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Code Issues Releases Activity

More work on the java UAVObject implementation

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This commit is contained in:
James Cotton 2011-03-06 00:03:20 -06:00
parent ae43ec3eba
commit a9b28687ea
5 changed files with 497 additions and 382 deletions
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93
androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java
View File

@ -9,39 +9,78 @@ public abstract class UAVDataObject extends UAVObject {
* @param isSet
* @param name
*/
public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) throws Exception {
super(objID, isSingleInst, name);
mobj = null;
this.isSet = isSet;
}
public abstract void initialize(int instID, UAVMetaObject mobj);
public abstract void initialize(UAVMetaObject mobj);
Boolean isSettings() {
return null;
/**
* Initialize instance ID and assign a metaobject
*/
public void initialize(int instID, UAVMetaObject mobj)
{
//QMutexLocker locker(mutex);
this.mobj = mobj;
super.initialize(instID);
}
/**
* Assign a metaobject
*/
public void initialize(UAVMetaObject mobj)
{
//QMutexLocker locker(mutex);
this.mobj = mobj;
}
/**
* Returns true if this is a data object holding module settings
*/
public boolean isSettings()
{
return isSet;
}
/**
* Set the object's metadata
*/
public void setMetadata(Metadata mdata)
{
if ( mobj != null )
{
mobj.setData(mdata);
}
}
/**
* Get the object's metadata
*/
public Metadata getMetadata()
{
if ( mobj != null)
{
return mobj.getData();
}
else
{
return getDefaultMetadata();
}
}
/**
* Get the metaobject
*/
public UAVMetaObject getMetaObject()
{
return mobj;
}
UAVMetaObject getMetaObject() {
return null;
}
// TODO: Make abstract
public UAVDataObject clone(int instID) {
try {
return (UAVDataObject) super.clone();
} catch (CloneNotSupportedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
return null;
return (UAVDataObject) super.clone();
}
public:
static int OBJID = $(OBJIDHEX);
static String NAME;
static String DESCRIPTION;
static boolean ISSINGLEINST = $(ISSINGLEINST);
static boolean ISSETTINGS = $(ISSETTINGS);
static int NUMBYTES = sizeof(DataFields);
private UAVMetaObject mobj;
private boolean isSet;
}

