlight(bool highlight);
static void setHighlightTime(int time) { m_highlightTimeMs = time; }
inline bool changed() { return m_changed; }
inline void setChanged(bool changed) { m_changed = changed; }
signals:
void updateHighlight(TreeItem*);
private slots:
void removeHighlight();
private:
QList<TreeItem*> m_children;
// m_data contains: [0] property name, [1] value, and [2] unit
QList<QVariant> m_data;
TreeItem *m_parent;
bool m_highlight;
bool m_changed;
QTimer m_timer;
public:
static const int dataColumn = 1;
private:
static int m_highlightTimeMs;
};
class TopTreeItem : public TreeItem
{
Q_OBJECT
public:
TopTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
TopTreeItem(const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
QList<quint32> objIds() { return m_objIds; }
void addObjId(quint32 objId) { m_objIds.append(objId); }
void insertObjId(int index, quint32 objId) { m_objIds.insert(index, objId); }
int nameIndex(QString name) {
for (int i = 0; i < childCount(); ++i) {
if (name < child(i)->data(0).toString())
return i;
}
return childCount();
}
private:
QList<quint32> m_objIds;
};
class ObjectTreeItem : public TreeItem
{
Q_OBJECT
public:
ObjectTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_obj(0) { }
ObjectTreeItem(const QVariant &data, TreeItem *parent = 0) :
TreeItem(data, parent), m_obj(0) { }
void setObject(UAVObject *obj) { m_obj = obj; }
inline UAVObject *object() { return m_obj; }
private:
UAVObject *m_obj;
};
class MetaObjectTreeItem : public ObjectTreeItem
{
Q_OBJECT
public:
MetaObjectTreeItem(UAVObject *obj, const QList<QVariant> &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { setObject(obj); }
MetaObjectTreeItem(UAVObject *obj, const QVariant &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { setObject(obj); }
};
class DataObjectTreeItem : public ObjectTreeItem
{
Q_OBJECT
public:
DataObjectTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { }
DataObjectTreeItem(const QVariant &data, TreeItem *parent = 0) :
ObjectTreeItem(data, parent) { }
virtual void apply() {
foreach(TreeItem *child, treeChildren()) {
MetaObjectTreeItem *metaChild = dynamic_cast<MetaObjectTreeItem*>(child);
if (!metaChild)
child->apply();
}
}
virtual void update() {
foreach(TreeItem *child, treeChildren()) {
MetaObjectTreeItem *metaChild = dynamic_cast<MetaObjectTreeItem*>(child);
if (!metaChild)
child->update();
}
}
};
class InstanceTreeItem : public DataObjectTreeItem
{
Q_OBJECT
public:
InstanceTreeItem(UAVObject *obj, const QList<QVariant> &data, TreeItem *parent = 0) :
DataObjectTreeItem(data, parent) { setObject(obj); }
InstanceTreeItem(UAVObject *obj, const QVariant &data, TreeItem *parent = 0) :
DataObjectTreeItem(data, parent) { setObject(obj); }
virtual void apply() { TreeItem::apply(); }
virtual void update() { TreeItem::update(); }
};
class ArrayFieldTreeItem : public TreeItem
{
Q_OBJECT
public:
ArrayFieldTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
ArrayFieldTreeItem(const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
};
#endif // TREEITEM_H

98
ground/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
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@ -1,49 +1,49 @@
/**
******************************************************************************
*
* @file uavobjectbrowser.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowser.h"
#include "uavobjectbrowserwidget.h"
#include "uavobjectbrowserconfiguration.h"
UAVObjectBrowser::UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
UAVObjectBrowser::~UAVObjectBrowser()
{
}
void UAVObjectBrowser::loadConfiguration(IUAVGadgetConfiguration* config)
{
UAVObjectBrowserConfiguration *m = qobject_cast<UAVObjectBrowserConfiguration*>(config);
m_widget->setRecentlyUpdatedColor(m->recentlyUpdatedColor());
m_widget->setManuallyChangedColor(m->manuallyChangedColor());
m_widget->setRecentlyUpdatedTimeout(m->recentlyUpdatedTimeout());
}
/**
******************************************************************************
*
* @file uavobjectbrowser.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowser.h"
#include "uavobjectbrowserwidget.h"
#include "uavobjectbrowserconfiguration.h"
UAVObjectBrowser::UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
UAVObjectBrowser::~UAVObjectBrowser()
{
}
void UAVObjectBrowser::loadConfiguration(IUAVGadgetConfiguration* config)
{
UAVObjectBrowserConfiguration *m = qobject_cast<UAVObjectBrowserConfiguration*>(config);
m_widget->setRecentlyUpdatedColor(m->recentlyUpdatedColor());
m_widget->setManuallyChangedColor(m->manuallyChangedColor());
m_widget->setRecentlyUpdatedTimeout(m->recentlyUpdatedTimeout());
}

112
ground/src/plugins/uavobjectbrowser/uavobjectbrowser.h
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@ -1,56 +1,56 @@
/**
******************************************************************************
*
* @file uavobjectbrowser.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSER_H_
#define UAVOBJECTBROWSER_H_
#include <coreplugin/iuavgadget.h>
#include "uavobjectbrowserwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class UAVObjectBrowserWidget;
using namespace Core;
class UAVObjectBrowser : public Core::IUAVGadget
{
Q_OBJECT
public:
UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widget, QWidget *parent = 0);
~UAVObjectBrowser();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
UAVObjectBrowserWidget *m_widget;
};
#endif // UAVOBJECTBROWSER_H_
/**
******************************************************************************
*
* @file uavobjectbrowser.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSER_H_
#define UAVOBJECTBROWSER_H_
#include <coreplugin/iuavgadget.h>
#include "uavobjectbrowserwidget.h"
class IUAVGadget;
class QWidget;
class QString;
class UAVObjectBrowserWidget;
using namespace Core;
class UAVObjectBrowser : public Core::IUAVGadget
{
Q_OBJECT
public:
UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widget, QWidget *parent = 0);
~UAVObjectBrowser();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
private:
UAVObjectBrowserWidget *m_widget;
};
#endif // UAVOBJECTBROWSER_H_

138
ground/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
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@ -1,69 +1,69 @@
/**
******************************************************************************
*
* @file uavobjectbrowserconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowserconfiguration.h"
#include <QtCore/QDataStream>
UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, const QByteArray &state, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_recentlyUpdatedColor(QColor(255, 230, 230)),
m_manuallyChangedColor(QColor(230, 230, 255)),
m_recentlyUpdatedTimeout(500)
{
if (state.count() > 0) {
QDataStream stream(state);
QColor recent;
QColor manual;
int timeout;
stream >> recent;
stream >> manual;
stream >> timeout;
m_recentlyUpdatedColor = recent;
m_manuallyChangedColor = manual;
m_recentlyUpdatedTimeout = timeout;
}
}
IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
{
UAVObjectBrowserConfiguration *m = new UAVObjectBrowserConfiguration(this->classId());
m->m_recentlyUpdatedColor = m_recentlyUpdatedColor;
m->m_manuallyChangedColor = m_manuallyChangedColor;
m->m_recentlyUpdatedTimeout = m_recentlyUpdatedTimeout;
return m;
}
QByteArray UAVObjectBrowserConfiguration::saveState() const
{
QByteArray bytes;
QDataStream stream(&bytes, QIODevice::WriteOnly);
stream << m_recentlyUpdatedColor;
stream << m_manuallyChangedColor;
stream << m_recentlyUpdatedTimeout;
return bytes;
}
/**
******************************************************************************
*
* @file uavobjectbrowserconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowserconfiguration.h"
#include <QtCore/QDataStream>
UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, const QByteArray &state, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_recentlyUpdatedColor(QColor(255, 230, 230)),
m_manuallyChangedColor(QColor(230, 230, 255)),
m_recentlyUpdatedTimeout(500)
{
if (state.count() > 0) {
QDataStream stream(state);
QColor recent;
QColor manual;
int timeout;
stream >> recent;
stream >> manual;
stream >> timeout;
m_recentlyUpdatedColor = recent;
m_manuallyChangedColor = manual;
m_recentlyUpdatedTimeout = timeout;
}
}
IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
{
UAVObjectBrowserConfiguration *m = new UAVObjectBrowserConfiguration(this->classId());
m->m_recentlyUpdatedColor = m_recentlyUpdatedColor;
m->m_manuallyChangedColor = m_manuallyChangedColor;
m->m_recentlyUpdatedTimeout = m_recentlyUpdatedTimeout;
return m;
}
QByteArray UAVObjectBrowserConfiguration::saveState() const
{
QByteArray bytes;
QDataStream stream(&bytes, QIODevice::WriteOnly);
stream << m_recentlyUpdatedColor;
stream << m_manuallyChangedColor;
stream << m_recentlyUpdatedTimeout;
return bytes;
}

128
ground/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
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@ -1,64 +1,64 @@
/**
******************************************************************************
*
* @file uavobjectbrowserconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERCONFIGURATION_H
#define UAVOBJECTBROWSERCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtGui/QColor>
using namespace Core;
class UAVObjectBrowserConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(QColor m_recentlyUpdatedColor READ recentlyUpdatedColor WRITE setRecentlyUpdatedColor)
Q_PROPERTY(QColor m_manuallyChangedColor READ manuallyChangedColor WRITE setManuallyChangedColor)
Q_PROPERTY(int m_recentlyUpdatedTimeout READ recentlyUpdatedTimeout WRITE setRecentlyUpdatedTimeout)
public:
explicit UAVObjectBrowserConfiguration(QString classId, const QByteArray &state = 0, QObject *parent = 0);
QByteArray saveState() const;
IUAVGadgetConfiguration *clone();
QColor recentlyUpdatedColor() const { return m_recentlyUpdatedColor; }
QColor manuallyChangedColor() const { return m_manuallyChangedColor; }
int recentlyUpdatedTimeout() const { return m_recentlyUpdatedTimeout; }
signals:
public slots:
void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; }
void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; }
void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; }
private:
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
int m_recentlyUpdatedTimeout;
};
#endif // UAVOBJECTBROWSERCONFIGURATION_H
/**
******************************************************************************
*
* @file uavobjectbrowserconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERCONFIGURATION_H
#define UAVOBJECTBROWSERCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtGui/QColor>
using namespace Core;
class UAVObjectBrowserConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(QColor m_recentlyUpdatedColor READ recentlyUpdatedColor WRITE setRecentlyUpdatedColor)
Q_PROPERTY(QColor m_manuallyChangedColor READ manuallyChangedColor WRITE setManuallyChangedColor)
Q_PROPERTY(int m_recentlyUpdatedTimeout READ recentlyUpdatedTimeout WRITE setRecentlyUpdatedTimeout)
public:
explicit UAVObjectBrowserConfiguration(QString classId, const QByteArray &state = 0, QObject *parent = 0);
QByteArray saveState() const;
IUAVGadgetConfiguration *clone();
QColor recentlyUpdatedColor() const { return m_recentlyUpdatedColor; }
QColor manuallyChangedColor() const { return m_manuallyChangedColor; }
int recentlyUpdatedTimeout() const { return m_recentlyUpdatedTimeout; }
signals:
public slots:
void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; }
void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; }
void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; }
private:
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
int m_recentlyUpdatedTimeout;
};
#endif // UAVOBJECTBROWSERCONFIGURATION_H

116
ground/src/plugins/uavobjectbrowser/uavobjectbrowserfactory.cpp
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@ -1,58 +1,58 @@
/**
******************************************************************************
*
* @file uavobjectbrowserfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowserfactory.h"
#include "uavobjectbrowserwidget.h"
#include "uavobjectbrowser.h"
#include "uavobjectbrowserconfiguration.h"
#include "uavobjectbrowseroptionspage.h"
#include <coreplugin/iuavgadget.h>
UAVObjectBrowserFactory::UAVObjectBrowserFactory(QObject *parent) :
IUAVGadgetFactory(QString("UAVObjectBrowser"), tr("UAVObject Browser"), parent)
{
}
UAVObjectBrowserFactory::~UAVObjectBrowserFactory()
{
}
Core::IUAVGadget* UAVObjectBrowserFactory::createGadget(QWidget *parent)
{
UAVObjectBrowserWidget* gadgetWidget = new UAVObjectBrowserWidget(parent);
return new UAVObjectBrowser(QString("UAVObjectBrowser"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *UAVObjectBrowserFactory::createConfiguration(const QByteArray &state)
{
return new UAVObjectBrowserConfiguration(QString("UAVObjectBrowser"), state);
}
IOptionsPage *UAVObjectBrowserFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new UAVObjectBrowserOptionsPage(qobject_cast<UAVObjectBrowserConfiguration*>(config));
}
/**
******************************************************************************
*
* @file uavobjectbrowserfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowserfactory.h"
#include "uavobjectbrowserwidget.h"
#include "uavobjectbrowser.h"
#include "uavobjectbrowserconfiguration.h"
#include "uavobjectbrowseroptionspage.h"
#include <coreplugin/iuavgadget.h>
UAVObjectBrowserFactory::UAVObjectBrowserFactory(QObject *parent) :
IUAVGadgetFactory(QString("UAVObjectBrowser"), tr("UAVObject Browser"), parent)
{
}
UAVObjectBrowserFactory::~UAVObjectBrowserFactory()
{
}
Core::IUAVGadget* UAVObjectBrowserFactory::createGadget(QWidget *parent)
{
UAVObjectBrowserWidget* gadgetWidget = new UAVObjectBrowserWidget(parent);
return new UAVObjectBrowser(QString("UAVObjectBrowser"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *UAVObjectBrowserFactory::createConfiguration(const QByteArray &state)
{
return new UAVObjectBrowserConfiguration(QString("UAVObjectBrowser"), state);
}
IOptionsPage *UAVObjectBrowserFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new UAVObjectBrowserOptionsPage(qobject_cast<UAVObjectBrowserConfiguration*>(config));
}

104
ground/src/plugins/uavobjectbrowser/uavobjectbrowserfactory.h
View File

@ -1,52 +1,52 @@
/**
******************************************************************************
*
* @file uavobjectbrowserfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERFACTORY_H_
#define UAVOBJECTBROWSERFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class UAVObjectBrowserFactory : public Core::IUAVGadgetFactory
{
Q_OBJECT
public:
UAVObjectBrowserFactory(QObject *parent = 0);
~UAVObjectBrowserFactory();
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // UAVOBJECTBROWSERFACTORY_H_
/**
******************************************************************************
*
* @file uavobjectbrowserfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERFACTORY_H_
#define UAVOBJECTBROWSERFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class UAVObjectBrowserFactory : public Core::IUAVGadgetFactory
{
Q_OBJECT
public:
UAVObjectBrowserFactory(QObject *parent = 0);
~UAVObjectBrowserFactory();
Core::IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(const QByteArray &state);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // UAVOBJECTBROWSERFACTORY_H_

140
ground/src/plugins/uavobjectbrowser/uavobjectbrowseroptionspage.cpp
View File

@ -1,70 +1,70 @@
/**
******************************************************************************
*
* @file uavobjectbrowseroptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowseroptionspage.h"
#include "uavobjectbrowserconfiguration.h"
#include <QtGui/QLabel>
#include <QtGui/QSpinBox>
#include <QtGui/QPushButton>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QColorDialog>
#include "ui_uavobjectbrowseroptionspage.h"
UAVObjectBrowserOptionsPage::UAVObjectBrowserOptionsPage(UAVObjectBrowserConfiguration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
QWidget *UAVObjectBrowserOptionsPage::createPage(QWidget *parent)
{
m_page = new Ui::UAVObjectBrowserOptionsPage();
QWidget *w = new QWidget(parent);
m_page->setupUi(w);
m_page->recentlyUpdatedButton->setColor(m_config->recentlyUpdatedColor());
m_page->manuallyChangedButton->setColor(m_config->manuallyChangedColor());
m_page->recentlyUpdatedTimeoutSpinBox->setValue(m_config->recentlyUpdatedTimeout());
return w;
}
void UAVObjectBrowserOptionsPage::apply()
{
m_config->setRecentlyUpdatedColor(m_page->recentlyUpdatedButton->color());
m_config->setManuallyChangedColor(m_page->manuallyChangedButton->color());
m_config->setRecentlyUpdatedTimeout(m_page->recentlyUpdatedTimeoutSpinBox->value());
}
void UAVObjectBrowserOptionsPage::finish()
{
delete m_page;
}
/**
******************************************************************************
*
* @file uavobjectbrowseroptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Options page for the UAVObject Browser Plugin
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowseroptionspage.h"
#include "uavobjectbrowserconfiguration.h"
#include <QtGui/QLabel>
#include <QtGui/QSpinBox>
#include <QtGui/QPushButton>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QColorDialog>
#include "ui_uavobjectbrowseroptionspage.h"
UAVObjectBrowserOptionsPage::UAVObjectBrowserOptionsPage(UAVObjectBrowserConfiguration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
QWidget *UAVObjectBrowserOptionsPage::createPage(QWidget *parent)
{
m_page = new Ui::UAVObjectBrowserOptionsPage();
QWidget *w = new QWidget(parent);
m_page->setupUi(w);
m_page->recentlyUpdatedButton->setColor(m_config->recentlyUpdatedColor());
m_page->manuallyChangedButton->setColor(m_config->manuallyChangedColor());
m_page->recentlyUpdatedTimeoutSpinBox->setValue(m_config->recentlyUpdatedTimeout());
return w;
}
void UAVObjectBrowserOptionsPage::apply()
{
m_config->setRecentlyUpdatedColor(m_page->recentlyUpdatedButton->color());
m_config->setManuallyChangedColor(m_page->manuallyChangedButton->color());
m_config->setRecentlyUpdatedTimeout(m_page->recentlyUpdatedTimeoutSpinBox->value());
}
void UAVObjectBrowserOptionsPage::finish()
{
delete m_page;
}

136
ground/src/plugins/uavobjectbrowser/uavobjectbrowseroptionspage.h
View File

@ -1,68 +1,68 @@
/**
******************************************************************************
*
* @file uavobjectbrowseroptionspage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSEROPTIONSPAGE_H
#define UAVOBJECTBROWSEROPTIONSPAGE_H
#include "coreplugin/dialogs/ioptionspage.h"
#include <QtGui/QColor>
#include <utils/qtcolorbutton.h>
namespace Core {
class IUAVGadgetConfiguration;
}
class UAVObjectBrowserConfiguration;
class QLabel;
class QPushButton;
class QSpinBox;
using namespace Core;
namespace Ui {
class UAVObjectBrowserOptionsPage;
}
class UAVObjectBrowserOptionsPage : public IOptionsPage
{
Q_OBJECT
public:
explicit UAVObjectBrowserOptionsPage(UAVObjectBrowserConfiguration *config, QObject *parent = 0);
QWidget *createPage(QWidget *parent);
void apply();
void finish();
signals:
private slots:
private:
UAVObjectBrowserConfiguration *m_config;
Ui::UAVObjectBrowserOptionsPage *m_page;
};
#endif // UAVOBJECTBROWSEROPTIONSPAGE_H
/**
******************************************************************************
*
* @file uavobjectbrowseroptionspage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSEROPTIONSPAGE_H
#define UAVOBJECTBROWSEROPTIONSPAGE_H
#include "coreplugin/dialogs/ioptionspage.h"
#include <QtGui/QColor>
#include <utils/qtcolorbutton.h>
namespace Core {
class IUAVGadgetConfiguration;
}
class UAVObjectBrowserConfiguration;
class QLabel;
class QPushButton;
class QSpinBox;
using namespace Core;
namespace Ui {
class UAVObjectBrowserOptionsPage;
}
class UAVObjectBrowserOptionsPage : public IOptionsPage
{
Q_OBJECT
public:
explicit UAVObjectBrowserOptionsPage(UAVObjectBrowserConfiguration *config, QObject *parent = 0);
QWidget *createPage(QWidget *parent);
void apply();
void finish();
signals:
private slots:
private:
UAVObjectBrowserConfiguration *m_config;
Ui::UAVObjectBrowserOptionsPage *m_page;
};
#endif // UAVOBJECTBROWSEROPTIONSPAGE_H

374
ground/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
View File

@ -1,187 +1,187 @@
/**
******************************************************************************
*
* @file uavobjectbrowserwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowserwidget.h"
#include "uavobjecttreemodel.h"
#include "browseritemdelegate.h"
#include "treeitem.h"
#include "ui_uavobjectbrowser.h"
#include "uavobjects/uavobjectmanager.h"
#include <QStringList>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QtGui/QComboBox>
#include <QtCore/QDebug>
#include <QtGui/QItemEditorFactory>
#include "extensionsystem/pluginmanager.h"
UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent)
{
m_browser = new Ui_UAVObjectBrowser();
m_browser->setupUi(this);
m_model = new UAVObjectTreeModel();
m_browser->treeView->setModel(m_model);
m_browser->treeView->setColumnWidth(0, 300);
//m_browser->treeView->expandAll();
BrowserItemDelegate *m_delegate = new BrowserItemDelegate();
m_browser->treeView->setItemDelegate(m_delegate);
m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
showMetaData(m_browser->metaCheckBox->isChecked());
connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex,QModelIndex)), this, SLOT(currentChanged(QModelIndex,QModelIndex)));
connect(m_browser->metaCheckBox, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
connect(m_browser->saveSDButton, SIGNAL(clicked()), this, SLOT(saveObject()));
connect(m_browser->readSDButton, SIGNAL(clicked()), this, SLOT(loadObject()));
connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
connect(m_browser->sendButton, SIGNAL(clicked()), this, SLOT(sendUpdate()));
connect(m_browser->requestButton, SIGNAL(clicked()), this, SLOT(requestUpdate()));
enableSendRequest(false);
}
UAVObjectBrowserWidget::~UAVObjectBrowserWidget()
{
delete m_browser;
}
void UAVObjectBrowserWidget::showMetaData(bool show)
{
int topRowCount = m_model->rowCount(QModelIndex());
for (int i = 0; i < topRowCount; ++i) {
QModelIndex index = m_model->index(i, 0, QModelIndex());
int subRowCount = m_model->rowCount(index);
for (int j = 0; j < subRowCount; ++j) {
m_browser->treeView->setRowHidden(0, index.child(j,0), !show);
}
}
}
void UAVObjectBrowserWidget::sendUpdate()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
objItem->apply();
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
obj->updated();
}
void UAVObjectBrowserWidget::requestUpdate()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
obj->requestUpdate();
}
ObjectTreeItem *UAVObjectBrowserWidget::findCurrentObjectTreeItem()
{
QModelIndex current = m_browser->treeView->currentIndex();
TreeItem *item = static_cast<TreeItem*>(current.internalPointer());
ObjectTreeItem *objItem = 0;
while (item) {
objItem = dynamic_cast<ObjectTreeItem*>(item);
if (objItem)
break;
item = item->parent();
}
return objItem;
}
void UAVObjectBrowserWidget::saveObject()
{
// Send update so that the latest value is saved
sendUpdate();
// Save object
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
void UAVObjectBrowserWidget::loadObject()
{
// Load object
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_LOAD, obj);
// Retrieve object so that latest value is displayed
requestUpdate();
}
void UAVObjectBrowserWidget::eraseObject()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_DELETE, obj);
}
void UAVObjectBrowserWidget::updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objManager->getObject(ObjectPersistence::NAME) );
if (obj != NULL)
{
ObjectPersistence::DataFields data;
data.Operation = op;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objper->setData(data);
objper->updated();
}
}
void UAVObjectBrowserWidget::currentChanged(const QModelIndex &current, const QModelIndex &previous)
{
TreeItem *item = static_cast<TreeItem*>(current.internalPointer());
bool enable = true;
if (current == QModelIndex())
enable = false;
TopTreeItem *top = dynamic_cast<TopTreeItem*>(item);
ObjectTreeItem *data = dynamic_cast<ObjectTreeItem*>(item);
if (top || (data && !data->object()))
enable = false;
enableSendRequest(enable);
}
void UAVObjectBrowserWidget::enableSendRequest(bool enable)
{
m_browser->sendButton->setEnabled(enable);
m_browser->requestButton->setEnabled(enable);
m_browser->saveSDButton->setEnabled(enable);
m_browser->readSDButton->setEnabled(enable);
m_browser->eraseSDButton->setEnabled(enable);
}
/**
******************************************************************************
*
* @file uavobjectbrowserwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectbrowserwidget.h"
#include "uavobjecttreemodel.h"
#include "browseritemdelegate.h"
#include "treeitem.h"
#include "ui_uavobjectbrowser.h"
#include "uavobjects/uavobjectmanager.h"
#include <QStringList>
#include <QtGui/QHBoxLayout>
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include <QtGui/QComboBox>
#include <QtCore/QDebug>
#include <QtGui/QItemEditorFactory>
#include "extensionsystem/pluginmanager.h"
UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent)
{
m_browser = new Ui_UAVObjectBrowser();
m_browser->setupUi(this);
m_model = new UAVObjectTreeModel();
m_browser->treeView->setModel(m_model);
m_browser->treeView->setColumnWidth(0, 300);
//m_browser->treeView->expandAll();
BrowserItemDelegate *m_delegate = new BrowserItemDelegate();
m_browser->treeView->setItemDelegate(m_delegate);
m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
showMetaData(m_browser->metaCheckBox->isChecked());
connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex,QModelIndex)), this, SLOT(currentChanged(QModelIndex,QModelIndex)));
connect(m_browser->metaCheckBox, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
connect(m_browser->saveSDButton, SIGNAL(clicked()), this, SLOT(saveObject()));
connect(m_browser->readSDButton, SIGNAL(clicked()), this, SLOT(loadObject()));
connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
connect(m_browser->sendButton, SIGNAL(clicked()), this, SLOT(sendUpdate()));
connect(m_browser->requestButton, SIGNAL(clicked()), this, SLOT(requestUpdate()));
enableSendRequest(false);
}
UAVObjectBrowserWidget::~UAVObjectBrowserWidget()
{
delete m_browser;
}
void UAVObjectBrowserWidget::showMetaData(bool show)
{
int topRowCount = m_model->rowCount(QModelIndex());
for (int i = 0; i < topRowCount; ++i) {
QModelIndex index = m_model->index(i, 0, QModelIndex());
int subRowCount = m_model->rowCount(index);
for (int j = 0; j < subRowCount; ++j) {
m_browser->treeView->setRowHidden(0, index.child(j,0), !show);
}
}
}
void UAVObjectBrowserWidget::sendUpdate()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
objItem->apply();
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
obj->updated();
}
void UAVObjectBrowserWidget::requestUpdate()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
obj->requestUpdate();
}
ObjectTreeItem *UAVObjectBrowserWidget::findCurrentObjectTreeItem()
{
QModelIndex current = m_browser->treeView->currentIndex();
TreeItem *item = static_cast<TreeItem*>(current.internalPointer());
ObjectTreeItem *objItem = 0;
while (item) {
objItem = dynamic_cast<ObjectTreeItem*>(item);
if (objItem)
break;
item = item->parent();
}
return objItem;
}
void UAVObjectBrowserWidget::saveObject()
{
// Send update so that the latest value is saved
sendUpdate();
// Save object
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_SAVE, obj);
}
void UAVObjectBrowserWidget::loadObject()
{
// Load object
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_LOAD, obj);
// Retrieve object so that latest value is displayed
requestUpdate();
}
void UAVObjectBrowserWidget::eraseObject()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();
Q_ASSERT(objItem);
UAVObject *obj = objItem->object();
Q_ASSERT(obj);
updateObjectPersistance(ObjectPersistence::OPERATION_DELETE, obj);
}
void UAVObjectBrowserWidget::updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objManager->getObject(ObjectPersistence::NAME) );
if (obj != NULL)
{
ObjectPersistence::DataFields data;
data.Operation = op;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objper->setData(data);
objper->updated();
}
}
void UAVObjectBrowserWidget::currentChanged(const QModelIndex &current, const QModelIndex &previous)
{
TreeItem *item = static_cast<TreeItem*>(current.internalPointer());
bool enable = true;
if (current == QModelIndex())
enable = false;
TopTreeItem *top = dynamic_cast<TopTreeItem*>(item);
ObjectTreeItem *data = dynamic_cast<ObjectTreeItem*>(item);
if (top || (data && !data->object()))
enable = false;
enableSendRequest(enable);
}
void UAVObjectBrowserWidget::enableSendRequest(bool enable)
{
m_browser->sendButton->setEnabled(enable);
m_browser->requestButton->setEnabled(enable);
m_browser->saveSDButton->setEnabled(enable);
m_browser->readSDButton->setEnabled(enable);
m_browser->eraseSDButton->setEnabled(enable);
}

148
ground/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
View File

@ -1,74 +1,74 @@
/**
******************************************************************************
*
* @file uavobjectbrowserwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERWIDGET_H_
#define UAVOBJECTBROWSERWIDGET_H_
#include <QtGui/QWidget>
#include <QtGui/QTreeView>
#include "uavobjects/objectpersistence.h"
#include "uavobjecttreemodel.h"
class QPushButton;
class ObjectTreeItem;
class Ui_UAVObjectBrowser;
class UAVObjectBrowserWidget : public QWidget
{
Q_OBJECT
public:
UAVObjectBrowserWidget(QWidget *parent = 0);
~UAVObjectBrowserWidget();
void setRecentlyUpdatedColor(QColor color) { m_model->setRecentlyUpdatedColor(color); }
void setManuallyChangedColor(QColor color) { m_model->setManuallyChangedColor(color); }
void setRecentlyUpdatedTimeout(int timeout) { m_model->setRecentlyUpdatedTimeout(timeout); }
public slots:
void showMetaData(bool show);
private slots:
void sendUpdate();
void requestUpdate();
void saveObject();
void loadObject();
void eraseObject();
void currentChanged(const QModelIndex &current, const QModelIndex &previous);
private:
QPushButton *m_requestUpdate;
QPushButton *m_sendUpdate;
Ui_UAVObjectBrowser *m_browser;
UAVObjectTreeModel *m_model;
void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
void enableSendRequest(bool enable);
ObjectTreeItem *findCurrentObjectTreeItem();
};
#endif /* UAVOBJECTBROWSERWIDGET_H_ */
/**
******************************************************************************
*
* @file uavobjectbrowserwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTBROWSERWIDGET_H_
#define UAVOBJECTBROWSERWIDGET_H_
#include <QtGui/QWidget>
#include <QtGui/QTreeView>
#include "uavobjects/objectpersistence.h"
#include "uavobjecttreemodel.h"
class QPushButton;
class ObjectTreeItem;
class Ui_UAVObjectBrowser;
class UAVObjectBrowserWidget : public QWidget
{
Q_OBJECT
public:
UAVObjectBrowserWidget(QWidget *parent = 0);
~UAVObjectBrowserWidget();
void setRecentlyUpdatedColor(QColor color) { m_model->setRecentlyUpdatedColor(color); }
void setManuallyChangedColor(QColor color) { m_model->setManuallyChangedColor(color); }
void setRecentlyUpdatedTimeout(int timeout) { m_model->setRecentlyUpdatedTimeout(timeout); }
public slots:
void showMetaData(bool show);
private slots:
void sendUpdate();
void requestUpdate();
void saveObject();
void loadObject();
void eraseObject();
void currentChanged(const QModelIndex &current, const QModelIndex &previous);
private:
QPushButton *m_requestUpdate;
QPushButton *m_sendUpdate;
Ui_UAVObjectBrowser *m_browser;
UAVObjectTreeModel *m_model;
void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
void enableSendRequest(bool enable);
ObjectTreeItem *findCurrentObjectTreeItem();
};
#endif /* UAVOBJECTBROWSERWIDGET_H_ */

822
ground/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -1,411 +1,411 @@
/**
******************************************************************************
*
* @file uavobjecttreemodel.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjecttreemodel.h"
#include "fieldtreeitem.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavdataobject.h"
#include "uavobjects/uavmetaobject.h"
#include "uavobjects/uavobjectfield.h"
#include "extensionsystem/pluginmanager.h"
#include <QtGui/QColor>
//#include <QtGui/QIcon>
#include <QtCore/QTimer>
#include <QtCore/QSignalMapper>
#include <QtCore/QDebug>
UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
QAbstractItemModel(parent),
m_recentlyUpdatedTimeout(500), // ms
m_recentlyUpdatedColor(QColor(255, 230, 230)),
m_manuallyChangedColor(QColor(230, 230, 255))
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
connect(objManager, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newObject(UAVObject*)));
TreeItem::setHighlightTime(m_recentlyUpdatedTimeout);
setupModelData(objManager);
}
UAVObjectTreeModel::~UAVObjectTreeModel()
{
delete m_rootItem;
}
void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
{
// root
QList<QVariant> rootData;
rootData << tr("Property") << tr("Value") << tr("Unit");
m_rootItem = new TreeItem(rootData);
m_settingsTree = new TopTreeItem(tr("Settings"), m_rootItem);
m_rootItem->appendChild(m_settingsTree);
m_nonSettingsTree = new TopTreeItem(tr("Data Objects"), m_rootItem);
m_rootItem->appendChild(m_nonSettingsTree);
connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
foreach (QList<UAVDataObject*> list, objList) {
foreach (UAVDataObject* obj, list) {
addDataObject(obj);
}
}
}
void UAVObjectTreeModel::newObject(UAVObject *obj)
{
UAVDataObject *dobj = qobject_cast<UAVDataObject*>(obj);
if (dobj)
addDataObject(dobj);
}
void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
{
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
if (root->objIds().contains(obj->getObjID())) {
int index = root->objIds().indexOf(obj->getObjID());
addInstance(obj, root->child(index));
} else {
DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName());
connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
int index = root->nameIndex(obj->getName());
root->insert(index, data);
root->insertObjId(index, obj->getObjID());
UAVMetaObject *meta = obj->getMetaObject();
addMetaObject(meta, data);
addInstance(obj, data);
}
}
void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
MetaObjectTreeItem *meta = new MetaObjectTreeItem(obj, tr("Meta Data"));
connect(meta, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
foreach (UAVObjectField *field, obj->getFields()) {
if (field->getNumElements() > 1) {
addArrayField(field, meta);
} else {
addSingleField(0, field, meta);
}
}
parent->appendChild(meta);
}
void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
TreeItem *item;
if (obj->isSingleInstance()) {
item = parent;
DataObjectTreeItem *p = static_cast<DataObjectTreeItem*>(parent);
p->setObject(obj);
} else {
QString name = tr("Instance") + " " + QString::number(obj->getInstID());
item = new InstanceTreeItem(obj, name);
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->appendChild(item);
}
foreach (UAVObjectField *field, obj->getFields()) {
if (field->getNumElements() > 1) {
addArrayField(field, item);
} else {
addSingleField(0, field, item);
}
}
}
void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
{
TreeItem *item = new ArrayFieldTreeItem(field->getName());
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
for (uint i = 0; i < field->getNumElements(); ++i) {
addSingleField(i, field, item);
}
parent->appendChild(item);
}
void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeItem *parent)
{
QList<QVariant> data;
if (field->getNumElements() == 1)
data.append(field->getName());
else
data.append( QString("[%1]").arg((field->getElementNames())[index]) );
FieldTreeItem *item;
UAVObjectField::FieldType type = field->getType();
switch (type) {
case UAVObjectField::ENUM: {
QStringList options = field->getOptions();
QVariant value = field->getValue();
data.append( options.indexOf(value.toString()) );
data.append(field->getUnits());
item = new EnumFieldTreeItem(field, index, data);
break;
}
case UAVObjectField::INT8:
case UAVObjectField::INT16:
case UAVObjectField::INT32:
case UAVObjectField::UINT8:
case UAVObjectField::UINT16:
case UAVObjectField::UINT32:
data.append(field->getValue(index));
data.append(field->getUnits());
item = new IntFieldTreeItem(field, index, data);
break;
case UAVObjectField::FLOAT32:
data.append(field->getValue(index));
data.append(field->getUnits());
item = new FloatFieldTreeItem(field, index, data);
break;
default:
Q_ASSERT(false);
}
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->appendChild(item);
}
QModelIndex UAVObjectTreeModel::index(int row, int column, const QModelIndex &parent)
const
{
if (!hasIndex(row, column, parent))
return QModelIndex();
TreeItem *parentItem;
if (!parent.isValid())
parentItem = m_rootItem;
else
parentItem = static_cast<TreeItem*>(parent.internalPointer());
TreeItem *childItem = parentItem->child(row);
if (childItem)
return createIndex(row, column, childItem);
else
return QModelIndex();
}
QModelIndex UAVObjectTreeModel::index(TreeItem *item)
{
if (item->parent() == 0)
return QModelIndex();
QModelIndex root = index(item->parent());
for (int i = 0; i < rowCount(root); ++i) {
QModelIndex childIndex = index(i, 0, root);
TreeItem *child = static_cast<TreeItem*>(childIndex.internalPointer());
if (child == item)
return childIndex;
}
Q_ASSERT(false);
return QModelIndex();
}
QModelIndex UAVObjectTreeModel::parent(const QModelIndex &index) const
{
if (!index.isValid())
return QModelIndex();
TreeItem *childItem = static_cast<TreeItem*>(index.internalPointer());
TreeItem *parentItem = childItem->parent();
if (parentItem == m_rootItem)
return QModelIndex();
return createIndex(parentItem->row(), 0, parentItem);
}
int UAVObjectTreeModel::rowCount(const QModelIndex &parent) const
{
TreeItem *parentItem;
if (parent.column() > 0)
return 0;
if (!parent.isValid())
parentItem = m_rootItem;
else
parentItem = static_cast<TreeItem*>(parent.internalPointer());
return parentItem->childCount();
}
int UAVObjectTreeModel::columnCount(const QModelIndex &parent) const
{
if (parent.isValid())
return static_cast<TreeItem*>(parent.internalPointer())->columnCount();
else
return m_rootItem->columnCount();
}
QVariant UAVObjectTreeModel::data(const QModelIndex &index, int role) const
{
if (!index.isValid())
return QVariant();
if (index.column() == TreeItem::dataColumn && role == Qt::EditRole) {
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
return item->data(index.column());
}
// if (role == Qt::DecorationRole)
// return QIcon(":/core/images/openpilot_logo_128.png");
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
if (index.column() == 0 && role == Qt::BackgroundRole) {
ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(item);
if (objItem && objItem->highlighted())
return QVariant(m_recentlyUpdatedColor);
}
if (index.column() == TreeItem::dataColumn && role == Qt::BackgroundRole) {
FieldTreeItem *fieldItem = dynamic_cast<FieldTreeItem*>(item);
if (fieldItem && fieldItem->highlighted())
return QVariant(m_recentlyUpdatedColor);
if (fieldItem && fieldItem->changed())
return QVariant(m_manuallyChangedColor);
}
if (role != Qt::DisplayRole)
return QVariant();
if (index.column() == TreeItem::dataColumn) {
EnumFieldTreeItem *fieldItem = dynamic_cast<EnumFieldTreeItem*>(item);
if (fieldItem) {
int enumIndex = fieldItem->data(index.column()).toInt();
return fieldItem->enumOptions(enumIndex);
}
}
return item->data(index.column());
}
bool UAVObjectTreeModel::setData(const QModelIndex &index, const QVariant & value, int role)
{
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
item->setData(value, index.column());
return true;
}
Qt::ItemFlags UAVObjectTreeModel::flags(const QModelIndex &index) const
{
if (!index.isValid())
return 0;
if (index.column() == TreeItem::dataColumn) {
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
if (item->isEditable())
return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsEditable;
}
return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
}
QVariant UAVObjectTreeModel::headerData(int section, Qt::Orientation orientation,
int role) const
{
if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
return m_rootItem->data(section);
return QVariant();
}
void UAVObjectTreeModel::highlightUpdatedObject(UAVObject *obj)
{
Q_ASSERT(obj);
ObjectTreeItem *item = findObjectTreeItem(obj);
Q_ASSERT(item);
item->setHighlight(true);
item->update();
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());
emit dataChanged(itemIndex, itemIndex);
}
ObjectTreeItem *UAVObjectTreeModel::findObjectTreeItem(UAVObject *object)
{
UAVDataObject *dobj = qobject_cast<UAVDataObject*>(object);
UAVMetaObject *mobj = qobject_cast<UAVMetaObject*>(object);
Q_ASSERT(dobj || mobj);
if (dobj) {
return findDataObjectTreeItem(dobj);
} else {
dobj = qobject_cast<UAVDataObject*>(mobj->getParentObject());
Q_ASSERT(dobj);
ObjectTreeItem *dItem = findDataObjectTreeItem(dobj);
Q_ASSERT(dItem);
Q_ASSERT(dItem->object());
if (!dItem->object()->isSingleInstance())
dItem = dynamic_cast<ObjectTreeItem*>(dItem->parent());
foreach (TreeItem *child, dItem->treeChildren()) {
MetaObjectTreeItem *mItem = dynamic_cast<MetaObjectTreeItem*>(child);
if (mItem && mItem->object()) {
Q_ASSERT(mItem->object() == mobj);
return mItem;
}
}
}
return 0;
}
DataObjectTreeItem *UAVObjectTreeModel::findDataObjectTreeItem(UAVDataObject *object)
{
Q_ASSERT(object);
TopTreeItem *root = object->isSettings() ? m_settingsTree : m_nonSettingsTree;
foreach (TreeItem *child, root->treeChildren()) {
DataObjectTreeItem *dItem = dynamic_cast<DataObjectTreeItem*>(child);
if (dItem && dItem->object() && dItem->object()->isSingleInstance()) {
if(dItem->object() == object) {
return dItem;
}
} else {
foreach (TreeItem *c, dItem->treeChildren()) {
DataObjectTreeItem *d = dynamic_cast<DataObjectTreeItem*>(c);
if (d && d->object() == object)
return d;
}
}
}
return 0;
}
void UAVObjectTreeModel::updateHighlight(TreeItem *item)
{
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());
emit dataChanged(itemIndex, itemIndex.sibling(itemIndex.row(), TreeItem::dataColumn));
}
/**
******************************************************************************
*
* @file uavobjecttreemodel.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjecttreemodel.h"
#include "fieldtreeitem.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/uavdataobject.h"
#include "uavobjects/uavmetaobject.h"
#include "uavobjects/uavobjectfield.h"
#include "extensionsystem/pluginmanager.h"
#include <QtGui/QColor>
//#include <QtGui/QIcon>
#include <QtCore/QTimer>
#include <QtCore/QSignalMapper>
#include <QtCore/QDebug>
UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
QAbstractItemModel(parent),
m_recentlyUpdatedTimeout(500), // ms
m_recentlyUpdatedColor(QColor(255, 230, 230)),
m_manuallyChangedColor(QColor(230, 230, 255))
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
connect(objManager, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newObject(UAVObject*)));
TreeItem::setHighlightTime(m_recentlyUpdatedTimeout);
setupModelData(objManager);
}
UAVObjectTreeModel::~UAVObjectTreeModel()
{
delete m_rootItem;
}
void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
{
// root
QList<QVariant> rootData;
rootData << tr("Property") << tr("Value") << tr("Unit");
m_rootItem = new TreeItem(rootData);
m_settingsTree = new TopTreeItem(tr("Settings"), m_rootItem);
m_rootItem->appendChild(m_settingsTree);
m_nonSettingsTree = new TopTreeItem(tr("Data Objects"), m_rootItem);
m_rootItem->appendChild(m_nonSettingsTree);
connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
foreach (QList<UAVDataObject*> list, objList) {
foreach (UAVDataObject* obj, list) {
addDataObject(obj);
}
}
}
void UAVObjectTreeModel::newObject(UAVObject *obj)
{
UAVDataObject *dobj = qobject_cast<UAVDataObject*>(obj);
if (dobj)
addDataObject(dobj);
}
void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
{
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
if (root->objIds().contains(obj->getObjID())) {
int index = root->objIds().indexOf(obj->getObjID());
addInstance(obj, root->child(index));
} else {
DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName());
connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
int index = root->nameIndex(obj->getName());
root->insert(index, data);
root->insertObjId(index, obj->getObjID());
UAVMetaObject *meta = obj->getMetaObject();
addMetaObject(meta, data);
addInstance(obj, data);
}
}
void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
MetaObjectTreeItem *meta = new MetaObjectTreeItem(obj, tr("Meta Data"));
connect(meta, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
foreach (UAVObjectField *field, obj->getFields()) {
if (field->getNumElements() > 1) {
addArrayField(field, meta);
} else {
addSingleField(0, field, meta);
}
}
parent->appendChild(meta);
}
void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
TreeItem *item;
if (obj->isSingleInstance()) {
item = parent;
DataObjectTreeItem *p = static_cast<DataObjectTreeItem*>(parent);
p->setObject(obj);
} else {
QString name = tr("Instance") + " " + QString::number(obj->getInstID());
item = new InstanceTreeItem(obj, name);
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->appendChild(item);
}
foreach (UAVObjectField *field, obj->getFields()) {
if (field->getNumElements() > 1) {
addArrayField(field, item);
} else {
addSingleField(0, field, item);
}
}
}
void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
{
TreeItem *item = new ArrayFieldTreeItem(field->getName());
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
for (uint i = 0; i < field->getNumElements(); ++i) {
addSingleField(i, field, item);
}
parent->appendChild(item);
}
void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeItem *parent)
{
QList<QVariant> data;
if (field->getNumElements() == 1)
data.append(field->getName());
else
data.append( QString("[%1]").arg((field->getElementNames())[index]) );
FieldTreeItem *item;
UAVObjectField::FieldType type = field->getType();
switch (type) {
case UAVObjectField::ENUM: {
QStringList options = field->getOptions();
QVariant value = field->getValue();
data.append( options.indexOf(value.toString()) );
data.append(field->getUnits());
item = new EnumFieldTreeItem(field, index, data);
break;
}
case UAVObjectField::INT8:
case UAVObjectField::INT16:
case UAVObjectField::INT32:
case UAVObjectField::UINT8:
case UAVObjectField::UINT16:
case UAVObjectField::UINT32:
data.append(field->getValue(index));
data.append(field->getUnits());
item = new IntFieldTreeItem(field, index, data);
break;
case UAVObjectField::FLOAT32:
data.append(field->getValue(index));
data.append(field->getUnits());
item = new FloatFieldTreeItem(field, index, data);
break;
default:
Q_ASSERT(false);
}
connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->appendChild(item);
}
QModelIndex UAVObjectTreeModel::index(int row, int column, const QModelIndex &parent)
const
{
if (!hasIndex(row, column, parent))
return QModelIndex();
TreeItem *parentItem;
if (!parent.isValid())
parentItem = m_rootItem;
else
parentItem = static_cast<TreeItem*>(parent.internalPointer());
TreeItem *childItem = parentItem->child(row);
if (childItem)
return createIndex(row, column, childItem);
else
return QModelIndex();
}
QModelIndex UAVObjectTreeModel::index(TreeItem *item)
{
if (item->parent() == 0)
return QModelIndex();
QModelIndex root = index(item->parent());
for (int i = 0; i < rowCount(root); ++i) {
QModelIndex childIndex = index(i, 0, root);
TreeItem *child = static_cast<TreeItem*>(childIndex.internalPointer());
if (child == item)
return childIndex;
}
Q_ASSERT(false);
return QModelIndex();
}
QModelIndex UAVObjectTreeModel::parent(const QModelIndex &index) const
{
if (!index.isValid())
return QModelIndex();
TreeItem *childItem = static_cast<TreeItem*>(index.internalPointer());
TreeItem *parentItem = childItem->parent();
if (parentItem == m_rootItem)
return QModelIndex();
return createIndex(parentItem->row(), 0, parentItem);
}
int UAVObjectTreeModel::rowCount(const QModelIndex &parent) const
{
TreeItem *parentItem;
if (parent.column() > 0)
return 0;
if (!parent.isValid())
parentItem = m_rootItem;
else
parentItem = static_cast<TreeItem*>(parent.internalPointer());
return parentItem->childCount();
}
int UAVObjectTreeModel::columnCount(const QModelIndex &parent) const
{
if (parent.isValid())
return static_cast<TreeItem*>(parent.internalPointer())->columnCount();
else
return m_rootItem->columnCount();
}
QVariant UAVObjectTreeModel::data(const QModelIndex &index, int role) const
{
if (!index.isValid())
return QVariant();
if (index.column() == TreeItem::dataColumn && role == Qt::EditRole) {
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
return item->data(index.column());
}
// if (role == Qt::DecorationRole)
// return QIcon(":/core/images/openpilot_logo_128.png");
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
if (index.column() == 0 && role == Qt::BackgroundRole) {
ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(item);
if (objItem && objItem->highlighted())
return QVariant(m_recentlyUpdatedColor);
}
if (index.column() == TreeItem::dataColumn && role == Qt::BackgroundRole) {
FieldTreeItem *fieldItem = dynamic_cast<FieldTreeItem*>(item);
if (fieldItem && fieldItem->highlighted())
return QVariant(m_recentlyUpdatedColor);
if (fieldItem && fieldItem->changed())
return QVariant(m_manuallyChangedColor);
}
if (role != Qt::DisplayRole)
return QVariant();
if (index.column() == TreeItem::dataColumn) {
EnumFieldTreeItem *fieldItem = dynamic_cast<EnumFieldTreeItem*>(item);
if (fieldItem) {
int enumIndex = fieldItem->data(index.column()).toInt();
return fieldItem->enumOptions(enumIndex);
}
}
return item->data(index.column());
}
bool UAVObjectTreeModel::setData(const QModelIndex &index, const QVariant & value, int role)
{
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
item->setData(value, index.column());
return true;
}
Qt::ItemFlags UAVObjectTreeModel::flags(const QModelIndex &index) const
{
if (!index.isValid())
return 0;
if (index.column() == TreeItem::dataColumn) {
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
if (item->isEditable())
return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsEditable;
}
return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
}
QVariant UAVObjectTreeModel::headerData(int section, Qt::Orientation orientation,
int role) const
{
if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
return m_rootItem->data(section);
return QVariant();
}
void UAVObjectTreeModel::highlightUpdatedObject(UAVObject *obj)
{
Q_ASSERT(obj);
ObjectTreeItem *item = findObjectTreeItem(obj);
Q_ASSERT(item);
item->setHighlight(true);
item->update();
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());
emit dataChanged(itemIndex, itemIndex);
}
ObjectTreeItem *UAVObjectTreeModel::findObjectTreeItem(UAVObject *object)
{
UAVDataObject *dobj = qobject_cast<UAVDataObject*>(object);
UAVMetaObject *mobj = qobject_cast<UAVMetaObject*>(object);
Q_ASSERT(dobj || mobj);
if (dobj) {
return findDataObjectTreeItem(dobj);
} else {
dobj = qobject_cast<UAVDataObject*>(mobj->getParentObject());
Q_ASSERT(dobj);
ObjectTreeItem *dItem = findDataObjectTreeItem(dobj);
Q_ASSERT(dItem);
Q_ASSERT(dItem->object());
if (!dItem->object()->isSingleInstance())
dItem = dynamic_cast<ObjectTreeItem*>(dItem->parent());
foreach (TreeItem *child, dItem->treeChildren()) {
MetaObjectTreeItem *mItem = dynamic_cast<MetaObjectTreeItem*>(child);
if (mItem && mItem->object()) {
Q_ASSERT(mItem->object() == mobj);
return mItem;
}
}
}
return 0;
}
DataObjectTreeItem *UAVObjectTreeModel::findDataObjectTreeItem(UAVDataObject *object)
{
Q_ASSERT(object);
TopTreeItem *root = object->isSettings() ? m_settingsTree : m_nonSettingsTree;
foreach (TreeItem *child, root->treeChildren()) {
DataObjectTreeItem *dItem = dynamic_cast<DataObjectTreeItem*>(child);
if (dItem && dItem->object() && dItem->object()->isSingleInstance()) {
if(dItem->object() == object) {
return dItem;
}
} else {
foreach (TreeItem *c, dItem->treeChildren()) {
DataObjectTreeItem *d = dynamic_cast<DataObjectTreeItem*>(c);
if (d && d->object() == object)
return d;
}
}
}
return 0;
}
void UAVObjectTreeModel::updateHighlight(TreeItem *item)
{
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());
emit dataChanged(itemIndex, itemIndex.sibling(itemIndex.row(), TreeItem::dataColumn));
}