140
androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
View File

@ -1,76 +1,116 @@
package org.openpilot.uavtalk;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.List;
public class UAVMetaObject extends UAVObject {
public UAVMetaObject(int objID, String name, UAVDataObject parent) {
public UAVMetaObject(int objID, String name, UAVDataObject parent) throws Exception {
super(objID, true, name);
this.parent = parent;
ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
ownMetadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
ownMetadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE;
ownMetadata.gcsAccess = UAVObject.AccessMode.ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = UAVObject.Acked.TRUE;
ownMetadata.flightTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = UAVObject.Acked.TRUE;
ownMetadata.gcsTelemetryUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
// Setup fields
List<String> boolEnum = new ArrayList<String>();
boolEnum.add("False");
boolEnum.add("True");
List<String> updateModeEnum = new ArrayList<String>();
updateModeEnum.add("Periodic");
updateModeEnum.add("On Change");
updateModeEnum.add("Manual");
updateModeEnum.add("Never");
List<String> accessModeEnum = new ArrayList<String>();
accessModeEnum.add("Read/Write");
accessModeEnum.add("Read Only");
List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
fields.add( new UAVObjectField("Flight Access Mode", "", UAVObjectField.FieldType.ENUM, 1, accessModeEnum) );
fields.add( new UAVObjectField("GCS Access Mode", "", UAVObjectField.FieldType.ENUM, 1, accessModeEnum) );
fields.add( new UAVObjectField("Flight Telemetry Acked", "", UAVObjectField.FieldType.ENUM, 1, boolEnum) );
fields.add( new UAVObjectField("Flight Telemetry Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
fields.add( new UAVObjectField("Flight Telemetry Update Period", "", UAVObjectField.FieldType.UINT32, 1, null) );
fields.add( new UAVObjectField("GCS Telemetry Acked", "", UAVObjectField.FieldType.ENUM, 1, boolEnum) );
fields.add( new UAVObjectField("GCS Telemetry Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
fields.add( new UAVObjectField("GCS Telemetry Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
fields.add( new UAVObjectField("Logging Update Mode", "", UAVObjectField.FieldType.ENUM, 1, updateModeEnum) );
fields.add( new UAVObjectField("Logging Update Period", "", UAVObjectField.FieldType.UINT32, 1, null ) );
// Initialize parent
super.initialize(0);
super.initializeFields(fields, ByteBuffer.allocate(10), 10);
// Setup metadata of parent
parentMetadata = parent.getDefaultMetadata();
}
UAVObject getParentObject() {
/**
* Get the parent object
*/
public UAVObject getParentObject()
{
return parent;
}
@Override
public void deserialize(byte[] arr, int offset) {
// TODO Auto-generated method stub
/**
* Set the metadata of the metaobject, this function will
* do nothing since metaobjects have read-only metadata.
*/
public void setMetadata(Metadata mdata)
{
return; // can not update metaobject's metadata
}
@Override
public Metadata getMetadata() {
/**
* Get the metadata of the metaobject
*/
public Metadata getMetadata()
{
return ownMetadata;
}
@Override
public Metadata getDefaultMetadata() {
return ownMetadata;
/**
* Get the default metadata
*/
public Metadata getDefaultMetadata()
{
return ownMetadata;
}
@Override
public String getDescription() {
// TODO Auto-generated method stub
return null;
/**
* Set the metadata held by the metaobject
*/
public void setData(Metadata mdata)
{
//QMutexLocker locker(mutex);
parentMetadata = mdata;
// TODO: Callbacks
// emit objectUpdatedAuto(this); // trigger object updated event
// emit objectUpdated(this);
}
@Override
public int getObjID() {
// TODO Auto-generated method stub
return 0;
/**
* Get the metadata held by the metaobject
*/
public Metadata getData()
{
// QMutexLocker locker(mutex);
return parentMetadata;
}
@Override
public String getObjName() {
// TODO Auto-generated method stub
return null;
}
@Override
public byte[] serialize() {
// TODO Auto-generated method stub
return null;
}
public UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent);
UAVObject* getParentObject();
void setMetadata(const Metadata& mdata);
void setData(const Metadata& mdata);
Metadata getData();
private UAVObject parent;
private Metadata ownMetadata;
private Metadata parentMetadata;