204
ground/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
View File

@ -1,102 +1,102 @@
/**
******************************************************************************
*
* @file uavobjecttreemodel.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowser
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTTREEMODEL_H
#define UAVOBJECTTREEMODEL_H
#include "treeitem.h"
#include <QAbstractItemModel>
#include <QtCore/QMap>
#include <QtGui/QColor>
class TopTreeItem;
class ObjectTreeItem;
class DataObjectTreeItem;
class UAVObject;
class UAVDataObject;
class UAVMetaObject;
class UAVObjectField;
class UAVObjectManager;
class QSignalMapper;
class QTimer;
class UAVObjectTreeModel : public QAbstractItemModel
{
Q_OBJECT
public:
explicit UAVObjectTreeModel(QObject *parent = 0);
~UAVObjectTreeModel();
QVariant data(const QModelIndex &index, int role) const;
bool setData(const QModelIndex &index, const QVariant & value, int role);
Qt::ItemFlags flags(const QModelIndex &index) const;
QVariant headerData(int section, Qt::Orientation orientation,
int role = Qt::DisplayRole) const;
QModelIndex index(int row, int column,
const QModelIndex &parent = QModelIndex()) const;
QModelIndex parent(const QModelIndex &index) const;
int rowCount(const QModelIndex &parent = QModelIndex()) const;
int columnCount(const QModelIndex &parent = QModelIndex()) const;
void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; }
void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; }
void setRecentlyUpdatedTimeout(int timeout) {
m_recentlyUpdatedTimeout = timeout;
TreeItem::setHighlightTime(timeout);
}
signals:
public slots:
void newObject(UAVObject *obj);
private slots:
void highlightUpdatedObject(UAVObject *obj);
void updateHighlight(TreeItem*);
private:
QModelIndex index(TreeItem *item);
void addDataObject(UAVDataObject *obj);
void addMetaObject(UAVMetaObject *obj, TreeItem *parent);
void addArrayField(UAVObjectField *field, TreeItem *parent);
void addSingleField(int index, UAVObjectField *field, TreeItem *parent);
void addInstance(UAVObject *obj, TreeItem *parent);
QString updateMode(quint8 updateMode);
void setupModelData(UAVObjectManager *objManager);
ObjectTreeItem *findObjectTreeItem(UAVObject *obj);
DataObjectTreeItem *findDataObjectTreeItem(UAVDataObject *obj);
TreeItem *m_rootItem;
TopTreeItem *m_settingsTree;
TopTreeItem *m_nonSettingsTree;
int m_recentlyUpdatedTimeout;
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
};
#endif // UAVOBJECTTREEMODEL_H
/**
******************************************************************************
*
* @file uavobjecttreemodel.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectbrowserplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTTREEMODEL_H
#define UAVOBJECTTREEMODEL_H
#include "treeitem.h"
#include <QAbstractItemModel>
#include <QtCore/QMap>
#include <QtGui/QColor>
class TopTreeItem;
class ObjectTreeItem;
class DataObjectTreeItem;
class UAVObject;
class UAVDataObject;
class UAVMetaObject;
class UAVObjectField;
class UAVObjectManager;
class QSignalMapper;
class QTimer;
class UAVObjectTreeModel : public QAbstractItemModel
{
Q_OBJECT
public:
explicit UAVObjectTreeModel(QObject *parent = 0);
~UAVObjectTreeModel();
QVariant data(const QModelIndex &index, int role) const;
bool setData(const QModelIndex &index, const QVariant & value, int role);
Qt::ItemFlags flags(const QModelIndex &index) const;
QVariant headerData(int section, Qt::Orientation orientation,
int role = Qt::DisplayRole) const;
QModelIndex index(int row, int column,
const QModelIndex &parent = QModelIndex()) const;
QModelIndex parent(const QModelIndex &index) const;
int rowCount(const QModelIndex &parent = QModelIndex()) const;
int columnCount(const QModelIndex &parent = QModelIndex()) const;
void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; }
void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; }
void setRecentlyUpdatedTimeout(int timeout) {
m_recentlyUpdatedTimeout = timeout;
TreeItem::setHighlightTime(timeout);
}
signals:
public slots:
void newObject(UAVObject *obj);
private slots:
void highlightUpdatedObject(UAVObject *obj);
void updateHighlight(TreeItem*);
private:
QModelIndex index(TreeItem *item);
void addDataObject(UAVDataObject *obj);
void addMetaObject(UAVMetaObject *obj, TreeItem *parent);
void addArrayField(UAVObjectField *field, TreeItem *parent);
void addSingleField(int index, UAVObjectField *field, TreeItem *parent);
void addInstance(UAVObject *obj, TreeItem *parent);
QString updateMode(quint8 updateMode);
void setupModelData(UAVObjectManager *objManager);
ObjectTreeItem *findObjectTreeItem(UAVObject *obj);
DataObjectTreeItem *findDataObjectTreeItem(UAVDataObject *obj);
TreeItem *m_rootItem;
TopTreeItem *m_settingsTree;
TopTreeItem *m_nonSettingsTree;
int m_recentlyUpdatedTimeout;
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
};
#endif // UAVOBJECTTREEMODEL_H

2
ground/src/plugins/uavobjects/UAVObjects.pluginspec
View File

@ -1,4 +1,4 @@
<plugin name="UAVObjects" version="0.0.1" compatVersion="0.0.1">
<plugin name="UAVObjects" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2010 OpenPilot Project</copyright>
<license>The GNU Public License (GPL) Version 3</license>

199
ground/src/plugins/uavobjects/uavdataobject.cpp
View File

@ -1,100 +1,99 @@
/**
******************************************************************************
*
* @file uavdataobject.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavdataobject.h"
/**
* Constructor
*/
UAVDataObject::UAVDataObject(quint32 objID, bool isSingleInst, bool isSet,const QString& name):
UAVObject(objID, isSingleInst, name)
{
mobj = NULL;
this->isSet = isSet;
}
/**
* Initialize instance ID and assign a metaobject
*/
void UAVDataObject::initialize(quint32 instID, UAVMetaObject* mobj)
{
QMutexLocker locker(mutex);
this->mobj = mobj;
UAVObject::initialize(instID);
}
/**
* Assign a metaobject
*/
void UAVDataObject::initialize(UAVMetaObject* mobj)
{
QMutexLocker locker(mutex);
this->mobj = mobj;
}
/**
* Returns true if this is a data object holding module settings
*/
bool UAVDataObject::isSettings()
{
return isSet;
}
/**
* Set the object's metadata
*/
void UAVDataObject::setMetadata(const Metadata& mdata)
{
if ( mobj!=NULL )
{
mobj->setData(mdata);
}
}
/**
* Get the object's metadata
*/
UAVObject::Metadata UAVDataObject::getMetadata(void)
{
if ( mobj!=NULL)
{
return mobj->getData();
}
else
{
return getDefaultMetadata();
}
}
/**
* Get the metaobject
*/
UAVMetaObject* UAVDataObject::getMetaObject()
{
return mobj;
}
/**
******************************************************************************
*
* @file uavdataobject.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavdataobject.h"
/**
* Constructor
*/
UAVDataObject::UAVDataObject(quint32 objID, bool isSingleInst, bool isSet,const QString& name):
UAVObject(objID, isSingleInst, name)
{
mobj = NULL;
this->isSet = isSet;
}
/**
* Initialize instance ID and assign a metaobject
*/
void UAVDataObject::initialize(quint32 instID, UAVMetaObject* mobj)
{
QMutexLocker locker(mutex);
this->mobj = mobj;
UAVObject::initialize(instID);
}
/**
* Assign a metaobject
*/
void UAVDataObject::initialize(UAVMetaObject* mobj)
{
QMutexLocker locker(mutex);
this->mobj = mobj;
}
/**
* Returns true if this is a data object holding module settings
*/
bool UAVDataObject::isSettings()
{
return isSet;
}
/**
* Set the object's metadata
*/
void UAVDataObject::setMetadata(const Metadata& mdata)
{
if ( mobj!=NULL )
{
mobj->setData(mdata);
}
}
/**
* Get the object's metadata
*/
UAVObject::Metadata UAVDataObject::getMetadata(void)
{
if ( mobj!=NULL)
{
return mobj->getData();
}
else
{
return getDefaultMetadata();
}
}
/**
* Get the metaobject
*/
UAVMetaObject* UAVDataObject::getMetaObject()
{
return mobj;
}

113
ground/src/plugins/uavobjects/uavdataobject.h
View File

@ -1,57 +1,56 @@
/**
******************************************************************************
*
* @file uavdataobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVDATAOBJECT_H
#define UAVDATAOBJECT_H
#include "uavobjects_global.h"
#include "uavobject.h"
#include "uavobjectfield.h"
#include "uavmetaobject.h"
#include <QList>
class UAVOBJECTS_EXPORT UAVDataObject: public UAVObject
{
Q_OBJECT
public:
UAVDataObject(quint32 objID, bool isSingleInst, bool isSet, const QString& name);
void initialize(quint32 instID, UAVMetaObject* mobj);
void initialize(UAVMetaObject* mobj);
bool isSettings();
void setMetadata(const Metadata& mdata);
Metadata getMetadata();
UAVMetaObject* getMetaObject();
virtual UAVDataObject* clone(quint32 instID = 0) = 0;
private:
UAVMetaObject* mobj;
bool isSet;
};
#endif // UAVDATAOBJECT_H
/**
******************************************************************************
*
* @file uavdataobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVDATAOBJECT_H
#define UAVDATAOBJECT_H
#include "uavobjects_global.h"
#include "uavobject.h"
#include "uavobjectfield.h"
#include "uavmetaobject.h"
#include <QList>
class UAVOBJECTS_EXPORT UAVDataObject: public UAVObject
{
Q_OBJECT
public:
UAVDataObject(quint32 objID, bool isSingleInst, bool isSet, const QString& name);
void initialize(quint32 instID, UAVMetaObject* mobj);
void initialize(UAVMetaObject* mobj);
bool isSettings();
void setMetadata(const Metadata& mdata);
Metadata getMetadata();
UAVMetaObject* getMetaObject();
virtual UAVDataObject* clone(quint32 instID = 0) = 0;
private:
UAVMetaObject* mobj;
bool isSet;
};
#endif // UAVDATAOBJECT_H

253
ground/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -1,127 +1,126 @@
/**
******************************************************************************
*
* @file uavmetaobject.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavmetaobject.h"
#include "uavobjectfield.h"
/**
* Constructor
*/
UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent):
UAVObject(objID, true, name)
{
this->parent = parent;
// Setup default metadata of metaobject (can not be changed)
ownMetadata.flightAccess = ACCESS_READWRITE;
ownMetadata.gcsAccess = ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = 1;
ownMetadata.flightTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = 1;
ownMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
// Setup fields
QStringList boolEnum;
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()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));
// Setup metadata of parent
parentMetadata = parent->getDefaultMetadata();
}
/**
* Get the parent object
*/
UAVObject* UAVMetaObject::getParentObject()
{
return parent;
}
/**
* Set the metadata of the metaobject, this function will
* do nothing since metaobjects have read-only metadata.
*/
void UAVMetaObject::setMetadata(const Metadata& mdata)
{
return; // can not update metaobject's metadata
}
/**
* Get the metadata of the metaobject
*/
UAVObject::Metadata UAVMetaObject::getMetadata()
{
return ownMetadata;
}
/**
* Get the default metadata
*/
UAVObject::Metadata UAVMetaObject::getDefaultMetadata()
{
return ownMetadata;
}
/**
* Set the metadata held by the metaobject
*/
void UAVMetaObject::setData(const Metadata& mdata)
{
QMutexLocker locker(mutex);
parentMetadata = mdata;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
/**
* Get the metadata held by the metaobject
*/
UAVObject::Metadata UAVMetaObject::getData()
{
QMutexLocker locker(mutex);
return parentMetadata;
}
/**
******************************************************************************
*
* @file uavmetaobject.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavmetaobject.h"
#include "uavobjectfield.h"
/**
* Constructor
*/
UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent):
UAVObject(objID, true, name)
{
this->parent = parent;
// Setup default metadata of metaobject (can not be changed)
ownMetadata.flightAccess = ACCESS_READWRITE;
ownMetadata.gcsAccess = ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = 1;
ownMetadata.flightTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = 1;
ownMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
// Setup fields
QStringList boolEnum;
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()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));
// Setup metadata of parent
parentMetadata = parent->getDefaultMetadata();
}
/**
* Get the parent object
*/
UAVObject* UAVMetaObject::getParentObject()
{
return parent;
}
/**
* Set the metadata of the metaobject, this function will
* do nothing since metaobjects have read-only metadata.
*/
void UAVMetaObject::setMetadata(const Metadata& mdata)
{
return; // can not update metaobject's metadata
}
/**
* Get the metadata of the metaobject
*/
UAVObject::Metadata UAVMetaObject::getMetadata()
{
return ownMetadata;
}
/**
* Get the default metadata
*/
UAVObject::Metadata UAVMetaObject::getDefaultMetadata()
{
return ownMetadata;
}
/**
* Set the metadata held by the metaobject
*/
void UAVMetaObject::setData(const Metadata& mdata)
{
QMutexLocker locker(mutex);
parentMetadata = mdata;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
/**
* Get the metadata held by the metaobject
*/
UAVObject::Metadata UAVMetaObject::getData()
{
QMutexLocker locker(mutex);
return parentMetadata;
}

107
ground/src/plugins/uavobjects/uavmetaobject.h
View File

@ -1,54 +1,53 @@
/**
******************************************************************************
*
* @file uavmetaobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVMETAOBJECT_H
#define UAVMETAOBJECT_H
#include "uavobjects_global.h"
#include "uavobject.h"
class UAVOBJECTS_EXPORT UAVMetaObject: public UAVObject
{
Q_OBJECT
public:
UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent);
UAVObject* getParentObject();
void setMetadata(const Metadata& mdata);
Metadata getMetadata();
Metadata getDefaultMetadata();
void setData(const Metadata& mdata);
Metadata getData();
private:
UAVObject* parent;
Metadata ownMetadata;
Metadata parentMetadata;
};
#endif // UAVMETAOBJECT_H
/**
******************************************************************************
*
* @file uavmetaobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVMETAOBJECT_H
#define UAVMETAOBJECT_H
#include "uavobjects_global.h"
#include "uavobject.h"
class UAVOBJECTS_EXPORT UAVMetaObject: public UAVObject
{
Q_OBJECT
public:
UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent);
UAVObject* getParentObject();
void setMetadata(const Metadata& mdata);
Metadata getMetadata();
Metadata getDefaultMetadata();
void setData(const Metadata& mdata);
Metadata getData();
private:
UAVObject* parent;
Metadata ownMetadata;
Metadata parentMetadata;
};
#endif // UAVMETAOBJECT_H

875
ground/src/plugins/uavobjects/uavobject.cpp
View File

@ -1,438 +1,437 @@
/**
******************************************************************************
*
* @file uavobject.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobject.h"
#include <QtEndian>
/**
* Constructor
* @param objID The object ID
* @param isSingleInst True if this object can only have a single instance
* @param name Object name
*/
UAVObject::UAVObject(quint32 objID, bool isSingleInst, const QString& name)
{
this->objID = objID;
this->instID = 0;
this->isSingleInst = isSingleInst;
this->name = name;
this->mutex = new QMutex(QMutex::Recursive);
}
/**
* Initialize object with its instance ID
*/
void UAVObject::initialize(quint32 instID)
{
QMutexLocker locker(mutex);
this->instID = instID;
}
/**
* Initialize objects' data fields
* @param fields List of fields held by the object
* @param data Pointer to that actual object data, this is needed by the fields to access the data
* @param numBytes Number of bytes in the object (total, including all fields)
*/
void UAVObject::initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes)
{
QMutexLocker locker(mutex);
this->numBytes = numBytes;
this->data = data;
this->fields = fields;
// Initialize fields
quint32 offset = 0;
for (int n = 0; n < fields.length(); ++n)
{
fields[n]->initialize(data, offset, this);
offset += fields[n]->getNumBytes();
connect(fields[n], SIGNAL(fieldUpdated(UAVObjectField*)), this, SLOT(fieldUpdated(UAVObjectField*)));
}
}
/**
* Called from the fields each time they are updated
*/
void UAVObject::fieldUpdated(UAVObjectField* field)
{
// emit objectUpdatedAuto(this); // trigger object updated event
// emit objectUpdated(this);
}
/**
* Get the object ID
*/
quint32 UAVObject::getObjID()
{
return objID;
}
/**
* Get the instance ID
*/
quint32 UAVObject::getInstID()
{
return instID;
}
/**
* Returns true if this is a single instance object
*/
bool UAVObject::isSingleInstance()
{
return isSingleInst;
}
/**
* Get the name of the object
*/
QString UAVObject::getName()
{
return name;
}
/**
* Get the total number of bytes of the object's data
*/
quint32 UAVObject::getNumBytes()
{
return numBytes;
}
/**
* Request that this object is updated with the latest values from the autopilot
*/
void UAVObject::requestUpdate()
{
emit updateRequested(this);
}
/**
* Signal that the object has been updated
*/
void UAVObject::updated()
{
emit objectUpdatedManual(this);
emit objectUpdated(this);
}
/**
* Lock mutex of this object
*/
void UAVObject::lock()
{
mutex->lock();
}
/**
* Lock mutex of this object
*/
void UAVObject::lock(int timeoutMs)
{
mutex->tryLock(timeoutMs);
}
/**
* Unlock mutex of this object
*/
void UAVObject::unlock()
{
mutex->unlock();
}
/**
* Get object's mutex
*/
QMutex* UAVObject::getMutex()
{
return mutex;
}
/**
* Get the number of fields held by this object
*/
qint32 UAVObject::getNumFields()
{
QMutexLocker locker(mutex);
return fields.count();
}
/**
* Get the object's fields
*/
QList<UAVObjectField*> UAVObject::getFields()
{
QMutexLocker locker(mutex);
return fields;
}
/**
* Get a specific field
* @returns The field or NULL if not found
*/
UAVObjectField* UAVObject::getField(QString& name)
{
QMutexLocker locker(mutex);
// Look for field
for (int n = 0; n < fields.length(); ++n)
{
if (name.compare(fields[n]->getName()) == 0)
{
return fields[n];
}
}
// If this point is reached then the field was not found
return NULL;
}
/**
* Pack the object data into a byte array
* @returns The number of bytes copied
*/
qint32 UAVObject::pack(quint8* dataOut)
{
QMutexLocker locker(mutex);
qint32 offset = 0;
for (int n = 0; n < fields.length(); ++n)
{
fields[n]->pack(&dataOut[offset]);
offset += fields[n]->getNumBytes();
}
return numBytes;
}
/**
* Unpack the object data from a byte array
* @returns The number of bytes copied
*/
qint32 UAVObject::unpack(const quint8* dataIn)
{
QMutexLocker locker(mutex);
qint32 offset = 0;
for (int n = 0; n < fields.length(); ++n)
{
fields[n]->unpack(&dataIn[offset]);
offset += fields[n]->getNumBytes();
}
emit objectUnpacked(this); // trigger object updated event
emit objectUpdated(this);
return numBytes;
}
/**
* Save the object data to the file.
* The file will be created in the current directory
* and its name will be the same as the object with
* the .uavobj extension.
* @returns True on success, false on failure
*/
bool UAVObject::save()
{
QMutexLocker locker(mutex);
// Open file
QFile file(name + ".uavobj");
if (!file.open(QFile::WriteOnly))
{
return false;
}
// Write object
if ( !save(file) )
{
return false;
}
// Close file
file.close();
return true;
}
/**
* Save the object data to the file.
* The file is expected to be already open for writting.
* The data will be appended and the file will not be closed.
* @returns True on success, false on failure
*/
bool UAVObject::save(QFile& file)
{
QMutexLocker locker(mutex);
quint8 buffer[numBytes];
quint8 tmpId[4];
// Write the object ID
qToLittleEndian<quint32>(objID, tmpId);
if ( file.write((const char*)tmpId, 4) == -1 )
{
return false;
}
// Write the instance ID
if (!isSingleInst)
{
qToLittleEndian<quint16>(instID, tmpId);
if ( file.write((const char*)tmpId, 2) == -1 )
{
return false;
}
}
// Write the data
pack(buffer);
if ( file.write((const char*)buffer, numBytes) == -1 )
{
return false;
}
// Done
return true;
}
/**
* Load the object data from a file.
* The file will be openned in the current directory
* and its name will be the same as the object with
* the .uavobj extension.
* @returns True on success, false on failure
*/
bool UAVObject::load()
{
QMutexLocker locker(mutex);
// Open file
QFile file(name + ".uavobj");
if (!file.open(QFile::ReadOnly))
{
return false;
}
// Load object
if ( !load(file) )
{
return false;
}
// Close file
file.close();
return true;
}
/**
* Load the object data from file.
* The file is expected to be already open for reading.
* The data will be read and the file will not be closed.
* @returns True on success, false on failure
*/
bool UAVObject::load(QFile& file)
{
QMutexLocker locker(mutex);
quint8 buffer[numBytes];
quint8 tmpId[4];
// Read the object ID
if ( file.read((char*)tmpId, 4) != 4 )
{
return false;
}
// Check that the IDs match
if (qFromLittleEndian<quint32>(tmpId) != objID)
{
return false;
}
// Read the instance ID
if ( file.read((char*)tmpId, 2) != 2 )
{
return false;
}
// Check that the IDs match
if (qFromLittleEndian<quint16>(tmpId) != instID)
{
return false;
}
// Read and unpack the data
if ( file.read((char*)buffer, numBytes) != numBytes )
{
return false;
}
unpack(buffer);
// Done
return true;
}
/**
* Return a string with the object information
*/
QString UAVObject::toString()
{
QString sout;
sout.append( toStringBrief() );
sout.append( toStringData() );
return sout;
}
/**
* Return a string with the object information (only the header)
*/
QString UAVObject::toStringBrief()
{
QString sout;
sout.append( QString("%1 (ID: %2, InstID: %3, NumBytes: %4, SInst: %5)\n")
.arg(getName())
.arg(getObjID())
.arg(getInstID())
.arg(getNumBytes())
.arg(isSingleInstance()) );
return sout;
}
/**
* Return a string with the object information (only the data)
*/
QString UAVObject::toStringData()
{
QString sout;
sout.append("Data:\n");
for (int n = 0; n < fields.length(); ++n)
{
sout.append( QString("\t%1").arg(fields[n]->toString()) );
}
return sout;
}
/**
* Emit the transactionCompleted event (used by the UAVTalk plugin)
*/
void UAVObject::emitTransactionCompleted(bool success)
{
emit transactionCompleted(this, success);
}
/**
******************************************************************************
*
* @file uavobject.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobject.h"
#include <QtEndian>
/**
* Constructor
* @param objID The object ID
* @param isSingleInst True if this object can only have a single instance
* @param name Object name
*/
UAVObject::UAVObject(quint32 objID, bool isSingleInst, const QString& name)
{
this->objID = objID;
this->instID = 0;
this->isSingleInst = isSingleInst;
this->name = name;
this->mutex = new QMutex(QMutex::Recursive);
}
/**
* Initialize object with its instance ID
*/
void UAVObject::initialize(quint32 instID)
{
QMutexLocker locker(mutex);
this->instID = instID;
}
/**
* Initialize objects' data fields
* @param fields List of fields held by the object
* @param data Pointer to that actual object data, this is needed by the fields to access the data
* @param numBytes Number of bytes in the object (total, including all fields)
*/
void UAVObject::initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes)
{
QMutexLocker locker(mutex);
this->numBytes = numBytes;
this->data = data;
this->fields = fields;
// Initialize fields
quint32 offset = 0;
for (int n = 0; n < fields.length(); ++n)
{
fields[n]->initialize(data, offset, this);
offset += fields[n]->getNumBytes();
connect(fields[n], SIGNAL(fieldUpdated(UAVObjectField*)), this, SLOT(fieldUpdated(UAVObjectField*)));
}
}
/**
* Called from the fields each time they are updated
*/
void UAVObject::fieldUpdated(UAVObjectField* field)
{
// emit objectUpdatedAuto(this); // trigger object updated event
// emit objectUpdated(this);
}
/**
* Get the object ID
*/
quint32 UAVObject::getObjID()
{
return objID;
}
/**
* Get the instance ID
*/
quint32 UAVObject::getInstID()
{
return instID;
}
/**
* Returns true if this is a single instance object
*/
bool UAVObject::isSingleInstance()
{
return isSingleInst;
}
/**
* Get the name of the object
*/
QString UAVObject::getName()
{
return name;
}
/**
* Get the total number of bytes of the object's data
*/
quint32 UAVObject::getNumBytes()
{
return numBytes;
}
/**
* Request that this object is updated with the latest values from the autopilot
*/
void UAVObject::requestUpdate()
{
emit updateRequested(this);
}
/**
* Signal that the object has been updated
*/
void UAVObject::updated()
{
emit objectUpdatedManual(this);
emit objectUpdated(this);
}
/**
* Lock mutex of this object
*/
void UAVObject::lock()
{
mutex->lock();
}
/**
* Lock mutex of this object
*/
void UAVObject::lock(int timeoutMs)
{
mutex->tryLock(timeoutMs);
}
/**
* Unlock mutex of this object
*/
void UAVObject::unlock()
{
mutex->unlock();
}
/**
* Get object's mutex
*/
QMutex* UAVObject::getMutex()
{
return mutex;
}
/**
* Get the number of fields held by this object
*/
qint32 UAVObject::getNumFields()
{
QMutexLocker locker(mutex);
return fields.count();
}
/**
* Get the object's fields
*/
QList<UAVObjectField*> UAVObject::getFields()
{
QMutexLocker locker(mutex);
return fields;
}
/**
* Get a specific field
* @returns The field or NULL if not found
*/
UAVObjectField* UAVObject::getField(QString& name)
{
QMutexLocker locker(mutex);
// Look for field
for (int n = 0; n < fields.length(); ++n)
{
if (name.compare(fields[n]->getName()) == 0)
{
return fields[n];
}
}
// If this point is reached then the field was not found
return NULL;
}
/**
* Pack the object data into a byte array
* @returns The number of bytes copied
*/
qint32 UAVObject::pack(quint8* dataOut)
{
QMutexLocker locker(mutex);
qint32 offset = 0;
for (int n = 0; n < fields.length(); ++n)
{
fields[n]->pack(&dataOut[offset]);
offset += fields[n]->getNumBytes();
}
return numBytes;
}
/**
* Unpack the object data from a byte array
* @returns The number of bytes copied
*/
qint32 UAVObject::unpack(const quint8* dataIn)
{
QMutexLocker locker(mutex);
qint32 offset = 0;
for (int n = 0; n < fields.length(); ++n)
{
fields[n]->unpack(&dataIn[offset]);
offset += fields[n]->getNumBytes();
}
emit objectUnpacked(this); // trigger object updated event
emit objectUpdated(this);
return numBytes;
}
/**
* Save the object data to the file.
* The file will be created in the current directory
* and its name will be the same as the object with
* the .uavobj extension.
* @returns True on success, false on failure
*/
bool UAVObject::save()
{
QMutexLocker locker(mutex);
// Open file
QFile file(name + ".uavobj");
if (!file.open(QFile::WriteOnly))
{
return false;
}
// Write object
if ( !save(file) )
{
return false;
}
// Close file
file.close();
return true;
}
/**
* Save the object data to the file.
* The file is expected to be already open for writting.
* The data will be appended and the file will not be closed.
* @returns True on success, false on failure
*/
bool UAVObject::save(QFile& file)
{
QMutexLocker locker(mutex);
quint8 buffer[numBytes];
quint8 tmpId[4];
// Write the object ID
qToLittleEndian<quint32>(objID, tmpId);
if ( file.write((const char*)tmpId, 4) == -1 )
{
return false;
}
// Write the instance ID
if (!isSingleInst)
{
qToLittleEndian<quint16>(instID, tmpId);
if ( file.write((const char*)tmpId, 2) == -1 )
{
return false;
}
}
// Write the data
pack(buffer);
if ( file.write((const char*)buffer, numBytes) == -1 )
{
return false;
}
// Done
return true;
}
/**
* Load the object data from a file.
* The file will be openned in the current directory
* and its name will be the same as the object with
* the .uavobj extension.
* @returns True on success, false on failure
*/
bool UAVObject::load()
{
QMutexLocker locker(mutex);
// Open file
QFile file(name + ".uavobj");
if (!file.open(QFile::ReadOnly))
{
return false;
}
// Load object
if ( !load(file) )
{
return false;
}
// Close file
file.close();
return true;
}
/**
* Load the object data from file.
* The file is expected to be already open for reading.
* The data will be read and the file will not be closed.
* @returns True on success, false on failure
*/
bool UAVObject::load(QFile& file)
{
QMutexLocker locker(mutex);
quint8 buffer[numBytes];
quint8 tmpId[4];
// Read the object ID
if ( file.read((char*)tmpId, 4) != 4 )
{
return false;
}
// Check that the IDs match
if (qFromLittleEndian<quint32>(tmpId) != objID)
{
return false;
}
// Read the instance ID
if ( file.read((char*)tmpId, 2) != 2 )
{
return false;
}
// Check that the IDs match
if (qFromLittleEndian<quint16>(tmpId) != instID)
{
return false;
}
// Read and unpack the data
if ( file.read((char*)buffer, numBytes) != numBytes )
{
return false;
}
unpack(buffer);
// Done
return true;
}
/**
* Return a string with the object information
*/
QString UAVObject::toString()
{
QString sout;
sout.append( toStringBrief() );
sout.append( toStringData() );
return sout;
}
/**
* Return a string with the object information (only the header)
*/
QString UAVObject::toStringBrief()
{
QString sout;
sout.append( QString("%1 (ID: %2, InstID: %3, NumBytes: %4, SInst: %5)\n")
.arg(getName())
.arg(getObjID())
.arg(getInstID())
.arg(getNumBytes())
.arg(isSingleInstance()) );
return sout;
}
/**
* Return a string with the object information (only the data)
*/
QString UAVObject::toStringData()
{
QString sout;
sout.append("Data:\n");
for (int n = 0; n < fields.length(); ++n)
{
sout.append( QString("\t%1").arg(fields[n]->toString()) );
}
return sout;
}
/**
* Emit the transactionCompleted event (used by the UAVTalk plugin)
*/
void UAVObject::emitTransactionCompleted(bool success)
{
emit transactionCompleted(this, success);
}

277
ground/src/plugins/uavobjects/uavobject.h
View File

@ -1,139 +1,138 @@
/**
******************************************************************************
*
* @file uavobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECT_H
#define UAVOBJECT_H
#include "uavobjects_global.h"
#include <QtGlobal>
#include <QObject>
#include <QMutex>
#include <QMutexLocker>
#include <QString>
#include <QList>
#include <QFile>
#include "uavobjectfield.h"
class UAVObjectField;
class UAVOBJECTS_EXPORT UAVObject: public QObject
{
Q_OBJECT
public:
/**
* Object update mode
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_MANUAL = 2, /** Manually update object, by calling the updated() function */
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) */
quint8 gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
UAVObject(quint32 objID, bool isSingleInst, const QString& name);
void initialize(quint32 instID);
quint32 getObjID();
quint32 getInstID();
bool isSingleInstance();
QString getName();
quint32 getNumBytes();
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
bool save();
bool save(QFile& file);
bool load();
bool load(QFile& file);
virtual void setMetadata(const Metadata& mdata) = 0;
virtual Metadata getMetadata() = 0;
virtual Metadata getDefaultMetadata() = 0;
void requestUpdate();
void updated();
void lock();
void lock(int timeoutMs);
void unlock();
QMutex* getMutex();
qint32 getNumFields();
QList<UAVObjectField*> getFields();
UAVObjectField* getField(QString& name);
QString toString();
QString toStringBrief();
QString toStringData();
void emitTransactionCompleted(bool success);
signals:
void objectUpdated(UAVObject* obj);
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void transactionCompleted(UAVObject* obj, bool success);
private slots:
void fieldUpdated(UAVObjectField* field);
protected:
quint32 objID;
quint32 instID;
bool isSingleInst;
QString name;
quint32 numBytes;
QMutex* mutex;
quint8* data;
QList<UAVObjectField*> fields;
void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
};
#endif // UAVOBJECT_H
/**
******************************************************************************
*
* @file uavobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECT_H
#define UAVOBJECT_H
#include "uavobjects_global.h"
#include <QtGlobal>
#include <QObject>
#include <QMutex>
#include <QMutexLocker>
#include <QString>
#include <QList>
#include <QFile>
#include "uavobjectfield.h"
class UAVObjectField;
class UAVOBJECTS_EXPORT UAVObject: public QObject
{
Q_OBJECT
public:
/**
* Object update mode
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_MANUAL = 2, /** Manually update object, by calling the updated() function */
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) */
quint8 gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
UAVObject(quint32 objID, bool isSingleInst, const QString& name);
void initialize(quint32 instID);
quint32 getObjID();
quint32 getInstID();
bool isSingleInstance();
QString getName();
quint32 getNumBytes();
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
bool save();
bool save(QFile& file);
bool load();
bool load(QFile& file);
virtual void setMetadata(const Metadata& mdata) = 0;
virtual Metadata getMetadata() = 0;
virtual Metadata getDefaultMetadata() = 0;
void requestUpdate();
void updated();
void lock();
void lock(int timeoutMs);
void unlock();
QMutex* getMutex();
qint32 getNumFields();
QList<UAVObjectField*> getFields();
UAVObjectField* getField(QString& name);
QString toString();
QString toStringBrief();
QString toStringData();
void emitTransactionCompleted(bool success);
signals:
void objectUpdated(UAVObject* obj);
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void transactionCompleted(UAVObject* obj, bool success);
private slots:
void fieldUpdated(UAVObjectField* field);
protected:
quint32 objID;
quint32 instID;
bool isSingleInst;
QString name;
quint32 numBytes;
QMutex* mutex;
quint8* data;
QList<UAVObjectField*> fields;
void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
};
#endif // UAVOBJECT_H