581
androidgcs/src/org/openpilot/uavtalk/UAVObject.java
View File

@ -6,241 +6,274 @@ import java.util.ListIterator;
public abstract class UAVObject {
/**
* Object update mode
*/
public enum UpdateMode {
UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
UPDATEMODE_PERIODIC, /**
* Automatically update object at periodic
* intervals
*/
UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER /** Object is never updated */
} ;
UPDATEMODE_MANUAL, /**
* Manually update object, by calling the updated()
* function
*/
UPDATEMODE_NEVER
/** Object is never updated */
};
/**
* Access mode
*/
public enum AccessMode{
ACCESS_READWRITE,
ACCESS_READONLY
} ;
public enum AccessMode {
ACCESS_READWRITE, ACCESS_READONLY
};
/**
* Access mode
*/
public enum Acked{
FALSE,
TRUE
} ;
public enum Acked {
FALSE, TRUE
};
protected final class Metadata {
public AccessMode flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
public AccessMode gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
public Acked flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
public UpdateMode flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
public int flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
public Acked gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
public UpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
public int gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
public UpdateMode loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
public int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} ;
public final class Metadata {
public AccessMode flightAccess;
/**
* Defines the access level for the local flight transactions (readonly
* and readwrite)
*/
public AccessMode gcsAccess;
/**
* Defines the access level for the local GCS transactions (readonly and
* readwrite)
*/
public Acked flightTelemetryAcked;
/**
* Defines if an ack is required for the transactions of this object
* (1:acked, 0:not acked)
*/
public UpdateMode flightTelemetryUpdateMode;
/** Update mode used by the autopilot (UpdateMode) */
public int flightTelemetryUpdatePeriod;
/**
* Update period used by the autopilot (only if telemetry mode is
* PERIODIC)
*/
public Acked gcsTelemetryAcked;
/**
* Defines if an ack is required for the transactions of this object
* (1:acked, 0:not acked)
*/
public UpdateMode gcsTelemetryUpdateMode;
/** Update mode used by the GCS (UpdateMode) */
public int gcsTelemetryUpdatePeriod;
/** Update period used by the GCS (only if telemetry mode is PERIODIC) */
public UpdateMode loggingUpdateMode;
/** Update mode used by the logging module (UpdateMode) */
public int loggingUpdatePeriod;
/**
* Update period used by the logging module (only if logging mode is
* PERIODIC)
*/
};
public UAVObject(int objID, Boolean isSingleInst, String name) {
this.objID = objID;
this.instID = 0;
this.isSingleInst = isSingleInst;
this.name = name;
// this.mutex = new QMutex(QMutex::Recursive);
// this.mutex = new QMutex(QMutex::Recursive);
};
public void initialize(int instID) {
//QMutexLocker locker(mutex);
// 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)
* @throws Exception When unable to unpack a field
*
* @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)
* @throws Exception
* When unable to unpack a field
*/
public void initializeFields(List<UAVObjectField> fields, ByteBuffer data, int numBytes) throws Exception
{
// TODO: QMutexLocker locker(mutex);
public void initializeFields(List<UAVObjectField> fields, ByteBuffer data,
int numBytes) throws Exception {
// TODO: QMutexLocker locker(mutex);
this.numBytes = numBytes;
this.data = data;
// this.data = data;
this.fields = fields;
// Initialize fields
for (int n = 0; n < fields.size(); ++n)
{
for (int n = 0; n < fields.size(); ++n) {
fields.get(n).initialize(this);
}
unpack(data);
// unpack(data);
}
/**
* Get the object ID
*/
public int getObjID()
{
public int getObjID() {
return objID;
}
/**
* Get the instance ID
*/
public int getInstID()
{
public int getInstID() {
return instID;
}
/**
* Returns true if this is a single instance object
*/
public boolean isSingleInstance()
{
public boolean isSingleInstance() {
return isSingleInst;
}
/**
* Get the name of the object
*/
public String getName()
{
public String getName() {
return name;
}
/**
* Get the description of the object
*
* @return The description of the object
*/
public String getDescription()
{
public String getDescription() {
return description;
}
/**
* Set the description of the object
* @param The description of the object
* @return
*
* @param The
* description of the object
* @return
*/
public void setDescription(String description)
{
public void setDescription(String description) {
this.description = description;
}
/**
* Get the total number of bytes of the object's data
*/
public int getNumBytes()
{
public int getNumBytes() {
return numBytes;
}
// /**
// * Request that this object is updated with the latest values from the autopilot
// */
// /* void UAVObject::requestUpdate()
// {
// emit updateRequested(this);
// } */
// /**
// * 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);
// } */
// /**
// * 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()
// {
// mutex->lock();
// } */
//
// /**
// * Lock mutex of this object
// */
// /* void UAVObject::lock(int timeoutMs)
// {
// mutex->tryLock(timeoutMs);
// } */
// /**
// * Lock mutex of this object
// */
// /* void UAVObject::lock(int timeoutMs)
// {
// mutex->tryLock(timeoutMs);
// } */
//
// /**
// * Unlock mutex of this object
// */
// /* void UAVObject::unlock()
// {
// mutex->unlock();
// } */
// /**
// * Unlock mutex of this object
// */
// /* void UAVObject::unlock()
// {
// mutex->unlock();
// } */
//
// /**
// * Get object's mutex
// */
// QMutex* UAVObject::getMutex()
// {
// return mutex;
// }
// /**
// * Get object's mutex
// */
// QMutex* UAVObject::getMutex()
// {
// return mutex;
// }
/**
* Get the number of fields held by this object
*/
public int getNumFields()
{
//QMutexLocker locker(mutex);
public int getNumFields() {
// QMutexLocker locker(mutex);
return fields.size();
}
/**
* Get the object's fields
*/
public List<UAVObjectField> getFields()
{
//QMutexLocker locker(mutex);
public List<UAVObjectField> getFields() {
// QMutexLocker locker(mutex);
return fields;
}
/**