1099
ground/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -1,550 +1,549 @@
/**
******************************************************************************
*
* @file uavobjectfield.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectfield.h"
#include <QtEndian>
UAVObjectField::UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options)
{
QStringList elementNames;
// Set element names
for (quint32 n = 0; n < numElements; ++n)
{
elementNames.append(QString("%1").arg(n));
}
// Initialize
constructorInitialize(name, units, type, elementNames, options);
}
UAVObjectField::UAVObjectField(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options)
{
constructorInitialize(name, units, type, elementNames, options);
}
void UAVObjectField::constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options)
{
// Copy params
this->name = name;
this->units = units;
this->type = type;
this->options = options;
this->numElements = elementNames.length();
this->offset = 0;
this->data = NULL;
this->obj = NULL;
this->elementNames = elementNames;
// Set field size
switch (type)
{
case INT8:
numBytesPerElement = sizeof(qint8);
break;
case INT16:
numBytesPerElement = sizeof(qint16);
break;
case INT32:
numBytesPerElement = sizeof(qint32);
break;
case UINT8:
numBytesPerElement = sizeof(quint8);
break;
case UINT16:
numBytesPerElement = sizeof(quint16);
break;
case UINT32:
numBytesPerElement = sizeof(quint32);
break;
case FLOAT32:
numBytesPerElement = sizeof(quint32);
break;
case ENUM:
numBytesPerElement = sizeof(quint8);
break;
case STRING:
numBytesPerElement = sizeof(quint8);
break;
default:
numBytesPerElement = 0;
}
}
void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)
{
this->data = data;
this->offset = dataOffset;
this->obj = obj;
clear();
}
UAVObjectField::FieldType UAVObjectField::getType()
{
return type;
}
QStringList UAVObjectField::getElementNames()
{
return elementNames;
}
UAVObject* UAVObjectField::getObject()
{
return obj;
}
void UAVObjectField::clear()
{
QMutexLocker locker(obj->getMutex());
memset(&data[offset], 0, numBytesPerElement*numElements);
}
QString UAVObjectField::getName()
{
return name;
}
QString UAVObjectField::getUnits()
{
return units;
}
QStringList UAVObjectField::getOptions()
{
return options;
}
quint32 UAVObjectField::getNumElements()
{
return numElements;
}
quint32 UAVObjectField::getDataOffset()
{
return offset;
}
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
}
QString UAVObjectField::toString()
{
QString sout;
sout.append ( QString("%1: [ ").arg(name) );
for (unsigned int n = 0; n < numElements; ++n)
{
sout.append( QString("%1 ").arg(getDouble(n)) );
}
sout.append( QString("] %1\n").arg(units) );
return sout;
}
qint32 UAVObjectField::pack(quint8* dataOut)
{
QMutexLocker locker(obj->getMutex());
// Pack each element in output buffer
switch (type)
{
case INT8:
memcpy(dataOut, &data[offset], numElements);
break;
case INT16:
for (quint32 index = 0; index < numElements; ++index)
{
qint16 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<qint16>(value, &dataOut[numBytesPerElement*index]);
}
break;
case INT32:
for (quint32 index = 0; index < numElements; ++index)
{
qint32 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<qint32>(value, &dataOut[numBytesPerElement*index]);
}
break;
case UINT8:
for (quint32 index = 0; index < numElements; ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case UINT16:
for (quint32 index = 0; index < numElements; ++index)
{
quint16 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<quint16>(value, &dataOut[numBytesPerElement*index]);
}
break;
case UINT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<quint32>(value, &dataOut[numBytesPerElement*index]);
}
break;
case FLOAT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<quint32>(value, &dataOut[numBytesPerElement*index]);
}
break;
case ENUM:
for (quint32 index = 0; index < numElements; ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case STRING:
memcpy(dataOut, &data[offset], numElements);
break;
}
// Done
return getNumBytes();
}
qint32 UAVObjectField::unpack(const quint8* dataIn)
{
QMutexLocker locker(obj->getMutex());
// Unpack each element from input buffer
switch (type)
{
case INT8:
memcpy(&data[offset], dataIn, numElements);
break;
case INT16:
for (quint32 index = 0; index < numElements; ++index)
{
qint16 value;
value = qFromLittleEndian<qint16>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case INT32:
for (quint32 index = 0; index < numElements; ++index)
{
qint32 value;
value = qFromLittleEndian<qint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case UINT8:
for (quint32 index = 0; index < numElements; ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case UINT16:
for (quint32 index = 0; index < numElements; ++index)
{
quint16 value;
value = qFromLittleEndian<quint16>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case UINT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
value = qFromLittleEndian<quint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case FLOAT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
value = qFromLittleEndian<quint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case ENUM:
for (quint32 index = 0; index < numElements; ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case STRING:
memcpy(&data[offset], dataIn, numElements);
break;
}
// Done
return getNumBytes();
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
}
bool UAVObjectField::isNumeric()
{
switch (type)
{
case INT8:
return true;
break;
case INT16:
return true;
break;
case INT32:
return true;
break;
case UINT8:
return true;
break;
case UINT16:
return true;
break;
case UINT32:
return true;
break;
case FLOAT32:
return true;
break;
case ENUM:
return false;
break;
case STRING:
return false;
break;
default:
return false;
}
}
bool UAVObjectField::isText()
{
switch (type)
{
case INT8:
return false;
break;
case INT16:
return false;
break;
case INT32:
return false;
break;
case UINT8:
return false;
break;
case UINT16:
return false;
break;
case UINT32:
return false;
break;
case FLOAT32:
return false;
break;
case ENUM:
return true;
break;
case STRING:
return true;
break;
default:
return false;
}
}
QVariant UAVObjectField::getValue(quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
{
return QVariant();
}
// Get value
switch (type)
{
case INT8:
{
qint8 tmpint8;
memcpy(&tmpint8, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpint8);
break;
}
case INT16:
{
qint16 tmpint16;
memcpy(&tmpint16, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpint16);
break;
}
case INT32:
{
qint32 tmpint32;
memcpy(&tmpint32, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpint32);
break;
}
case UINT8:
{
quint8 tmpuint8;
memcpy(&tmpuint8, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpuint8);
break;
}
case UINT16:
{
quint16 tmpuint16;
memcpy(&tmpuint16, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpuint16);
break;
}
case UINT32:
{
quint32 tmpuint32;
memcpy(&tmpuint32, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpuint32);
break;
}
case FLOAT32:
{
float tmpfloat;
memcpy(&tmpfloat, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpfloat);
break;
}
case ENUM:
{
quint8 tmpenum;
memcpy(&tmpenum, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant( options[tmpenum] );
break;
}
case STRING:
{
data[offset + numElements - 1] = '\0';
QString str((char*)&data[offset]);
return QVariant( str );
break;
}
}
// If this point is reached then we got an invalid type
return QVariant();
}
void UAVObjectField::setValue(const QVariant& value, quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
{
return;
}
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
case INT8:
{
qint8 tmpint8 = value.toInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpint8, numBytesPerElement);
break;
}
case INT16:
{
qint16 tmpint16 = value.toInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpint16, numBytesPerElement);
break;
}
case INT32:
{
qint32 tmpint32 = value.toInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpint32, numBytesPerElement);
break;
}
case UINT8:
{
quint8 tmpuint8 = value.toUInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpuint8, numBytesPerElement);
break;
}
case UINT16:
{
quint16 tmpuint16 = value.toUInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpuint16, numBytesPerElement);
break;
}
case UINT32:
{
quint32 tmpuint32 = value.toUInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpuint32, numBytesPerElement);
break;
}
case FLOAT32:
{
float tmpfloat = value.toFloat();
memcpy(&data[offset + numBytesPerElement*index], &tmpfloat, numBytesPerElement);
break;
}
case ENUM:
{
qint8 tmpenum = options.indexOf( value.toString() );
memcpy(&data[offset + numBytesPerElement*index], &tmpenum, numBytesPerElement);
break;
}
case STRING:
{
QString str = value.toString();
QByteArray barray = str.toAscii();
quint32 index;
for (index = 0; index < (quint32)barray.length() && index < (numElements-1); ++index)
{
data[offset+index] = barray[index];
}
barray[index] = '\0';
break;
}
}
}
}
double UAVObjectField::getDouble(quint32 index)
{
return getValue().toDouble();
}
void UAVObjectField::setDouble(double value, quint32 index)
{
setValue(QVariant(value));
}
/**
******************************************************************************
*
* @file uavobjectfield.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectfield.h"
#include <QtEndian>
UAVObjectField::UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options)
{
QStringList elementNames;
// Set element names
for (quint32 n = 0; n < numElements; ++n)
{
elementNames.append(QString("%1").arg(n));
}
// Initialize
constructorInitialize(name, units, type, elementNames, options);
}
UAVObjectField::UAVObjectField(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options)
{
constructorInitialize(name, units, type, elementNames, options);
}
void UAVObjectField::constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options)
{
// Copy params
this->name = name;
this->units = units;
this->type = type;
this->options = options;
this->numElements = elementNames.length();
this->offset = 0;
this->data = NULL;
this->obj = NULL;
this->elementNames = elementNames;
// Set field size
switch (type)
{
case INT8:
numBytesPerElement = sizeof(qint8);
break;
case INT16:
numBytesPerElement = sizeof(qint16);
break;
case INT32:
numBytesPerElement = sizeof(qint32);
break;
case UINT8:
numBytesPerElement = sizeof(quint8);
break;
case UINT16:
numBytesPerElement = sizeof(quint16);
break;
case UINT32:
numBytesPerElement = sizeof(quint32);
break;
case FLOAT32:
numBytesPerElement = sizeof(quint32);
break;
case ENUM:
numBytesPerElement = sizeof(quint8);
break;
case STRING:
numBytesPerElement = sizeof(quint8);
break;
default:
numBytesPerElement = 0;
}
}
void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)
{
this->data = data;
this->offset = dataOffset;
this->obj = obj;
clear();
}
UAVObjectField::FieldType UAVObjectField::getType()
{
return type;
}
QStringList UAVObjectField::getElementNames()
{
return elementNames;
}
UAVObject* UAVObjectField::getObject()
{
return obj;
}
void UAVObjectField::clear()
{
QMutexLocker locker(obj->getMutex());
memset(&data[offset], 0, numBytesPerElement*numElements);
}
QString UAVObjectField::getName()
{
return name;
}
QString UAVObjectField::getUnits()
{
return units;
}
QStringList UAVObjectField::getOptions()
{
return options;
}
quint32 UAVObjectField::getNumElements()
{
return numElements;
}
quint32 UAVObjectField::getDataOffset()
{
return offset;
}
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
}
QString UAVObjectField::toString()
{
QString sout;
sout.append ( QString("%1: [ ").arg(name) );
for (unsigned int n = 0; n < numElements; ++n)
{
sout.append( QString("%1 ").arg(getDouble(n)) );
}
sout.append( QString("] %1\n").arg(units) );
return sout;
}
qint32 UAVObjectField::pack(quint8* dataOut)
{
QMutexLocker locker(obj->getMutex());
// Pack each element in output buffer
switch (type)
{
case INT8:
memcpy(dataOut, &data[offset], numElements);
break;
case INT16:
for (quint32 index = 0; index < numElements; ++index)
{
qint16 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<qint16>(value, &dataOut[numBytesPerElement*index]);
}
break;
case INT32:
for (quint32 index = 0; index < numElements; ++index)
{
qint32 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<qint32>(value, &dataOut[numBytesPerElement*index]);
}
break;
case UINT8:
for (quint32 index = 0; index < numElements; ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case UINT16:
for (quint32 index = 0; index < numElements; ++index)
{
quint16 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<quint16>(value, &dataOut[numBytesPerElement*index]);
}
break;
case UINT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<quint32>(value, &dataOut[numBytesPerElement*index]);
}
break;
case FLOAT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToLittleEndian<quint32>(value, &dataOut[numBytesPerElement*index]);
}
break;
case ENUM:
for (quint32 index = 0; index < numElements; ++index)
{
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
}
break;
case STRING:
memcpy(dataOut, &data[offset], numElements);
break;
}
// Done
return getNumBytes();
}
qint32 UAVObjectField::unpack(const quint8* dataIn)
{
QMutexLocker locker(obj->getMutex());
// Unpack each element from input buffer
switch (type)
{
case INT8:
memcpy(&data[offset], dataIn, numElements);
break;
case INT16:
for (quint32 index = 0; index < numElements; ++index)
{
qint16 value;
value = qFromLittleEndian<qint16>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case INT32:
for (quint32 index = 0; index < numElements; ++index)
{
qint32 value;
value = qFromLittleEndian<qint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case UINT8:
for (quint32 index = 0; index < numElements; ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case UINT16:
for (quint32 index = 0; index < numElements; ++index)
{
quint16 value;
value = qFromLittleEndian<quint16>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case UINT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
value = qFromLittleEndian<quint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case FLOAT32:
for (quint32 index = 0; index < numElements; ++index)
{
quint32 value;
value = qFromLittleEndian<quint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
break;
case ENUM:
for (quint32 index = 0; index < numElements; ++index)
{
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
}
break;
case STRING:
memcpy(&data[offset], dataIn, numElements);
break;
}
// Done
return getNumBytes();
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
}
bool UAVObjectField::isNumeric()
{
switch (type)
{
case INT8:
return true;
break;
case INT16:
return true;
break;
case INT32:
return true;
break;
case UINT8:
return true;
break;
case UINT16:
return true;
break;
case UINT32:
return true;
break;
case FLOAT32:
return true;
break;
case ENUM:
return false;
break;
case STRING:
return false;
break;
default:
return false;
}
}
bool UAVObjectField::isText()
{
switch (type)
{
case INT8:
return false;
break;
case INT16:
return false;
break;
case INT32:
return false;
break;
case UINT8:
return false;
break;
case UINT16:
return false;
break;
case UINT32:
return false;
break;
case FLOAT32:
return false;
break;
case ENUM:
return true;
break;
case STRING:
return true;
break;
default:
return false;
}
}
QVariant UAVObjectField::getValue(quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
{
return QVariant();
}
// Get value
switch (type)
{
case INT8:
{
qint8 tmpint8;
memcpy(&tmpint8, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpint8);
break;
}
case INT16:
{
qint16 tmpint16;
memcpy(&tmpint16, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpint16);
break;
}
case INT32:
{
qint32 tmpint32;
memcpy(&tmpint32, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpint32);
break;
}
case UINT8:
{
quint8 tmpuint8;
memcpy(&tmpuint8, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpuint8);
break;
}
case UINT16:
{
quint16 tmpuint16;
memcpy(&tmpuint16, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpuint16);
break;
}
case UINT32:
{
quint32 tmpuint32;
memcpy(&tmpuint32, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpuint32);
break;
}
case FLOAT32:
{
float tmpfloat;
memcpy(&tmpfloat, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant(tmpfloat);
break;
}
case ENUM:
{
quint8 tmpenum;
memcpy(&tmpenum, &data[offset + numBytesPerElement*index], numBytesPerElement);
return QVariant( options[tmpenum] );
break;
}
case STRING:
{
data[offset + numElements - 1] = '\0';
QString str((char*)&data[offset]);
return QVariant( str );
break;
}
}
// If this point is reached then we got an invalid type
return QVariant();
}
void UAVObjectField::setValue(const QVariant& value, quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
{
return;
}
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
case INT8:
{
qint8 tmpint8 = value.toInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpint8, numBytesPerElement);
break;
}
case INT16:
{
qint16 tmpint16 = value.toInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpint16, numBytesPerElement);
break;
}
case INT32:
{
qint32 tmpint32 = value.toInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpint32, numBytesPerElement);
break;
}
case UINT8:
{
quint8 tmpuint8 = value.toUInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpuint8, numBytesPerElement);
break;
}
case UINT16:
{
quint16 tmpuint16 = value.toUInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpuint16, numBytesPerElement);
break;
}
case UINT32:
{
quint32 tmpuint32 = value.toUInt();
memcpy(&data[offset + numBytesPerElement*index], &tmpuint32, numBytesPerElement);
break;
}
case FLOAT32:
{
float tmpfloat = value.toFloat();
memcpy(&data[offset + numBytesPerElement*index], &tmpfloat, numBytesPerElement);
break;
}
case ENUM:
{
qint8 tmpenum = options.indexOf( value.toString() );
memcpy(&data[offset + numBytesPerElement*index], &tmpenum, numBytesPerElement);
break;
}
case STRING:
{
QString str = value.toString();
QByteArray barray = str.toAscii();
quint32 index;
for (index = 0; index < (quint32)barray.length() && index < (numElements-1); ++index)
{
data[offset+index] = barray[index];
}
barray[index] = '\0';
break;
}
}
}
}
double UAVObjectField::getDouble(quint32 index)
{
return getValue().toDouble();
}
void UAVObjectField::setDouble(double value, quint32 index)
{
setValue(QVariant(value));
}

177
ground/src/plugins/uavobjects/uavobjectfield.h
View File

@ -1,89 +1,88 @@
/**
******************************************************************************
*
* @file uavobjectfield.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTFIELD_H
#define UAVOBJECTFIELD_H
#include "uavobjects_global.h"
#include "uavobject.h"
#include <QStringList>
#include <QVariant>
class UAVObject;
class UAVOBJECTS_EXPORT UAVObjectField: public QObject
{
Q_OBJECT
public:
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING } FieldType;
UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options);
UAVObjectField(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options);
void initialize(quint8* data, quint32 dataOffset, UAVObject* obj);
UAVObject* getObject();
FieldType getType();
QString getName();
QString getUnits();
quint32 getNumElements();
QStringList getElementNames();
QStringList getOptions();
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
QVariant getValue(quint32 index = 0);
void setValue(const QVariant& data, quint32 index = 0);
double getDouble(quint32 index = 0);
void setDouble(double value, quint32 index = 0);
quint32 getDataOffset();
quint32 getNumBytes();
quint32 getNumBytesElement();
bool isNumeric();
bool isText();
QString toString();
signals:
void fieldUpdated(UAVObjectField* field);
protected:
QString name;
QString units;
FieldType type;
QStringList elementNames;
QStringList options;
quint32 numElements;
quint32 numBytesPerElement;
quint32 offset;
quint8* data;
UAVObject* obj;
void clear();
void constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options);
};
#endif // UAVOBJECTFIELD_H
/**
******************************************************************************
*
* @file uavobjectfield.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTFIELD_H
#define UAVOBJECTFIELD_H
#include "uavobjects_global.h"
#include "uavobject.h"
#include <QStringList>
#include <QVariant>
class UAVObject;
class UAVOBJECTS_EXPORT UAVObjectField: public QObject
{
Q_OBJECT
public:
typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING } FieldType;
UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options);
UAVObjectField(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options);
void initialize(quint8* data, quint32 dataOffset, UAVObject* obj);
UAVObject* getObject();
FieldType getType();
QString getName();
QString getUnits();
quint32 getNumElements();
QStringList getElementNames();
QStringList getOptions();
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
QVariant getValue(quint32 index = 0);
void setValue(const QVariant& data, quint32 index = 0);
double getDouble(quint32 index = 0);
void setDouble(double value, quint32 index = 0);
quint32 getDataOffset();
quint32 getNumBytes();
quint32 getNumBytesElement();
bool isNumeric();
bool isText();
QString toString();
signals:
void fieldUpdated(UAVObjectField* field);
protected:
QString name;
QString units;
FieldType type;
QStringList elementNames;
QStringList options;
quint32 numElements;
quint32 numBytesPerElement;
quint32 offset;
quint8* data;
UAVObject* obj;
void clear();
void constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options);
};
#endif // UAVOBJECTFIELD_H

679
ground/src/plugins/uavobjects/uavobjectmanager.cpp
View File

@ -1,340 +1,339 @@
/**
******************************************************************************
*
* @file uavobjectmanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectmanager.h"
/**
* Constructor
*/
UAVObjectManager::UAVObjectManager()
{
mutex = new QMutex(QMutex::Recursive);
}
UAVObjectManager::~UAVObjectManager()
{
delete mutex;
}
/**
* Register an object with the manager. This function must be called for all newly created instances.
* A new instance can be created directly by instantiating a new object or by calling clone() of
* an existing object. The object will be registered and will be properly initialized so that it can accept
* updates.
*/
bool UAVObjectManager::registerObject(UAVDataObject* obj)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0 && objects[objidx][0]->getObjID() == obj->getObjID())
{
// Check if this is a single instance object, if yes we can not add a new instance
if (obj->isSingleInstance())
{
return false;
}
// The object type has alredy been added, so now we need to initialize the new instance with the appropriate id
// There is a single metaobject for all object instances of this type, so no need to create a new one
// Get object type metaobject from existing instance
UAVDataObject* refObj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
if (refObj == NULL)
{
return false;
}
UAVMetaObject* mobj = refObj->getMetaObject();
// If the instance ID is specified and not at the default value (0) then we need to make sure
// that there are no gaps in the instance list. If gaps are found then then additional instances
// will be created.
if ( (obj->getInstID() > 0) && (obj->getInstID() < MAX_INSTANCES) )
{
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
if ( objects[objidx][instidx]->getInstID() == obj->getInstID() )
{
// Instance conflict, do not add
return false;
}
}
// Check if there are any gaps between the requested instance ID and the ones in the list,
// if any then create the missing instances.
for (quint32 instidx = objects[objidx].length(); instidx < obj->getInstID(); ++instidx)
{
UAVDataObject* cobj = obj->clone(instidx);
cobj->initialize(mobj);
objects[objidx].append(cobj);
emit newInstance(cobj);
}
// Finally, initialize the actual object instance
obj->initialize(mobj);
}
else if (obj->getInstID() == 0)
{
// Assign the next available ID and initialize the object instance
obj->initialize(objects[objidx].length(), mobj);
}
else
{
return false;
}
// Add the actual object instance in the list
objects[objidx].append(obj);
emit newInstance(obj);
return true;
}
}
// If this point is reached then this is the first time this object type (ID) is added in the list
// create a new list of the instances, add in the object collection and create the object's metaobject
// Create metaobject
QString mname = obj->getName();
mname.append("Meta");
UAVMetaObject* mobj = new UAVMetaObject(obj->getObjID()+1, mname, obj);
// Initialize object
obj->initialize(0, mobj);
// Add to list
addObject(obj);
addObject(mobj);
return true;
}
void UAVObjectManager::addObject(UAVObject* obj)
{
// Add to list
QList<UAVObject*> list;
list.append(obj);
objects.append(list);
emit newObject(obj);
}
/**
* Get all objects. A two dimentional QList is returned. Objects are grouped by
* instances of the same object type.
*/
QList< QList<UAVObject*> > UAVObjectManager::getObjects()
{
QMutexLocker locker(mutex);
return objects;
}
/**
* Same as getObjects() but will only return DataObjects.
*/
QList< QList<UAVDataObject*> > UAVObjectManager::getDataObjects()
{
QMutexLocker locker(mutex);
QList< QList<UAVDataObject*> > dObjects;
// Go through objects and copy to new list when types match
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
if (objects[objidx].length() > 0)
{
// Check type
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
if (obj != NULL)
{
// Create instance list
QList<UAVDataObject*> list;
// Go through instances and cast them to UAVDataObject, then add to list
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
obj = dynamic_cast<UAVDataObject*>(objects[objidx][instidx]);
if (obj != NULL)
{
list.append(obj);
}
}
// Append to object list
dObjects.append(list);
}
}
}
// Done
return dObjects;
}
/**
* Same as getObjects() but will only return MetaObjects.
*/
QList <QList<UAVMetaObject*> > UAVObjectManager::getMetaObjects()
{
QMutexLocker locker(mutex);
QList< QList<UAVMetaObject*> > mObjects;
// Go through objects and copy to new list when types match
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
if (objects[objidx].length() > 0)
{
// Check type
UAVMetaObject* obj = dynamic_cast<UAVMetaObject*>(objects[objidx][0]);
if (obj != NULL)
{
// Create instance list
QList<UAVMetaObject*> list;
// Go through instances and cast them to UAVMetaObject, then add to list
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
obj = dynamic_cast<UAVMetaObject*>(objects[objidx][instidx]);
if (obj != NULL)
{
list.append(obj);
}
}
// Append to object list
mObjects.append(list);
}
}
}
// Done
return mObjects;
}
/**
* Get a specific object given its name and instance ID
* @returns The object is found or NULL if not
*/
UAVObject* UAVObjectManager::getObject(const QString& name, quint32 instId)
{
return getObject(&name, 0, instId);
}
/**
* Get a specific object given its object and instance ID
* @returns The object is found or NULL if not
*/
UAVObject* UAVObjectManager::getObject(quint32 objId, quint32 instId)
{
return getObject(NULL, objId, instId);
}
/**
* Helper function for the public getObject() functions.
*/
UAVObject* UAVObjectManager::getObject(const QString* name, quint32 objId, quint32 instId)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0)
{
if ( (name != NULL && objects[objidx][0]->getName().compare(name) == 0) || (name == NULL && objects[objidx][0]->getObjID() == objId) )
{
// Look for the requested instance ID
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
if (objects[objidx][instidx]->getInstID() == instId)
{
return objects[objidx][instidx];
}
}
}
}
}
// If this point is reached then the requested object could not be found
return NULL;
}
/**
* Get all the instances of the object specified by name
*/
QList<UAVObject*> UAVObjectManager::getObjectInstances(const QString& name)
{
return getObjectInstances(&name, 0);
}
/**
* Get all the instances of the object specified by its ID
*/
QList<UAVObject*> UAVObjectManager::getObjectInstances(quint32 objId)
{
return getObjectInstances(NULL, objId);
}
/**
* Helper function for the public getObjectInstances()
*/
QList<UAVObject*> UAVObjectManager::getObjectInstances(const QString* name, quint32 objId)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0)
{
if ( (name != NULL && objects[objidx][0]->getName().compare(name) == 0) || (name == NULL && objects[objidx][0]->getObjID() == objId) )
{
return objects[objidx];
}
}
}
// If this point is reached then the requested object could not be found
return QList<UAVObject*>();
}
/**
* Get the number of instances for an object given its name
*/
qint32 UAVObjectManager::getNumInstances(const QString& name)
{
return getNumInstances(&name, 0);
}
/**
* Get the number of instances for an object given its ID
*/
qint32 UAVObjectManager::getNumInstances(quint32 objId)
{
return getNumInstances(NULL, objId);
}
/**
* Helper function for public getNumInstances
*/
qint32 UAVObjectManager::getNumInstances(const QString* name, quint32 objId)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0)
{
if ( (name != NULL && objects[objidx][0]->getName().compare(name) == 0) || (name == NULL && objects[objidx][0]->getObjID() == objId) )
{
return objects[objidx].length();
}
}
}
// If this point is reached then the requested object could not be found
return -1;
}
/**
******************************************************************************
*
* @file uavobjectmanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectmanager.h"
/**
* Constructor
*/
UAVObjectManager::UAVObjectManager()
{
mutex = new QMutex(QMutex::Recursive);
}
UAVObjectManager::~UAVObjectManager()
{
delete mutex;
}
/**
* Register an object with the manager. This function must be called for all newly created instances.
* A new instance can be created directly by instantiating a new object or by calling clone() of
* an existing object. The object will be registered and will be properly initialized so that it can accept
* updates.
*/
bool UAVObjectManager::registerObject(UAVDataObject* obj)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0 && objects[objidx][0]->getObjID() == obj->getObjID())
{
// Check if this is a single instance object, if yes we can not add a new instance
if (obj->isSingleInstance())
{
return false;
}
// The object type has alredy been added, so now we need to initialize the new instance with the appropriate id
// There is a single metaobject for all object instances of this type, so no need to create a new one
// Get object type metaobject from existing instance
UAVDataObject* refObj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
if (refObj == NULL)
{
return false;
}
UAVMetaObject* mobj = refObj->getMetaObject();
// If the instance ID is specified and not at the default value (0) then we need to make sure
// that there are no gaps in the instance list. If gaps are found then then additional instances
// will be created.
if ( (obj->getInstID() > 0) && (obj->getInstID() < MAX_INSTANCES) )
{
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
if ( objects[objidx][instidx]->getInstID() == obj->getInstID() )
{
// Instance conflict, do not add
return false;
}
}
// Check if there are any gaps between the requested instance ID and the ones in the list,
// if any then create the missing instances.
for (quint32 instidx = objects[objidx].length(); instidx < obj->getInstID(); ++instidx)
{
UAVDataObject* cobj = obj->clone(instidx);
cobj->initialize(mobj);
objects[objidx].append(cobj);
emit newInstance(cobj);
}
// Finally, initialize the actual object instance
obj->initialize(mobj);
}
else if (obj->getInstID() == 0)
{
// Assign the next available ID and initialize the object instance
obj->initialize(objects[objidx].length(), mobj);
}
else
{
return false;
}
// Add the actual object instance in the list
objects[objidx].append(obj);
emit newInstance(obj);
return true;
}
}
// If this point is reached then this is the first time this object type (ID) is added in the list
// create a new list of the instances, add in the object collection and create the object's metaobject
// Create metaobject
QString mname = obj->getName();
mname.append("Meta");
UAVMetaObject* mobj = new UAVMetaObject(obj->getObjID()+1, mname, obj);
// Initialize object
obj->initialize(0, mobj);
// Add to list
addObject(obj);
addObject(mobj);
return true;
}
void UAVObjectManager::addObject(UAVObject* obj)
{
// Add to list
QList<UAVObject*> list;
list.append(obj);
objects.append(list);
emit newObject(obj);
}
/**
* Get all objects. A two dimentional QList is returned. Objects are grouped by
* instances of the same object type.
*/
QList< QList<UAVObject*> > UAVObjectManager::getObjects()
{
QMutexLocker locker(mutex);
return objects;
}
/**
* Same as getObjects() but will only return DataObjects.
*/
QList< QList<UAVDataObject*> > UAVObjectManager::getDataObjects()
{
QMutexLocker locker(mutex);
QList< QList<UAVDataObject*> > dObjects;
// Go through objects and copy to new list when types match
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
if (objects[objidx].length() > 0)
{
// Check type
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
if (obj != NULL)
{
// Create instance list
QList<UAVDataObject*> list;
// Go through instances and cast them to UAVDataObject, then add to list
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
obj = dynamic_cast<UAVDataObject*>(objects[objidx][instidx]);
if (obj != NULL)
{
list.append(obj);
}
}
// Append to object list
dObjects.append(list);
}
}
}
// Done
return dObjects;
}
/**
* Same as getObjects() but will only return MetaObjects.
*/
QList <QList<UAVMetaObject*> > UAVObjectManager::getMetaObjects()
{
QMutexLocker locker(mutex);
QList< QList<UAVMetaObject*> > mObjects;
// Go through objects and copy to new list when types match
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
if (objects[objidx].length() > 0)
{
// Check type
UAVMetaObject* obj = dynamic_cast<UAVMetaObject*>(objects[objidx][0]);
if (obj != NULL)
{
// Create instance list
QList<UAVMetaObject*> list;
// Go through instances and cast them to UAVMetaObject, then add to list
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
obj = dynamic_cast<UAVMetaObject*>(objects[objidx][instidx]);
if (obj != NULL)
{
list.append(obj);
}
}
// Append to object list
mObjects.append(list);
}
}
}
// Done
return mObjects;
}
/**
* Get a specific object given its name and instance ID
* @returns The object is found or NULL if not
*/
UAVObject* UAVObjectManager::getObject(const QString& name, quint32 instId)
{
return getObject(&name, 0, instId);
}
/**
* Get a specific object given its object and instance ID
* @returns The object is found or NULL if not
*/
UAVObject* UAVObjectManager::getObject(quint32 objId, quint32 instId)
{
return getObject(NULL, objId, instId);
}
/**
* Helper function for the public getObject() functions.
*/
UAVObject* UAVObjectManager::getObject(const QString* name, quint32 objId, quint32 instId)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0)
{
if ( (name != NULL && objects[objidx][0]->getName().compare(name) == 0) || (name == NULL && objects[objidx][0]->getObjID() == objId) )
{
// Look for the requested instance ID
for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
{
if (objects[objidx][instidx]->getInstID() == instId)
{
return objects[objidx][instidx];
}
}
}
}
}
// If this point is reached then the requested object could not be found
return NULL;
}
/**
* Get all the instances of the object specified by name
*/
QList<UAVObject*> UAVObjectManager::getObjectInstances(const QString& name)
{
return getObjectInstances(&name, 0);
}
/**
* Get all the instances of the object specified by its ID
*/
QList<UAVObject*> UAVObjectManager::getObjectInstances(quint32 objId)
{
return getObjectInstances(NULL, objId);
}
/**
* Helper function for the public getObjectInstances()
*/
QList<UAVObject*> UAVObjectManager::getObjectInstances(const QString* name, quint32 objId)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0)
{
if ( (name != NULL && objects[objidx][0]->getName().compare(name) == 0) || (name == NULL && objects[objidx][0]->getObjID() == objId) )
{
return objects[objidx];
}
}
}
// If this point is reached then the requested object could not be found
return QList<UAVObject*>();
}
/**
* Get the number of instances for an object given its name
*/
qint32 UAVObjectManager::getNumInstances(const QString& name)
{
return getNumInstances(&name, 0);
}
/**
* Get the number of instances for an object given its ID
*/
qint32 UAVObjectManager::getNumInstances(quint32 objId)
{
return getNumInstances(NULL, objId);
}
/**
* Helper function for public getNumInstances
*/
qint32 UAVObjectManager::getNumInstances(const QString* name, quint32 objId)
{
QMutexLocker locker(mutex);
// Check if this object type is already in the list
for (int objidx = 0; objidx < objects.length(); ++objidx)
{
// Check if the object ID is in the list
if (objects[objidx].length() > 0)
{
if ( (name != NULL && objects[objidx][0]->getName().compare(name) == 0) || (name == NULL && objects[objidx][0]->getObjID() == objId) )
{
return objects[objidx].length();
}
}
}
// If this point is reached then the requested object could not be found
return -1;
}

149
ground/src/plugins/uavobjects/uavobjectmanager.h
View File

@ -1,75 +1,74 @@
/**
******************************************************************************
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTMANAGER_H
#define UAVOBJECTMANAGER_H
#include "uavobjects_global.h"
#include "uavobject.h"
#include "uavdataobject.h"
#include "uavmetaobject.h"
#include <QList>
#include <QMutex>
#include <QMutexLocker>
class UAVOBJECTS_EXPORT UAVObjectManager: public QObject
{
Q_OBJECT
public:
UAVObjectManager();
~UAVObjectManager();
bool registerObject(UAVDataObject* obj);
QList< QList<UAVObject*> > getObjects();
QList< QList<UAVDataObject*> > getDataObjects();
QList< QList<UAVMetaObject*> > getMetaObjects();
UAVObject* getObject(const QString& name, quint32 instId = 0);
UAVObject* getObject(quint32 objId, quint32 instId = 0);
QList<UAVObject*> getObjectInstances(const QString& name);
QList<UAVObject*> getObjectInstances(quint32 objId);
qint32 getNumInstances(const QString& name);
qint32 getNumInstances(quint32 objId);
signals:
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
private:
static const quint32 MAX_INSTANCES = 1000;
QList< QList<UAVObject*> > objects;
QMutex* mutex;
void addObject(UAVObject* obj);
UAVObject* getObject(const QString* name, quint32 objId, quint32 instId);
QList<UAVObject*> getObjectInstances(const QString* name, quint32 objId);
qint32 getNumInstances(const QString* name, quint32 objId);
};
#endif // UAVOBJECTMANAGER_H
/**
******************************************************************************
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTMANAGER_H
#define UAVOBJECTMANAGER_H
#include "uavobjects_global.h"
#include "uavobject.h"
#include "uavdataobject.h"
#include "uavmetaobject.h"
#include <QList>
#include <QMutex>
#include <QMutexLocker>
class UAVOBJECTS_EXPORT UAVObjectManager: public QObject
{
Q_OBJECT
public:
UAVObjectManager();
~UAVObjectManager();
bool registerObject(UAVDataObject* obj);
QList< QList<UAVObject*> > getObjects();
QList< QList<UAVDataObject*> > getDataObjects();
QList< QList<UAVMetaObject*> > getMetaObjects();
UAVObject* getObject(const QString& name, quint32 instId = 0);
UAVObject* getObject(quint32 objId, quint32 instId = 0);
QList<UAVObject*> getObjectInstances(const QString& name);
QList<UAVObject*> getObjectInstances(quint32 objId);
qint32 getNumInstances(const QString& name);
qint32 getNumInstances(quint32 objId);
signals:
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
private:
static const quint32 MAX_INSTANCES = 1000;
QList< QList<UAVObject*> > objects;
QMutex* mutex;
void addObject(UAVObject* obj);
UAVObject* getObject(const QString* name, quint32 objId, quint32 instId);
QList<UAVObject*> getObjectInstances(const QString* name, quint32 objId);
qint32 getNumInstances(const QString* name, quint32 objId);
};
#endif // UAVOBJECTMANAGER_H

79
ground/src/plugins/uavobjects/uavobjects_global.h
View File

@ -1,40 +1,39 @@
/**
******************************************************************************
*
* @file uavobjects_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTS_GLOBAL_H
#define UAVOBJECTS_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(UAVOBJECTS_LIBRARY)
# define UAVOBJECTS_EXPORT Q_DECL_EXPORT
#else
# define UAVOBJECTS_EXPORT Q_DECL_IMPORT
#endif
#endif // UAVOBJECTS_GLOBAL_H
/**
******************************************************************************
*
* @file uavobjects_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTS_GLOBAL_H
#define UAVOBJECTS_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(UAVOBJECTS_LIBRARY)
# define UAVOBJECTS_EXPORT Q_DECL_EXPORT
#else
# define UAVOBJECTS_EXPORT Q_DECL_IMPORT
#endif
#endif // UAVOBJECTS_GLOBAL_H

69
ground/src/plugins/uavobjects/uavobjectsinit.h
View File

@ -1,35 +1,34 @@
/**
******************************************************************************
*
* @file uavobjectsinit.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTSINIT_H
#define UAVOBJECTSINIT_H
#include "uavobjectmanager.h"
void UAVObjectsInitialize(UAVObjectManager* objMngr);
#endif // UAVOBJECTSINIT_H
/**
******************************************************************************
*
* @file uavobjectsinit.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTSINIT_H
#define UAVOBJECTSINIT_H
#include "uavobjectmanager.h"
void UAVObjectsInitialize(UAVObjectManager* objMngr);
#endif // UAVOBJECTSINIT_H

83
ground/src/plugins/uavobjects/uavobjectsinittemplate.cpp
View File

@ -1,42 +1,41 @@
/**
******************************************************************************
*
* @file uavobjectsinit.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief Initialize all objects.
* Automatically generated by the UAVObjectGenerator.
*
* @note This is an automatically generated file.
* DO NOT modify manually.
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectsinit.h"
$(OBJINC)
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
void UAVObjectsInitialize(UAVObjectManager* objMngr)
{
$(OBJINIT)
}
/**
******************************************************************************
*
* @file uavobjectsinit.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Initialize all objects.
* Automatically generated by the UAVObjectGenerator.
*
* @note This is an automatically generated file.
* DO NOT modify manually.
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectsinit.h"
$(OBJINC)
/**
* Function used to initialize the first instance of each object.
* This file is automatically updated by the UAVObjectGenerator.
*/
void UAVObjectsInitialize(UAVObjectManager* objMngr)
{
$(OBJINIT)
}

127
ground/src/plugins/uavobjects/uavobjectsplugin.cpp
View File

@ -1,64 +1,63 @@
/**
******************************************************************************
*
* @file uavobjectsplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectsplugin.h"
#include "uavobjectsinit.h"
UAVObjectsPlugin::UAVObjectsPlugin()
{
}
UAVObjectsPlugin::~UAVObjectsPlugin()
{
}
void UAVObjectsPlugin::extensionsInitialized()
{
}
bool UAVObjectsPlugin::initialize(const QStringList & arguments, QString * errorString)
{
// Create object manager and expose object
UAVObjectManager* objMngr = new UAVObjectManager();
addAutoReleasedObject(objMngr);
// Initialize UAVObjects
UAVObjectsInitialize(objMngr);
// Done
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
void UAVObjectsPlugin::shutdown()
{
}
Q_EXPORT_PLUGIN(UAVObjectsPlugin)
/**
******************************************************************************
*
* @file uavobjectsplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectsplugin.h"
#include "uavobjectsinit.h"
UAVObjectsPlugin::UAVObjectsPlugin()
{
}
UAVObjectsPlugin::~UAVObjectsPlugin()
{
}
void UAVObjectsPlugin::extensionsInitialized()
{
}
bool UAVObjectsPlugin::initialize(const QStringList & arguments, QString * errorString)
{
// Create object manager and expose object
UAVObjectManager* objMngr = new UAVObjectManager();
addAutoReleasedObject(objMngr);
// Initialize UAVObjects
UAVObjectsInitialize(objMngr);
// Done
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
void UAVObjectsPlugin::shutdown()
{
}
Q_EXPORT_PLUGIN(UAVObjectsPlugin)

99
ground/src/plugins/uavobjects/uavobjectsplugin.h
View File

@ -1,50 +1,49 @@
/**
******************************************************************************
*
* @file uavobjectsplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTSPLUGIN_H
#define UAVOBJECTSPLUGIN_H
#include "uavobjects_global.h"
#include <extensionsystem/iplugin.h>
#include <QtPlugin>
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT UAVObjectsPlugin:
public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
UAVObjectsPlugin();
~UAVObjectsPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
};
#endif // UAVOBJECTSPLUGIN_H
/**
******************************************************************************
*
* @file uavobjectsplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjectsplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTSPLUGIN_H
#define UAVOBJECTSPLUGIN_H
#include "uavobjects_global.h"
#include <extensionsystem/iplugin.h>
#include <QtPlugin>
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT UAVObjectsPlugin:
public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
UAVObjectsPlugin();
~UAVObjectsPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
};
#endif // UAVOBJECTSPLUGIN_H

4
ground/src/plugins/uavtalk/UAVTalk.pluginspec
View File

@ -1,4 +1,4 @@
<plugin name="UAVTalk" version="0.0.1" compatVersion="0.0.1">
<plugin name="UAVTalk" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2010 OpenPilot Project</copyright>
<license>The GNU Public License (GPL) Version 3</license>
@ -6,6 +6,6 @@
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
<dependency name="UAVObjects" version="0.0.1"/>
<dependency name="UAVObjects" version="1.0.0"/>
</dependencyList>
</plugin>

1043
ground/src/plugins/uavtalk/telemetry.cpp
View File

@ -1,522 +1,521 @@
/**
******************************************************************************
*
* @file telemetry.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "telemetry.h"
#include "qxtlogger.h"
#include <QTime>
#include <QtGlobal>
#include <stdlib.h>
/**
* Constructor
*/
Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
{
this->utalk = utalk;
this->objMngr = objMngr;
mutex = new QMutex(QMutex::Recursive);
// Process all objects in the list
QList< QList<UAVObject*> > objs = objMngr->getObjects();
for (int objidx = 0; objidx < objs.length(); ++objidx)
{
registerObject(objs[objidx][0]); // we only need to register one instance per object type
}
// Listen to new object creations
connect(objMngr, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
connect(objMngr, SIGNAL(newInstance(UAVObject*)), this, SLOT(newInstance(UAVObject*)));
// Listen to transaction completions
connect(utalk, SIGNAL(transactionCompleted(UAVObject*)), this, SLOT(transactionCompleted(UAVObject*)));
// Get GCS stats object
gcsStatsObj = GCSTelemetryStats::GetInstance(objMngr);
// Setup transaction timer
transPending = false;
transTimer = new QTimer(this);
transTimer->stop();
connect(transTimer, SIGNAL(timeout()), this, SLOT(transactionTimeout()));
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(processPeriodicUpdates()));
updateTimer->start(1000);
// Setup and start the stats timer
txErrors = 0;
txRetries = 0;
}
/**
* Register a new object for periodic updates (if enabled)
*/
void Telemetry::registerObject(UAVObject* obj)
{
// Setup object for periodic updates
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
}
/**
* Add an object in the list used for periodic updates
*/
void Telemetry::addObject(UAVObject* obj)
{
// Check if object type is already in the list
for (int n = 0; n < objList.length(); ++n)
{
if ( objList[n].obj->getObjID() == obj->getObjID() )
{
// Object type (not instance!) is already in the list, do nothing
return;
}
}
// If this point is reached, then the object type is new, let's add it
ObjectTimeInfo timeInfo;
timeInfo.obj = obj;
timeInfo.timeToNextUpdateMs = 0;
timeInfo.updatePeriodMs = 0;
objList.append(timeInfo);
}
/**
* Update the object's timers
*/
void Telemetry::setUpdatePeriod(UAVObject* obj, qint32 periodMs)
{
// Find object type (not instance!) and update its period
for (int n = 0; n < objList.length(); ++n)
{
if ( objList[n].obj->getObjID() == obj->getObjID() )
{
objList[n].updatePeriodMs = periodMs;
objList[n].timeToNextUpdateMs = quint32((float)periodMs * (float)qrand() / (float)RAND_MAX); // avoid bunching of updates
}
}
}
/**
* Connect to all instances of an object depending on the event mask specified
*/
void Telemetry::connectToObjectInstances(UAVObject* obj, quint32 eventMask)
{
QList<UAVObject*> objs = objMngr->getObjectInstances(obj->getObjID());
for (int n = 0; n < objs.length(); ++n)
{
// Disconnect all
objs[n]->disconnect(this);
// Connect only the selected events
if ( (eventMask&EV_UNPACKED) != 0)
{
connect(objs[n], SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(objectUnpacked(UAVObject*)));
}
if ( (eventMask&EV_UPDATED) != 0)
{
connect(objs[n], SIGNAL(objectUpdatedAuto(UAVObject*)), this, SLOT(objectUpdatedAuto(UAVObject*)));
}
if ( (eventMask&EV_UPDATED_MANUAL) != 0)
{
connect(objs[n], SIGNAL(objectUpdatedManual(UAVObject*)), this, SLOT(objectUpdatedManual(UAVObject*)));
}
if ( (eventMask&EV_UPDATE_REQ) != 0)
{
connect(objs[n], SIGNAL(updateRequested(UAVObject*)), this, SLOT(updateRequested(UAVObject*)));
}
}
}
/**
* Update an object based on its metadata properties
*/
void Telemetry::updateObject(UAVObject* obj)
{
// Get metadata
UAVObject::Metadata metadata = obj->getMetadata();
// Setup object depending on update mode
qint32 eventMask;
if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_PERIODIC )
{
// Set update period
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
// Connect signals for all instances
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
// Set update period
setUpdatePeriod(obj, 0);
// Connect signals for all instances
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_MANUAL )
{
// Set update period
setUpdatePeriod(obj, 0);
// Connect signals for all instances
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_NEVER )
{
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect from object
connectToObjectInstances(obj, 0);
}
}
/**
* Called when a transaction is successfully completed (uavtalk event)
*/
void Telemetry::transactionCompleted(UAVObject* obj)
{
// Check if there is a pending transaction and the objects match
if ( transPending && transInfo.obj->getObjID() == obj->getObjID() )
{
// Send signal
obj->emitTransactionCompleted(true);
// Complete transaction
transTimer->stop();
transPending = false;
// Process new object updates from queue
processObjectQueue();
}
}
/**
* Called when a transaction is not completed within the timeout period (timer event)
*/
void Telemetry::transactionTimeout()
{
transTimer->stop();
// Proceed only if there is a pending transaction
if ( transPending )
{
// Check if more retries are pending
if (transInfo.retriesRemaining > 0)
{
--transInfo.retriesRemaining;
processObjectTransaction();
++txRetries;
}
else
{
// Send signal
transInfo.obj->emitTransactionCompleted(false);
// Terminate transaction
utalk->cancelTransaction();
transPending = false;
// Process new object updates from queue
processObjectQueue();
++txErrors;
}
}
}
/**
* Start an object transaction with UAVTalk, all information is stored in transInfo
*/
void Telemetry::processObjectTransaction()
{
if (transPending)
{
// Initiate transaction
if (transInfo.objRequest)
{
utalk->sendObjectRequest(transInfo.obj, transInfo.allInstances);
}
else
{
utalk->sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
}
// Start timer if a response is expected
if ( transInfo.objRequest || transInfo.acked )
{
transTimer->start(REQ_TIMEOUT_MS);
}
else
{
transTimer->stop();
transPending = false;
}
}
}
/**
* Process the event received from an object
*/
void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority)
{
// Push event into queue
ObjectQueueInfo objInfo;
objInfo.obj = obj;
objInfo.event = event;
objInfo.allInstances = allInstances;
if (priority)
{
if ( objPriorityQueue.length() < MAX_QUEUE_SIZE )
{
objPriorityQueue.enqueue(objInfo);
}
else
{
++txErrors;
obj->emitTransactionCompleted(false);
qxtLog->warning(tr("Telemetry: priority event queue is full, event lost (%1)").arg(obj->getName()));
}
}
else
{
if ( objQueue.length() < MAX_QUEUE_SIZE )
{
objQueue.enqueue(objInfo);
}
else
{
++txErrors;
obj->emitTransactionCompleted(false);
}
}
// If there is no transaction in progress then process event
if (!transPending)
{
processObjectQueue();
}
}
/**
* Process events from the object queue
*/
void Telemetry::processObjectQueue()
{
// Don nothing if a transaction is already in progress (should not happen)
if (transPending)
{
qxtLog->error("Telemetry: Dequeue while a transaction pending!");
return;
}
// Get object information from queue (first the priority and then the regular queue)
ObjectQueueInfo objInfo;
if ( !objPriorityQueue.isEmpty() )
{
objInfo = objPriorityQueue.dequeue();
}
else if ( !objQueue.isEmpty() )
{
objInfo = objQueue.dequeue();
}
else
{
return;
}
// Check if a connection has been established, only process GCSTelemetryStats updates
// (used to establish the connection)
GCSTelemetryStats::DataFields gcsStats = gcsStatsObj->getData();
if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED )
{
objQueue.clear();
if ( objInfo.obj->getObjID() != GCSTelemetryStats::OBJID )
{
objInfo.obj->emitTransactionCompleted(false);
return;
}
}
// Setup transaction (skip if unpack event)
if ( objInfo.event != EV_UNPACKED )
{
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = metadata.gcsTelemetryAcked;
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
{
transInfo.objRequest = false;
}
else if ( objInfo.event == EV_UPDATE_REQ )
{
transInfo.objRequest = true;
}
// Start transaction
transPending = true;
processObjectTransaction();
}
// If this is a metaobject then make necessary telemetry updates
UAVMetaObject* metaobj = dynamic_cast<UAVMetaObject*>(objInfo.obj);
if ( metaobj != NULL )
{
updateObject( metaobj->getParentObject() );
}
}
/**
* Check is any objects are pending for periodic updates
* TODO: Clean-up
*/
void Telemetry::processPeriodicUpdates()
{
QMutexLocker locker(mutex);
// Stop timer
updateTimer->stop();
// Iterate through each object and update its timer, if zero then transmit object.
// Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
qint32 minDelay = MAX_UPDATE_PERIOD_MS;
ObjectTimeInfo objinfo;
qint32 elapsedMs = 0;
QTime time;
for (int n = 0; n < objList.length(); ++n)
{
objinfo = objList[n];
// If object is configured for periodic updates
if (objinfo.updatePeriodMs > 0)
{
objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
// Check if time for the next update
if (objinfo.timeToNextUpdateMs <= 0)
{
// Reset timer
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs;
// Send object
time.start();
processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
elapsedMs = time.elapsed();
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
timeToNextUpdateMs += elapsedMs;
}
// Update minimum delay
if (objinfo.timeToNextUpdateMs < minDelay)
{
minDelay = objinfo.timeToNextUpdateMs;
}
}
}
// Check if delay for the next update is too short
if (minDelay < MIN_UPDATE_PERIOD_MS)
{
minDelay = MIN_UPDATE_PERIOD_MS;
}
// Done
timeToNextUpdateMs = minDelay;
// Restart timer
updateTimer->start(timeToNextUpdateMs);
}
Telemetry::TelemetryStats Telemetry::getStats()
{
QMutexLocker locker(mutex);
// Get UAVTalk stats
UAVTalk::ComStats utalkStats = utalk->getStats();
// Update stats
TelemetryStats stats;
stats.txBytes = utalkStats.txBytes;
stats.rxBytes = utalkStats.rxBytes;
stats.txObjectBytes = utalkStats.txObjectBytes;
stats.rxObjectBytes = utalkStats.rxObjectBytes;
stats.rxObjects = utalkStats.rxObjects;
stats.txObjects = utalkStats.txObjects;
stats.txErrors = utalkStats.txErrors + txErrors;
stats.rxErrors = utalkStats.rxErrors;
stats.txRetries = txRetries;
// Done
return stats;
}
void Telemetry::resetStats()
{
QMutexLocker locker(mutex);
utalk->resetStats();
txErrors = 0;
txRetries = 0;
}
void Telemetry::objectUpdatedAuto(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATED, false, true);
}
void Telemetry::objectUpdatedManual(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
}
void Telemetry::objectUnpacked(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UNPACKED, false, true);
}
void Telemetry::updateRequested(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
}
void Telemetry::newObject(UAVObject* obj)
{
QMutexLocker locker(mutex);
registerObject(obj);
}
void Telemetry::newInstance(UAVObject* obj)
{
QMutexLocker locker(mutex);
registerObject(obj);
}
/**
******************************************************************************
*
* @file telemetry.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "telemetry.h"
#include "qxtlogger.h"
#include <QTime>
#include <QtGlobal>
#include <stdlib.h>
/**
* Constructor
*/
Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
{
this->utalk = utalk;
this->objMngr = objMngr;
mutex = new QMutex(QMutex::Recursive);
// Process all objects in the list
QList< QList<UAVObject*> > objs = objMngr->getObjects();
for (int objidx = 0; objidx < objs.length(); ++objidx)
{
registerObject(objs[objidx][0]); // we only need to register one instance per object type
}
// Listen to new object creations
connect(objMngr, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
connect(objMngr, SIGNAL(newInstance(UAVObject*)), this, SLOT(newInstance(UAVObject*)));
// Listen to transaction completions
connect(utalk, SIGNAL(transactionCompleted(UAVObject*)), this, SLOT(transactionCompleted(UAVObject*)));
// Get GCS stats object
gcsStatsObj = GCSTelemetryStats::GetInstance(objMngr);
// Setup transaction timer
transPending = false;
transTimer = new QTimer(this);
transTimer->stop();
connect(transTimer, SIGNAL(timeout()), this, SLOT(transactionTimeout()));
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), this, SLOT(processPeriodicUpdates()));
updateTimer->start(1000);
// Setup and start the stats timer
txErrors = 0;
txRetries = 0;
}
/**
* Register a new object for periodic updates (if enabled)
*/
void Telemetry::registerObject(UAVObject* obj)
{
// Setup object for periodic updates
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
}
/**
* Add an object in the list used for periodic updates
*/
void Telemetry::addObject(UAVObject* obj)
{
// Check if object type is already in the list
for (int n = 0; n < objList.length(); ++n)
{
if ( objList[n].obj->getObjID() == obj->getObjID() )
{
// Object type (not instance!) is already in the list, do nothing
return;
}
}
// If this point is reached, then the object type is new, let's add it
ObjectTimeInfo timeInfo;
timeInfo.obj = obj;
timeInfo.timeToNextUpdateMs = 0;
timeInfo.updatePeriodMs = 0;
objList.append(timeInfo);
}
/**
* Update the object's timers
*/
void Telemetry::setUpdatePeriod(UAVObject* obj, qint32 periodMs)
{
// Find object type (not instance!) and update its period
for (int n = 0; n < objList.length(); ++n)
{
if ( objList[n].obj->getObjID() == obj->getObjID() )
{
objList[n].updatePeriodMs = periodMs;
objList[n].timeToNextUpdateMs = quint32((float)periodMs * (float)qrand() / (float)RAND_MAX); // avoid bunching of updates
}
}
}
/**
* Connect to all instances of an object depending on the event mask specified
*/
void Telemetry::connectToObjectInstances(UAVObject* obj, quint32 eventMask)
{
QList<UAVObject*> objs = objMngr->getObjectInstances(obj->getObjID());
for (int n = 0; n < objs.length(); ++n)
{
// Disconnect all
objs[n]->disconnect(this);
// Connect only the selected events
if ( (eventMask&EV_UNPACKED) != 0)
{
connect(objs[n], SIGNAL(objectUnpacked(UAVObject*)), this, SLOT(objectUnpacked(UAVObject*)));
}
if ( (eventMask&EV_UPDATED) != 0)
{
connect(objs[n], SIGNAL(objectUpdatedAuto(UAVObject*)), this, SLOT(objectUpdatedAuto(UAVObject*)));
}
if ( (eventMask&EV_UPDATED_MANUAL) != 0)
{
connect(objs[n], SIGNAL(objectUpdatedManual(UAVObject*)), this, SLOT(objectUpdatedManual(UAVObject*)));
}
if ( (eventMask&EV_UPDATE_REQ) != 0)
{
connect(objs[n], SIGNAL(updateRequested(UAVObject*)), this, SLOT(updateRequested(UAVObject*)));
}
}
}
/**
* Update an object based on its metadata properties
*/
void Telemetry::updateObject(UAVObject* obj)
{
// Get metadata
UAVObject::Metadata metadata = obj->getMetadata();
// Setup object depending on update mode
qint32 eventMask;
if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_PERIODIC )
{
// Set update period
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
// Connect signals for all instances
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
// Set update period
setUpdatePeriod(obj, 0);
// Connect signals for all instances
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_MANUAL )
{
// Set update period
setUpdatePeriod(obj, 0);
// Connect signals for all instances
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_NEVER )
{
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect from object
connectToObjectInstances(obj, 0);
}
}
/**
* Called when a transaction is successfully completed (uavtalk event)
*/
void Telemetry::transactionCompleted(UAVObject* obj)
{
// Check if there is a pending transaction and the objects match
if ( transPending && transInfo.obj->getObjID() == obj->getObjID() )
{
// Send signal
obj->emitTransactionCompleted(true);
// Complete transaction
transTimer->stop();
transPending = false;
// Process new object updates from queue
processObjectQueue();
}
}
/**
* Called when a transaction is not completed within the timeout period (timer event)
*/
void Telemetry::transactionTimeout()
{
transTimer->stop();
// Proceed only if there is a pending transaction
if ( transPending )
{
// Check if more retries are pending
if (transInfo.retriesRemaining > 0)
{
--transInfo.retriesRemaining;
processObjectTransaction();
++txRetries;
}
else
{
// Send signal
transInfo.obj->emitTransactionCompleted(false);
// Terminate transaction
utalk->cancelTransaction();
transPending = false;
// Process new object updates from queue
processObjectQueue();
++txErrors;
}
}
}
/**
* Start an object transaction with UAVTalk, all information is stored in transInfo
*/
void Telemetry::processObjectTransaction()
{
if (transPending)
{
// Initiate transaction
if (transInfo.objRequest)
{
utalk->sendObjectRequest(transInfo.obj, transInfo.allInstances);
}
else
{
utalk->sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
}
// Start timer if a response is expected
if ( transInfo.objRequest || transInfo.acked )
{
transTimer->start(REQ_TIMEOUT_MS);
}
else
{
transTimer->stop();
transPending = false;
}
}
}
/**
* Process the event received from an object
*/
void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority)
{
// Push event into queue
ObjectQueueInfo objInfo;
objInfo.obj = obj;
objInfo.event = event;
objInfo.allInstances = allInstances;
if (priority)
{
if ( objPriorityQueue.length() < MAX_QUEUE_SIZE )
{
objPriorityQueue.enqueue(objInfo);
}
else
{
++txErrors;
obj->emitTransactionCompleted(false);
qxtLog->warning(tr("Telemetry: priority event queue is full, event lost (%1)").arg(obj->getName()));
}
}
else
{
if ( objQueue.length() < MAX_QUEUE_SIZE )
{
objQueue.enqueue(objInfo);
}
else
{
++txErrors;
obj->emitTransactionCompleted(false);
}
}
// If there is no transaction in progress then process event
if (!transPending)
{
processObjectQueue();
}
}
/**
* Process events from the object queue
*/
void Telemetry::processObjectQueue()
{
// Don nothing if a transaction is already in progress (should not happen)
if (transPending)
{
qxtLog->error("Telemetry: Dequeue while a transaction pending!");
return;
}
// Get object information from queue (first the priority and then the regular queue)
ObjectQueueInfo objInfo;
if ( !objPriorityQueue.isEmpty() )
{
objInfo = objPriorityQueue.dequeue();
}
else if ( !objQueue.isEmpty() )
{
objInfo = objQueue.dequeue();
}
else
{
return;
}
// Check if a connection has been established, only process GCSTelemetryStats updates
// (used to establish the connection)
GCSTelemetryStats::DataFields gcsStats = gcsStatsObj->getData();
if ( gcsStats.Status != GCSTelemetryStats::STATUS_CONNECTED )
{
objQueue.clear();
if ( objInfo.obj->getObjID() != GCSTelemetryStats::OBJID )
{
objInfo.obj->emitTransactionCompleted(false);
return;
}
}
// Setup transaction (skip if unpack event)
if ( objInfo.event != EV_UNPACKED )
{
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = metadata.gcsTelemetryAcked;
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
{
transInfo.objRequest = false;
}
else if ( objInfo.event == EV_UPDATE_REQ )
{
transInfo.objRequest = true;
}
// Start transaction
transPending = true;
processObjectTransaction();
}
// If this is a metaobject then make necessary telemetry updates
UAVMetaObject* metaobj = dynamic_cast<UAVMetaObject*>(objInfo.obj);
if ( metaobj != NULL )
{
updateObject( metaobj->getParentObject() );
}
}
/**
* Check is any objects are pending for periodic updates
* TODO: Clean-up
*/
void Telemetry::processPeriodicUpdates()
{
QMutexLocker locker(mutex);
// Stop timer
updateTimer->stop();
// Iterate through each object and update its timer, if zero then transmit object.
// Also calculate smallest delay to next update (will be used for setting timeToNextUpdateMs)
qint32 minDelay = MAX_UPDATE_PERIOD_MS;
ObjectTimeInfo objinfo;
qint32 elapsedMs = 0;
QTime time;
for (int n = 0; n < objList.length(); ++n)
{
objinfo = objList[n];
// If object is configured for periodic updates
if (objinfo.updatePeriodMs > 0)
{
objinfo.timeToNextUpdateMs -= timeToNextUpdateMs;
// Check if time for the next update
if (objinfo.timeToNextUpdateMs <= 0)
{
// Reset timer
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs;
// Send object
time.start();
processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);
elapsedMs = time.elapsed();
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
timeToNextUpdateMs += elapsedMs;
}
// Update minimum delay
if (objinfo.timeToNextUpdateMs < minDelay)
{
minDelay = objinfo.timeToNextUpdateMs;
}
}
}
// Check if delay for the next update is too short
if (minDelay < MIN_UPDATE_PERIOD_MS)
{
minDelay = MIN_UPDATE_PERIOD_MS;
}
// Done
timeToNextUpdateMs = minDelay;
// Restart timer
updateTimer->start(timeToNextUpdateMs);
}
Telemetry::TelemetryStats Telemetry::getStats()
{
QMutexLocker locker(mutex);
// Get UAVTalk stats
UAVTalk::ComStats utalkStats = utalk->getStats();
// Update stats
TelemetryStats stats;
stats.txBytes = utalkStats.txBytes;
stats.rxBytes = utalkStats.rxBytes;
stats.txObjectBytes = utalkStats.txObjectBytes;
stats.rxObjectBytes = utalkStats.rxObjectBytes;
stats.rxObjects = utalkStats.rxObjects;
stats.txObjects = utalkStats.txObjects;
stats.txErrors = utalkStats.txErrors + txErrors;
stats.rxErrors = utalkStats.rxErrors;
stats.txRetries = txRetries;
// Done
return stats;
}
void Telemetry::resetStats()
{
QMutexLocker locker(mutex);
utalk->resetStats();
txErrors = 0;
txRetries = 0;
}
void Telemetry::objectUpdatedAuto(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATED, false, true);
}
void Telemetry::objectUpdatedManual(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
}
void Telemetry::objectUnpacked(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UNPACKED, false, true);
}
void Telemetry::updateRequested(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATE_REQ, false, true);
}
void Telemetry::newObject(UAVObject* obj)
{
QMutexLocker locker(mutex);
registerObject(obj);
}
void Telemetry::newInstance(UAVObject* obj)
{
QMutexLocker locker(mutex);
registerObject(obj);
}