* Get a specific field
* @throws Exception
*
* @throws Exception
* @returns The field or NULL if not found
*/
public UAVObjectField getField(String name) throws Exception
{
//QMutexLocker locker(mutex);
public UAVObjectField getField(String name) {
// QMutexLocker locker(mutex);
// Look for field
ListIterator<UAVObjectField> li = fields.listIterator();
while(li.hasNext()) {
while (li.hasNext()) {
UAVObjectField field = li.next();
if(field.getName().equals(name))
if (field.getName().equals(name))
return field;
}
throw new Exception("Field not found");
//throw new Exception("Field not found");
return null;
}
/**
* Pack the object data into a byte array
* @param dataOut ByteBuffer to receive the data.
* @throws Exception
*
* @param dataOut
* ByteBuffer to receive the data.
* @throws Exception
* @returns The number of bytes copied
* @note The array must already have enough space allocated for the object
*/
public int pack(ByteBuffer dataOut) throws Exception
{
public int pack(ByteBuffer dataOut) throws Exception {
// QMutexLocker locker(mutex);
if(dataOut.remaining() < getNumBytes())
if (dataOut.remaining() < getNumBytes())
throw new Exception("Not enough bytes in ByteBuffer to pack object");
int numBytes = 0;
ListIterator<UAVObjectField> li = fields.listIterator();
while(li.hasNext()) {
while (li.hasNext()) {
UAVObjectField field = li.next();
numBytes += field.pack(dataOut);
}
@ -249,232 +282,232 @@ public abstract class UAVObject {
/**
* Unpack the object data from a byte array
* @param dataIn The ByteBuffer to pull data from
* @throws Exception
*
* @param dataIn
* The ByteBuffer to pull data from
* @throws Exception
* @returns The number of bytes copied
*/
public int unpack(ByteBuffer dataIn) throws Exception
{
public int unpack(ByteBuffer dataIn) throws Exception {
if( dataIn == null )
return 0;
System.out.println( dataIn.toString() );
// QMutexLocker locker(mutex);
int numBytes = 0;
ListIterator<UAVObjectField> li = fields.listIterator();
while(li.hasNext()) {
while (li.hasNext()) {
UAVObjectField field = li.next();
System.out.println(field.toString());
numBytes += field.unpack(dataIn);
}
return numBytes;
// TODO: Callbacks
//emit objectUnpacked(this); // trigger object updated event
//emit objectUpdated(this);
// emit objectUnpacked(this); // trigger object updated event
// emit objectUpdated(this);
}
// /**
// * 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);
// /**
// * 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;
// }
// // Open file
// QFile file(name + ".uavobj");
// if (!file.open(QFile::WriteOnly))
// {
// return false;
// }
//
// // Write object
// if ( !save(file) )
// {
// return false;
// }
// // Write object
// if ( !save(file) )
// {
// return false;
// }
//
// // Close file
// file.close();
// return true;
// }
// // 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];
// /**
// * 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 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 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;
// }
// // Write the data
// pack(buffer);
// if ( file.write((const char*)buffer, numBytes) == -1 )
// {
// return false;
// }
//
// // Done
// return true;
// }
// // 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);
// /**
// * 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;
// }
// // Open file
// QFile file(name + ".uavobj");
// if (!file.open(QFile::ReadOnly))
// {
// return false;
// }
//
// // Load object
// if ( !load(file) )
// {
// return false;
// }
// // Load object
// if ( !load(file) )
// {
// return false;
// }
//
// // Close file
// file.close();
// return true;
// }
// // 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];
// /**
// * 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;
// }
// // 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;
// }
// // 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;
// }
// // 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;
// }
// // 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);
// // Read and unpack the data
// if ( file.read((char*)buffer, numBytes) != numBytes )
// {
// return false;
// }
// unpack(buffer);
//
// // Done
// return true;
// }
// // Done
// return true;
// }
/**
* Return a string with the object information
*/
@Override
public String toString()
{
public String toString() {
return toStringBrief() + toStringData();
}
/**
* Return a string with the object information (only the header)
*/
public String toStringBrief()
{
return String.format("%1 (ID: %2, InstID: %3, NumBytes: %4, SInst: %5)\n",
getName(),
getObjID(),
getInstID(),
getNumBytes(),
isSingleInstance());
public String toStringBrief() {
return getName() + " ( " + getObjID() + " " + getInstID() + " " + getNumBytes() + ")\n";
// getName(), getObjID(), getInstID(), getNumBytes(),
// isSingleInstance());
}
/**
* Return a string with the object information (only the data)
*/
public String toStringData()
{
public String toStringData() {
String s = new String();
ListIterator<UAVObjectField> li = fields.listIterator();
while(li.hasNext()) {
while (li.hasNext()) {
UAVObjectField field = li.next();
s += field.toString();
}
return s;
}
// /**
// * Emit the transactionCompleted event (used by the UAVTalk plugin)
// */
// void UAVObject::emitTransactionCompleted(bool success)
// {
// emit transactionCompleted(this, success);
// }
// /**
// * Emit the transactionCompleted event (used by the UAVTalk plugin)
// */
// void UAVObject::emitTransactionCompleted(bool success)
// {
// emit transactionCompleted(this, success);
// }
/**
/**
* Java specific functions
*/
public UAVObject clone() {
return (UAVObject) clone();
}
/**
* Abstract functions
*/
public abstract void setMetadata(Metadata mdata);
public abstract Metadata getMetadata();
public abstract Metadata getDefaultMetadata();
public abstract UAVDataObject clone(int instID);
protected abstract void setDefaultFieldValues();
/**
* Private data for the object, common to all
*/
*/
protected int objID;
protected int instID;
protected boolean isSingleInst;
@ -482,6 +515,6 @@ public abstract class UAVObject {
protected String description;
protected int numBytes;
// TODO: QMutex* mutex;
protected ByteBuffer data;
// protected ByteBuffer data;
protected List<UAVObjectField> fields;
}