287
ground/src/plugins/uavtalk/telemetry.h
View File

@ -1,144 +1,143 @@
/**
******************************************************************************
*
* @file telemetry.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TELEMETRY_H
#define TELEMETRY_H
#include "uavtalk.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/gcstelemetrystats.h"
#include <QMutex>
#include <QMutexLocker>
#include <QTimer>
#include <QQueue>
class Telemetry: public QObject
{
Q_OBJECT
public:
typedef struct {
quint32 txBytes;
quint32 rxBytes;
quint32 txObjectBytes;
quint32 rxObjectBytes;
quint32 rxObjects;
quint32 txObjects;
quint32 txErrors;
quint32 rxErrors;
quint32 txRetries;
} TelemetryStats;
Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr);
TelemetryStats getStats();
void resetStats();
signals:
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
void processPeriodicUpdates();
void transactionCompleted(UAVObject* obj);
void transactionTimeout();
private:
// Constants
static const int REQ_TIMEOUT_MS = 250;
static const int MAX_RETRIES = 2;
static const int MAX_UPDATE_PERIOD_MS = 1000;
static const int MIN_UPDATE_PERIOD_MS = 1;
static const int MAX_QUEUE_SIZE = 20;
// Types
/**
* Events generated by objects
*/
typedef enum {
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
} EventMask;
typedef struct {
UAVObject* obj;
qint32 updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
qint32 timeToNextUpdateMs; /** Time delay to the next update */
} ObjectTimeInfo;
typedef struct {
UAVObject* obj;
EventMask event;
bool allInstances;
} ObjectQueueInfo;
typedef struct {
UAVObject* obj;
bool allInstances;
bool objRequest;
qint32 retriesRemaining;
bool acked;
} ObjectTransactionInfo;
// Variables
UAVObjectManager* objMngr;
UAVTalk* utalk;
GCSTelemetryStats* gcsStatsObj;
QList<ObjectTimeInfo> objList;
QQueue<ObjectQueueInfo> objQueue;
QQueue<ObjectQueueInfo> objPriorityQueue;
ObjectTransactionInfo transInfo;
bool transPending;
QMutex* mutex;
QTimer* updateTimer;
QTimer* transTimer;
QTimer* statsTimer;
qint32 timeToNextUpdateMs;
quint32 txErrors;
quint32 txRetries;
// Methods
void registerObject(UAVObject* obj);
void addObject(UAVObject* obj);
void setUpdatePeriod(UAVObject* obj, qint32 periodMs);
void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
void updateObject(UAVObject* obj);
void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
void processObjectTransaction();
void processObjectQueue();
};
#endif // TELEMETRY_H
/**
******************************************************************************
*
* @file telemetry.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef TELEMETRY_H
#define TELEMETRY_H
#include "uavtalk.h"
#include "uavobjects/uavobjectmanager.h"
#include "uavobjects/gcstelemetrystats.h"
#include <QMutex>
#include <QMutexLocker>
#include <QTimer>
#include <QQueue>
class Telemetry: public QObject
{
Q_OBJECT
public:
typedef struct {
quint32 txBytes;
quint32 rxBytes;
quint32 txObjectBytes;
quint32 rxObjectBytes;
quint32 rxObjects;
quint32 txObjects;
quint32 txErrors;
quint32 rxErrors;
quint32 txRetries;
} TelemetryStats;
Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr);
TelemetryStats getStats();
void resetStats();
signals:
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
void processPeriodicUpdates();
void transactionCompleted(UAVObject* obj);
void transactionTimeout();
private:
// Constants
static const int REQ_TIMEOUT_MS = 250;
static const int MAX_RETRIES = 2;
static const int MAX_UPDATE_PERIOD_MS = 1000;
static const int MIN_UPDATE_PERIOD_MS = 1;
static const int MAX_QUEUE_SIZE = 20;
// Types
/**
* Events generated by objects
*/
typedef enum {
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
} EventMask;
typedef struct {
UAVObject* obj;
qint32 updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
qint32 timeToNextUpdateMs; /** Time delay to the next update */
} ObjectTimeInfo;
typedef struct {
UAVObject* obj;
EventMask event;
bool allInstances;
} ObjectQueueInfo;
typedef struct {
UAVObject* obj;
bool allInstances;
bool objRequest;
qint32 retriesRemaining;
bool acked;
} ObjectTransactionInfo;
// Variables
UAVObjectManager* objMngr;
UAVTalk* utalk;
GCSTelemetryStats* gcsStatsObj;
QList<ObjectTimeInfo> objList;
QQueue<ObjectQueueInfo> objQueue;
QQueue<ObjectQueueInfo> objPriorityQueue;
ObjectTransactionInfo transInfo;
bool transPending;
QMutex* mutex;
QTimer* updateTimer;
QTimer* transTimer;
QTimer* statsTimer;
qint32 timeToNextUpdateMs;
quint32 txErrors;
quint32 txRetries;
// Methods
void registerObject(UAVObject* obj);
void addObject(UAVObject* obj);
void setUpdatePeriod(UAVObject* obj, qint32 periodMs);
void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
void updateObject(UAVObject* obj);
void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
void processObjectTransaction();
void processObjectQueue();
};
#endif // TELEMETRY_H

3
ground/src/plugins/uavtalk/telemetrymanager.cpp
View File

@ -3,10 +3,9 @@
*
* @file telemetrymanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/

3
ground/src/plugins/uavtalk/telemetrymanager.h
View File

@ -3,10 +3,9 @@
*
* @file telemetrymanager.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/

3
ground/src/plugins/uavtalk/telemetrymonitor.cpp
View File

@ -3,10 +3,9 @@
*
* @file telemetrymonitor.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/

3
ground/src/plugins/uavtalk/telemetrymonitor.h
View File

@ -3,10 +3,9 @@
*
* @file telemetrymonitor.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/

1291
ground/src/plugins/uavtalk/uavtalk.cpp
View File

@ -1,646 +1,645 @@
/**
******************************************************************************
*
* @file uavtalk.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavtalk.h"
#include <QtEndian>
const quint8 UAVTalk::crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
/**
* Constructor
*/
UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
{
io = iodev;
this->objMngr = objMngr;
rxState = STATE_SYNC;
mutex = new QMutex(QMutex::Recursive);
respObj = NULL;
memset(&stats, 0, sizeof(ComStats));
connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
}
/**
* Reset the statistics counters
*/
void UAVTalk::resetStats()
{
QMutexLocker locker(mutex);
memset(&stats, 0, sizeof(ComStats));
}
/**
* Get the statistics counters
*/
UAVTalk::ComStats UAVTalk::getStats()
{
QMutexLocker locker(mutex);
return stats;
}
/**
* Called each time there are data in the input buffer
*/
void UAVTalk::processInputStream()
{
quint8 tmp;
while (io->bytesAvailable() > 0)
{
io->read((char*)&tmp, 1);
processInputByte(tmp);
}
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
* \param[in] obj Object to update
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObjectRequest(UAVObject* obj, bool allInstances)
{
QMutexLocker locker(mutex);
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
}
/**
* Send the specified object through the telemetry link.
* \param[in] obj Object to send
* \param[in] acked Selects if an ack is required
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
{
QMutexLocker locker(mutex);
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
}
else
{
return objectTransaction(obj, TYPE_OBJ, allInstances);
}
}
/**
* Cancel a pending transaction
*/
void UAVTalk::cancelTransaction()
{
QMutexLocker locker(mutex);
respObj = NULL;
}
/**
* Execute the requested transaction on an object.
* \param[in] obj Object
* \param[in] type Transaction type
* TYPE_OBJ: send object,
* TYPE_OBJ_REQ: request object update
* TYPE_OBJ_ACK: send object with an ack
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
{
// Send object depending on if a response is needed
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
{
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj;
respAllInstances = allInstances;
return true;
}
else
{
return false;
}
}
else if (type == TYPE_OBJ)
{
return transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
return false;
}
}
/**
* Process an byte from the telemetry stream.
* \param[in] rxbyte Received byte
* \return Success (true), Failure (false)
*/
bool UAVTalk::processInputByte(quint8 rxbyte)
{
// Update stats
++stats.rxBytes;
// Receive state machine
switch (rxState) {
case STATE_SYNC:
if ((rxbyte & TYPE_MASK) == TYPE_VER )
{
rxCS = updateCRC(0, &rxbyte, 1);
rxType = rxbyte;
rxState = STATE_OBJID;
rxCount = 0;
}
break;
case STATE_OBJID:
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount == 4)
{
// Search for object, if not found reset state machine
rxObjId = (qint32)qFromLittleEndian<quint32>(rxTmpBuffer);
UAVObject* rxObj = objMngr->getObject(rxObjId);
if (rxObj == NULL)
{
rxState = STATE_SYNC;
++stats.rxErrors;
}
else
{
// Update checksum
rxCS = updateCRC(rxCS, rxTmpBuffer, 4);
// Determine data length
if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK)
{
rxLength = 0;
}
else
{
rxLength = rxObj->getNumBytes();
}
// Check length and determine next state
if (rxLength >= MAX_PAYLOAD_LENGTH)
{
rxState = STATE_SYNC;
++stats.rxErrors;
}
else
{
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
if ( rxObj->isSingleInstance() )
{
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
{
rxState = STATE_DATA;
}
else
{
rxState = STATE_CS;
}
rxInstId = 0;
rxCount = 0;
}
else
{
rxState = STATE_INSTID;
rxCount = 0;
}
}
}
}
break;
case STATE_INSTID:
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount == 2)
{
rxInstId = (qint16)qFromLittleEndian<quint16>(rxTmpBuffer);
rxCS = updateCRC(rxCS, rxTmpBuffer, 2);
rxCount = 0;
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
{
rxState = STATE_DATA;
}
else
{
rxState = STATE_CS;
}
}
break;
case STATE_DATA:
rxBuffer[rxCount++] = rxbyte;
if (rxCount == rxLength)
{
rxCS = updateCRC(rxCS, rxBuffer, rxLength);
rxState = STATE_CS;
rxCount = 0;
}
break;
case STATE_CS:
rxCSPacket = rxbyte;
if (rxCS == rxCSPacket)
{
mutex->lock();
receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
stats.rxObjectBytes += rxLength;
++stats.rxObjects;
mutex->unlock();
}
else
{
++stats.rxErrors;
}
rxState = STATE_SYNC;
break;
default:
rxState = STATE_SYNC;
++stats.rxErrors;
}
// Done
return true;
}
/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
* \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] data Data buffer
* \param[in] length Buffer length
* \return Success (true), Failure (false)
*/
bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
{
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES? true : false);
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Check if an ack is pending
if ( obj != NULL )
{
updateAck(obj);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
if ( obj != NULL )
{
transmitObject(obj, TYPE_ACK, false);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_REQ:
// Get object, if all instances are requested get instance 0 of the object
if (allInstances)
{
obj = objMngr->getObject(objId);
}
else
{
obj = objMngr->getObject(objId, instId);
}
// If object was found transmit it
if (obj != NULL)
{
transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
error = true;
}
break;
case TYPE_ACK:
// All instances, not allowed for ACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if an ack is pending
if (obj != NULL)
{
updateAck(obj);
}
else
{
error = true;
}
}
break;
default:
error = true;
}
// Done
return !error;
}
/**
* Update the data of an object from a byte array (unpack).
* If the object instance could not be found in the list, then a
* new one is created.
*/
UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
{
// Get object
UAVObject* obj = objMngr->getObject(objId, instId);
// If the instance does not exist create it
if (obj == NULL)
{
// Get the object type
UAVObject* tobj = objMngr->getObject(objId);
if (tobj == NULL)
{
return NULL;
}
// Make sure this is a data object
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(tobj);
if (dobj == NULL)
{
return NULL;
}
// Create a new instance, unpack and register
UAVDataObject* instobj = dobj->clone(instId);
if ( !objMngr->registerObject(instobj) )
{
return NULL;
}
instobj->unpack(data);
return instobj;
}
else
{
// Unpack data into object instance
obj->unpack(data);
return obj;
}
}
/**
* Check if a transaction is pending and if yes complete it.
*/
void UAVTalk::updateAck(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
{
respObj = NULL;
emit transactionCompleted(obj);
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object to send
* \param[in] type Transaction type
* \param[in] allInstances True is all instances of the object are to be sent
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitObject(UAVObject* obj, quint8 type, bool allInstances)
{
// If all instances are requested on a single instance object it is an error
if (allInstances && obj->isSingleInstance())
{
allInstances = false;
}
// Process message type
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
{
if (allInstances)
{
// Get number of instances
quint32 numInst = objMngr->getNumInstances(obj->getObjID());
// Send all instances
for (quint32 instId = 0; instId < numInst; ++instId)
{
UAVObject* inst = objMngr->getObject(obj->getObjID(), instId);
transmitSingleObject(inst, type, false);
}
return true;
}
else
{
return transmitSingleObject(obj, type, false);
}
}
else if (type == TYPE_OBJ_REQ)
{
return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
}
else if (type == TYPE_ACK)
{
if (!allInstances)
{
return transmitSingleObject(obj, TYPE_ACK, false);
}
else
{
return false;
}
}
else
{
return false;
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object handle to send
* \param[in] type Transaction type
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances)
{
qint32 length;
qint32 dataOffset;
quint32 objId;
quint16 instId;
quint16 allInstId = ALL_INSTANCES;
// Setup type and object id fields
objId = obj->getObjID();
txBuffer[0] = type;
qToLittleEndian<quint32>(objId, &txBuffer[1]);
// Setup instance ID if one is required
if ( obj->isSingleInstance() )
{
dataOffset = 5;
}
else
{
// Check if all instances are requested
if (allInstances)
{
qToLittleEndian<quint16>(allInstId, &txBuffer[5]);
}
else
{
instId = obj->getInstID();
qToLittleEndian<quint16>(instId, &txBuffer[5]);
}
dataOffset = 7;
}
// Determine data length
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
{
length = 0;
}
else
{
length = obj->getNumBytes();
}
// Check length
if (length >= MAX_PAYLOAD_LENGTH)
{
return false;
}
// Copy data (if any)
if (length > 0)
{
if ( !obj->pack(&txBuffer[dataOffset]) )
{
return false;
}
}
// Calculate checksum
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset+length);
// Send buffer, check that the transmit backlog does not grow above limit
if ( io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
}
else
{
++stats.txErrors;
return false;
}
// Update stats
++stats.txObjects;
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
stats.txObjectBytes += length;
// Done
return true;
}
/**
* Update the crc value with new data.
*
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
* using the configuration:
* Width = 8
* Poly = 0x07
* XorIn = 0x00
* ReflectIn = False
* XorOut = 0x00
* ReflectOut = False
* Algorithm = table-driven
*
* \param crc The current crc value.
* \param data Pointer to a buffer of \a data_len bytes.
* \param length Number of bytes in the \a data buffer.
* \return The updated crc value.
*/
quint8 UAVTalk::updateCRC(quint8 crc, const quint8* data, qint32 length)
{
quint32 tbl_idx;
while (length--) {
tbl_idx = ((crc >> 0) ^ *data) & 0xff;
crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0xff;
data++;
}
return crc;
}
/**
******************************************************************************
*
* @file uavtalk.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavtalk.h"
#include <QtEndian>
const quint8 UAVTalk::crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
/**
* Constructor
*/
UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
{
io = iodev;
this->objMngr = objMngr;
rxState = STATE_SYNC;
mutex = new QMutex(QMutex::Recursive);
respObj = NULL;
memset(&stats, 0, sizeof(ComStats));
connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
}
/**
* Reset the statistics counters
*/
void UAVTalk::resetStats()
{
QMutexLocker locker(mutex);
memset(&stats, 0, sizeof(ComStats));
}
/**
* Get the statistics counters
*/
UAVTalk::ComStats UAVTalk::getStats()
{
QMutexLocker locker(mutex);
return stats;
}
/**
* Called each time there are data in the input buffer
*/
void UAVTalk::processInputStream()
{
quint8 tmp;
while (io->bytesAvailable() > 0)
{
io->read((char*)&tmp, 1);
processInputByte(tmp);
}
}
/**
* Request an update for the specified object, on success the object data would have been
* updated by the GCS.
* \param[in] obj Object to update
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObjectRequest(UAVObject* obj, bool allInstances)
{
QMutexLocker locker(mutex);
return objectTransaction(obj, TYPE_OBJ_REQ, allInstances);
}
/**
* Send the specified object through the telemetry link.
* \param[in] obj Object to send
* \param[in] acked Selects if an ack is required
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
{
QMutexLocker locker(mutex);
if (acked)
{
return objectTransaction(obj, TYPE_OBJ_ACK, allInstances);
}
else
{
return objectTransaction(obj, TYPE_OBJ, allInstances);
}
}
/**
* Cancel a pending transaction
*/
void UAVTalk::cancelTransaction()
{
QMutexLocker locker(mutex);
respObj = NULL;
}
/**
* Execute the requested transaction on an object.
* \param[in] obj Object
* \param[in] type Transaction type
* TYPE_OBJ: send object,
* TYPE_OBJ_REQ: request object update
* TYPE_OBJ_ACK: send object with an ack
* \param[in] allInstances If set true then all instances will be updated
* \return Success (true), Failure (false)
*/
bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
{
// Send object depending on if a response is needed
if (type == TYPE_OBJ_ACK || type == TYPE_OBJ_REQ)
{
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj;
respAllInstances = allInstances;
return true;
}
else
{
return false;
}
}
else if (type == TYPE_OBJ)
{
return transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
return false;
}
}
/**
* Process an byte from the telemetry stream.
* \param[in] rxbyte Received byte
* \return Success (true), Failure (false)
*/
bool UAVTalk::processInputByte(quint8 rxbyte)
{
// Update stats
++stats.rxBytes;
// Receive state machine
switch (rxState) {
case STATE_SYNC:
if ((rxbyte & TYPE_MASK) == TYPE_VER )
{
rxCS = updateCRC(0, &rxbyte, 1);
rxType = rxbyte;
rxState = STATE_OBJID;
rxCount = 0;
}
break;
case STATE_OBJID:
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount == 4)
{
// Search for object, if not found reset state machine
rxObjId = (qint32)qFromLittleEndian<quint32>(rxTmpBuffer);
UAVObject* rxObj = objMngr->getObject(rxObjId);
if (rxObj == NULL)
{
rxState = STATE_SYNC;
++stats.rxErrors;
}
else
{
// Update checksum
rxCS = updateCRC(rxCS, rxTmpBuffer, 4);
// Determine data length
if (rxType == TYPE_OBJ_REQ || rxType == TYPE_ACK)
{
rxLength = 0;
}
else
{
rxLength = rxObj->getNumBytes();
}
// Check length and determine next state
if (rxLength >= MAX_PAYLOAD_LENGTH)
{
rxState = STATE_SYNC;
++stats.rxErrors;
}
else
{
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
if ( rxObj->isSingleInstance() )
{
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
{
rxState = STATE_DATA;
}
else
{
rxState = STATE_CS;
}
rxInstId = 0;
rxCount = 0;
}
else
{
rxState = STATE_INSTID;
rxCount = 0;
}
}
}
}
break;
case STATE_INSTID:
rxTmpBuffer[rxCount++] = rxbyte;
if (rxCount == 2)
{
rxInstId = (qint16)qFromLittleEndian<quint16>(rxTmpBuffer);
rxCS = updateCRC(rxCS, rxTmpBuffer, 2);
rxCount = 0;
// If there is a payload get it, otherwise receive checksum
if (rxLength > 0)
{
rxState = STATE_DATA;
}
else
{
rxState = STATE_CS;
}
}
break;
case STATE_DATA:
rxBuffer[rxCount++] = rxbyte;
if (rxCount == rxLength)
{
rxCS = updateCRC(rxCS, rxBuffer, rxLength);
rxState = STATE_CS;
rxCount = 0;
}
break;
case STATE_CS:
rxCSPacket = rxbyte;
if (rxCS == rxCSPacket)
{
mutex->lock();
receiveObject(rxType, rxObjId, rxInstId, rxBuffer, rxLength);
stats.rxObjectBytes += rxLength;
++stats.rxObjects;
mutex->unlock();
}
else
{
++stats.rxErrors;
}
rxState = STATE_SYNC;
break;
default:
rxState = STATE_SYNC;
++stats.rxErrors;
}
// Done
return true;
}
/**
* Receive an object. This function process objects received through the telemetry stream.
* \param[in] type Type of received message (TYPE_OBJ, TYPE_OBJ_REQ, TYPE_OBJ_ACK, TYPE_ACK)
* \param[in] obj Handle of the received object
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] data Data buffer
* \param[in] length Buffer length
* \return Success (true), Failure (false)
*/
bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length)
{
UAVObject* obj = NULL;
bool error = false;
bool allInstances = (instId == ALL_INSTANCES? true : false);
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Check if an ack is pending
if ( obj != NULL )
{
updateAck(obj);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (!allInstances)
{
// Get object and update its data
obj = updateObject(objId, instId, data);
// Transmit ACK
if ( obj != NULL )
{
transmitObject(obj, TYPE_ACK, false);
}
else
{
error = true;
}
}
else
{
error = true;
}
break;
case TYPE_OBJ_REQ:
// Get object, if all instances are requested get instance 0 of the object
if (allInstances)
{
obj = objMngr->getObject(objId);
}
else
{
obj = objMngr->getObject(objId, instId);
}
// If object was found transmit it
if (obj != NULL)
{
transmitObject(obj, TYPE_OBJ, allInstances);
}
else
{
error = true;
}
break;
case TYPE_ACK:
// All instances, not allowed for ACK messages
if (!allInstances)
{
// Get object
obj = objMngr->getObject(objId, instId);
// Check if an ack is pending
if (obj != NULL)
{
updateAck(obj);
}
else
{
error = true;
}
}
break;
default:
error = true;
}
// Done
return !error;
}
/**
* Update the data of an object from a byte array (unpack).
* If the object instance could not be found in the list, then a
* new one is created.
*/
UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
{
// Get object
UAVObject* obj = objMngr->getObject(objId, instId);
// If the instance does not exist create it
if (obj == NULL)
{
// Get the object type
UAVObject* tobj = objMngr->getObject(objId);
if (tobj == NULL)
{
return NULL;
}
// Make sure this is a data object
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(tobj);
if (dobj == NULL)
{
return NULL;
}
// Create a new instance, unpack and register
UAVDataObject* instobj = dobj->clone(instId);
if ( !objMngr->registerObject(instobj) )
{
return NULL;
}
instobj->unpack(data);
return instobj;
}
else
{
// Unpack data into object instance
obj->unpack(data);
return obj;
}
}
/**
* Check if a transaction is pending and if yes complete it.
*/
void UAVTalk::updateAck(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
{
respObj = NULL;
emit transactionCompleted(obj);
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object to send
* \param[in] type Transaction type
* \param[in] allInstances True is all instances of the object are to be sent
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitObject(UAVObject* obj, quint8 type, bool allInstances)
{
// If all instances are requested on a single instance object it is an error
if (allInstances && obj->isSingleInstance())
{
allInstances = false;
}
// Process message type
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
{
if (allInstances)
{
// Get number of instances
quint32 numInst = objMngr->getNumInstances(obj->getObjID());
// Send all instances
for (quint32 instId = 0; instId < numInst; ++instId)
{
UAVObject* inst = objMngr->getObject(obj->getObjID(), instId);
transmitSingleObject(inst, type, false);
}
return true;
}
else
{
return transmitSingleObject(obj, type, false);
}
}
else if (type == TYPE_OBJ_REQ)
{
return transmitSingleObject(obj, TYPE_OBJ_REQ, allInstances);
}
else if (type == TYPE_ACK)
{
if (!allInstances)
{
return transmitSingleObject(obj, TYPE_ACK, false);
}
else
{
return false;
}
}
else
{
return false;
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object handle to send
* \param[in] type Transaction type
* \return Success (true), Failure (false)
*/
bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances)
{
qint32 length;
qint32 dataOffset;
quint32 objId;
quint16 instId;
quint16 allInstId = ALL_INSTANCES;
// Setup type and object id fields
objId = obj->getObjID();
txBuffer[0] = type;
qToLittleEndian<quint32>(objId, &txBuffer[1]);
// Setup instance ID if one is required
if ( obj->isSingleInstance() )
{
dataOffset = 5;
}
else
{
// Check if all instances are requested
if (allInstances)
{
qToLittleEndian<quint16>(allInstId, &txBuffer[5]);
}
else
{
instId = obj->getInstID();
qToLittleEndian<quint16>(instId, &txBuffer[5]);
}
dataOffset = 7;
}
// Determine data length
if (type == TYPE_OBJ_REQ || type == TYPE_ACK)
{
length = 0;
}
else
{
length = obj->getNumBytes();
}
// Check length
if (length >= MAX_PAYLOAD_LENGTH)
{
return false;
}
// Copy data (if any)
if (length > 0)
{
if ( !obj->pack(&txBuffer[dataOffset]) )
{
return false;
}
}
// Calculate checksum
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset+length);
// Send buffer, check that the transmit backlog does not grow above limit
if ( io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
}
else
{
++stats.txErrors;
return false;
}
// Update stats
++stats.txObjects;
stats.txBytes += dataOffset+length+CHECKSUM_LENGTH;
stats.txObjectBytes += length;
// Done
return true;
}
/**
* Update the crc value with new data.
*
* Generated by pycrc v0.7.5, http://www.tty1.net/pycrc/
* using the configuration:
* Width = 8
* Poly = 0x07
* XorIn = 0x00
* ReflectIn = False
* XorOut = 0x00
* ReflectOut = False
* Algorithm = table-driven
*
* \param crc The current crc value.
* \param data Pointer to a buffer of \a data_len bytes.
* \param length Number of bytes in the \a data buffer.
* \return The updated crc value.
*/
quint8 UAVTalk::updateCRC(quint8 crc, const quint8* data, qint32 length)
{
quint32 tbl_idx;
while (length--) {
tbl_idx = ((crc >> 0) ^ *data) & 0xff;
crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0xff;
data++;
}
return crc;
}

233
ground/src/plugins/uavtalk/uavtalk.h
View File

@ -1,117 +1,116 @@
/**
******************************************************************************
*
* @file uavtalk.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALK_H
#define UAVTALK_H
#include <QIODevice>
#include <QMutex>
#include <QMutexLocker>
#include <QSemaphore>
#include "uavobjects/uavobjectmanager.h"
class UAVTalk: public QObject
{
Q_OBJECT
public:
typedef struct {
quint32 txBytes;
quint32 rxBytes;
quint32 txObjectBytes;
quint32 rxObjectBytes;
quint32 rxObjects;
quint32 txObjects;
quint32 txErrors;
quint32 rxErrors;
} ComStats;
UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
bool sendObject(UAVObject* obj, bool acked, bool allInstances);
bool sendObjectRequest(UAVObject* obj, bool allInstances);
void cancelTransaction();
ComStats getStats();
void resetStats();
signals:
void transactionCompleted(UAVObject* obj);
private slots:
void processInputStream(void);
private:
// Constants
static const int TYPE_MASK = 0xFC;
static const int TYPE_VER = 0x10;
static const int TYPE_OBJ = (TYPE_VER | 0x00);
static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
static const int TYPE_ACK = (TYPE_VER | 0x03);
static const int HEADER_LENGTH = 7; // type (1), object ID (4), instance ID (2, not used in single objects)
static const int CHECKSUM_LENGTH = 1;
static const int MAX_PAYLOAD_LENGTH = 256;
static const int MAX_PACKET_LENGTH = (HEADER_LENGTH+MAX_PAYLOAD_LENGTH+CHECKSUM_LENGTH);
static const quint16 ALL_INSTANCES = 0xFFFF;
static const int TX_BUFFER_SIZE = 2*1024;
static const quint8 crc_table[256];
// Types
typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
// Variables
QIODevice* io;
UAVObjectManager* objMngr;
QMutex* mutex;
UAVObject* respObj;
bool respAllInstances;
quint8 rxBuffer[MAX_PACKET_LENGTH];
quint8 txBuffer[MAX_PACKET_LENGTH];
// Variables used by the receive state machine
quint8 rxTmpBuffer[4];
quint8 rxType;
quint32 rxObjId;
quint16 rxInstId;
quint8 rxLength;
quint8 rxCSPacket, rxCS;
qint32 rxCount;
RxStateType rxState;
ComStats stats;
// Methods
bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);
bool processInputByte(quint8 rxbyte);
bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length);
UAVObject* updateObject(quint32 objId, quint16 instId, quint8* data);
void updateAck(UAVObject* obj);
bool transmitObject(UAVObject* obj, quint8 type, bool allInstances);
bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
};
#endif // UAVTALK_H
/**
******************************************************************************
*
* @file uavtalk.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALK_H
#define UAVTALK_H
#include <QIODevice>
#include <QMutex>
#include <QMutexLocker>
#include <QSemaphore>
#include "uavobjects/uavobjectmanager.h"
class UAVTalk: public QObject
{
Q_OBJECT
public:
typedef struct {
quint32 txBytes;
quint32 rxBytes;
quint32 txObjectBytes;
quint32 rxObjectBytes;
quint32 rxObjects;
quint32 txObjects;
quint32 txErrors;
quint32 rxErrors;
} ComStats;
UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr);
bool sendObject(UAVObject* obj, bool acked, bool allInstances);
bool sendObjectRequest(UAVObject* obj, bool allInstances);
void cancelTransaction();
ComStats getStats();
void resetStats();
signals:
void transactionCompleted(UAVObject* obj);
private slots:
void processInputStream(void);
private:
// Constants
static const int TYPE_MASK = 0xFC;
static const int TYPE_VER = 0x10;
static const int TYPE_OBJ = (TYPE_VER | 0x00);
static const int TYPE_OBJ_REQ = (TYPE_VER | 0x01);
static const int TYPE_OBJ_ACK = (TYPE_VER | 0x02);
static const int TYPE_ACK = (TYPE_VER | 0x03);
static const int HEADER_LENGTH = 7; // type (1), object ID (4), instance ID (2, not used in single objects)
static const int CHECKSUM_LENGTH = 1;
static const int MAX_PAYLOAD_LENGTH = 256;
static const int MAX_PACKET_LENGTH = (HEADER_LENGTH+MAX_PAYLOAD_LENGTH+CHECKSUM_LENGTH);
static const quint16 ALL_INSTANCES = 0xFFFF;
static const int TX_BUFFER_SIZE = 2*1024;
static const quint8 crc_table[256];
// Types
typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
// Variables
QIODevice* io;
UAVObjectManager* objMngr;
QMutex* mutex;
UAVObject* respObj;
bool respAllInstances;
quint8 rxBuffer[MAX_PACKET_LENGTH];
quint8 txBuffer[MAX_PACKET_LENGTH];
// Variables used by the receive state machine
quint8 rxTmpBuffer[4];
quint8 rxType;
quint32 rxObjId;
quint16 rxInstId;
quint8 rxLength;
quint8 rxCSPacket, rxCS;
qint32 rxCount;
RxStateType rxState;
ComStats stats;
// Methods
bool objectTransaction(UAVObject* obj, quint8 type, bool allInstances);
bool processInputByte(quint8 rxbyte);
bool receiveObject(quint8 type, quint32 objId, quint16 instId, quint8* data, qint32 length);
UAVObject* updateObject(quint32 objId, quint16 instId, quint8* data);
void updateAck(UAVObject* obj);
bool transmitObject(UAVObject* obj, quint8 type, bool allInstances);
bool transmitSingleObject(UAVObject* obj, quint8 type, bool allInstances);
quint8 updateCRC(quint8 crc, const quint8* data, qint32 length);
};
#endif // UAVTALK_H

79
ground/src/plugins/uavtalk/uavtalk_global.h
View File

@ -1,40 +1,39 @@
/**
******************************************************************************
*
* @file uavobjects_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_plugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALK_GLOBAL_H
#define UAVTALK_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(UAVTALK_LIBRARY)
# define UAVTALK_EXPORT Q_DECL_EXPORT
#else
# define UAVTALK_EXPORT Q_DECL_IMPORT
#endif
#endif // UAVTALK_GLOBAL_H
/**
******************************************************************************
*
* @file uavobjects_global.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALK_GLOBAL_H
#define UAVTALK_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(UAVTALK_LIBRARY)
# define UAVTALK_EXPORT Q_DECL_EXPORT
#else
# define UAVTALK_EXPORT Q_DECL_IMPORT
#endif
#endif // UAVTALK_GLOBAL_H

167
ground/src/plugins/uavtalk/uavtalkplugin.cpp
View File

@ -1,84 +1,83 @@
/**
******************************************************************************
*
* @file uavtalkplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavtalkplugin.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
UAVTalkPlugin::UAVTalkPlugin()
{
}
UAVTalkPlugin::~UAVTalkPlugin()
{
}
void UAVTalkPlugin::extensionsInitialized()
{
// Get UAVObjectManager instance
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
objMngr = pm->getObject<UAVObjectManager>();
// Create TelemetryManager
telMngr = new TelemetryManager();
addAutoReleasedObject(telMngr);
// Connect to connection manager so we get notified when the user connect to his device
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
this, SLOT(onDeviceConnect(QIODevice *)));
QObject::connect(cm, SIGNAL(deviceDisconnected()),
this, SLOT(onDeviceDisconnect()));
}
bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorString)
{
// Done
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
void UAVTalkPlugin::shutdown()
{
}
void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
{
telMngr->start(dev);
}
void UAVTalkPlugin::onDeviceDisconnect()
{
telMngr->stop();
}
Q_EXPORT_PLUGIN(UAVTalkPlugin)
/**
******************************************************************************
*
* @file uavtalkplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavtalkplugin.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
UAVTalkPlugin::UAVTalkPlugin()
{
}
UAVTalkPlugin::~UAVTalkPlugin()
{
}
void UAVTalkPlugin::extensionsInitialized()
{
// Get UAVObjectManager instance
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
objMngr = pm->getObject<UAVObjectManager>();
// Create TelemetryManager
telMngr = new TelemetryManager();
addAutoReleasedObject(telMngr);
// Connect to connection manager so we get notified when the user connect to his device
Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
this, SLOT(onDeviceConnect(QIODevice *)));
QObject::connect(cm, SIGNAL(deviceDisconnected()),
this, SLOT(onDeviceDisconnect()));
}
bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorString)
{
// Done
Q_UNUSED(arguments);
Q_UNUSED(errorString);
return true;
}
void UAVTalkPlugin::shutdown()
{
}
void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
{
telMngr->start(dev);
}
void UAVTalkPlugin::onDeviceDisconnect()
{
telMngr->stop();
}
Q_EXPORT_PLUGIN(UAVTalkPlugin)

121
ground/src/plugins/uavtalk/uavtalkplugin.h
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@ -1,61 +1,60 @@
/**
******************************************************************************
*
* @file uavtalkplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALKPLUGIN_H
#define UAVTALKPLUGIN_H
#include <extensionsystem/iplugin.h>
#include <extensionsystem/pluginmanager.h>
#include <QtPlugin>
#include "telemetrymonitor.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "telemetrymanager.h"
#include "uavobjects/uavobjectmanager.h"
class UAVTALK_EXPORT UAVTalkPlugin: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
UAVTalkPlugin();
~UAVTalkPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
protected slots:
void onDeviceConnect(QIODevice *dev);
void onDeviceDisconnect();
private:
UAVObjectManager* objMngr;
TelemetryManager* telMngr;
};
#endif // UAVTALKPLUGIN_H
/**
******************************************************************************
*
* @file uavtalkplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavtalkplugin
* @{
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVTALKPLUGIN_H
#define UAVTALKPLUGIN_H
#include <extensionsystem/iplugin.h>
#include <extensionsystem/pluginmanager.h>
#include <QtPlugin>
#include "telemetrymonitor.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "telemetrymanager.h"
#include "uavobjects/uavobjectmanager.h"
class UAVTALK_EXPORT UAVTalkPlugin: public ExtensionSystem::IPlugin
{
Q_OBJECT
public:
UAVTalkPlugin();
~UAVTalkPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
protected slots:
void onDeviceConnect(QIODevice *dev);
void onDeviceDisconnect();
private:
UAVObjectManager* objMngr;
TelemetryManager* telMngr;
};
#endif // UAVTALKPLUGIN_H

2
ground/src/plugins/uploader/uploadergadget.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadget.h
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget configuration
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetconfiguration.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget configuration
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetconfiguration.h
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget configuration
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetfactory.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget factory
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetfactory.h
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget factory
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetoptionspage.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget options page
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetoptionspage.h
View File

@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget options page
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetwidget.cpp
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget widget
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploadergadgetwidget.h
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@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Uploader Plugin Gadget widget
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploaderplugin.cpp
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@ -6,7 +6,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A plugin to upload a file using y-modem protocol and a serial port
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/

2
ground/src/plugins/uploader/uploaderplugin.h
View File

@ -5,7 +5,7 @@
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief A plugin to upload a file using y-modem protocol and a serial port
* @see The GNU Public License (GPL) Version 3
* @defgroup Uploader
* @defgroup uploaderplugin
* @{
*
*****************************************************************************/