35
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
View File

@ -248,34 +248,37 @@ public class UAVObjectField {
return null;
}
public void setValue(Object data) throws Exception { setValue(data,0); }
public void setValue(Object data, int index) throws Exception {
public void setValue(Object data) { setValue(data,0); }
public void setValue(Object data, int index) {
// QMutexLocker locker(obj->getMutex());
// Check that index is not out of bounds
if ( index >= numElements )
throw new Exception("Index out of bounds");
//throw new Exception("Index out of bounds");
System.out.println(data.toString());
System.out.println(this.data.toString());
// Get metadata
//UAVObject.Metadata mdata = obj.getMetadata();
UAVObject.Metadata mdata = obj.getMetadata();
// Update value if the access mode permits
if ( true ) //mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
if ( mdata.gcsAccess == UAVObject.AccessMode.ACCESS_READWRITE )
{
ByteBuffer bbuf = ByteBuffer.allocate(numBytesPerElement);
switch (type)
{
case INT8:
data = new Integer((Byte) data);
case INT16:
data = new Integer((Short) data);
case INT32:
{
List<Integer> l = (List<Integer>) this.data;
l.set(index, (Integer) data);
l.set(index,(Integer) data);
break;
}
case UINT8:
data = new Integer((Byte) data);
case UINT16:
data = new Integer((Short) data);
case UINT32:
{
List<Integer> l = (List<Integer>) this.data;
@ -291,14 +294,14 @@ public class UAVObjectField {
case ENUM:
{
byte val = (byte) options.indexOf((String) data);
if(val < 0) throw new Exception("Enumerated value not found");
//if(val < 0) throw new Exception("Enumerated value not found");
List<Byte> l = (List<Byte>) this.data;
l.set(index, val);
break;
}
case STRING:
{
throw new Exception("Sorry I haven't implemented strings yet");
//throw new Exception("Sorry I haven't implemented strings yet");
}
}
}
@ -309,24 +312,24 @@ public class UAVObjectField {
return Double.valueOf((Double) getValue(index));
}
void setDouble(double value) throws Exception { setDouble(value, 0); };
void setDouble(double value, int index) throws Exception {
public void setDouble(double value) throws Exception { setDouble(value, 0); };
public void setDouble(double value, int index) throws Exception {
setValue(value, index);
}
int getDataOffset() {
public int getDataOffset() {
return offset;
}
int getNumBytes() {
public int getNumBytes() {
return numBytesPerElement * numElements;
}
int getNumBytesElement() {
public int getNumBytesElement() {
return numBytesPerElement;
}
boolean isNumeric() {
public boolean isNumeric() {
switch (type)
{
case INT8:
@ -352,7 +355,7 @@ public class UAVObjectField {
}
}
boolean isText() {
public boolean isText() {
switch (type)
{
case INT8:

30
androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java
View File

@ -21,8 +21,9 @@ public class UAVObjectManager {
* 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.
* @throws Exception
*/
Boolean registerObject(UAVDataObject obj)
public boolean registerObject(UAVDataObject obj) throws Exception
{
// QMutexLocker locker(mutex);
@ -126,7 +127,7 @@ public class UAVObjectManager {
return true;
}
void addObject(UAVObject obj)
public void addObject(UAVObject obj)
{
// Add to list
List<UAVObject> ls = new ArrayList<UAVObject>();
@ -139,7 +140,7 @@ public class UAVObjectManager {
* Get all objects. A two dimentional QList is returned. Objects are grouped by
* instances of the same object type.
*/
List<List<UAVObject>> getObjects()
public List<List<UAVObject>> getObjects()
{
//QMutexLocker locker(mutex);
return objects;
@ -148,7 +149,7 @@ public class UAVObjectManager {
/**
* Same as getObjects() but will only return DataObjects.
*/
List< List<UAVDataObject> > getDataObjects()
public List< List<UAVDataObject> > getDataObjects()
{
return new ArrayList<List<UAVDataObject>>();
@ -186,7 +187,7 @@ public class UAVObjectManager {
/**
* Same as getObjects() but will only return MetaObjects.
*/
List <List<UAVMetaObject> > getMetaObjects()
public List <List<UAVMetaObject> > getMetaObjects()
{
return new ArrayList< List<UAVMetaObject> >();
/*
@ -227,7 +228,7 @@ public class UAVObjectManager {
* Get a specific object given its name and instance ID
* @returns The object is found or NULL if not
*/
UAVObject getObject(String name, int instId)
public UAVObject getObject(String name, int instId)
{
return getObject(name, 0, instId);
}
@ -236,7 +237,7 @@ public class UAVObjectManager {
* Get a specific object given its object and instance ID
* @returns The object is found or NULL if not
*/
UAVObject getObject(int objId, int instId)
public UAVObject getObject(int objId, int instId)
{
return getObject(null, objId, instId);
}
@ -244,7 +245,7 @@ public class UAVObjectManager {
/**
* Helper function for the public getObject() functions.
*/
UAVObject getObject(String name, int objId, int instId)
public UAVObject getObject(String name, int objId, int instId)
{
//QMutexLocker locker(mutex);
// Check if this object type is already in the list
@ -271,7 +272,7 @@ public class UAVObjectManager {
/**
* Get all the instances of the object specified by name
*/
List<UAVObject> getObjectInstances(String name)
public List<UAVObject> getObjectInstances(String name)
{
return getObjectInstances(name, 0);
}
@ -279,7 +280,7 @@ public class UAVObjectManager {
/**
* Get all the instances of the object specified by its ID
*/
List<UAVObject> getObjectInstances(int objId)
public List<UAVObject> getObjectInstances(int objId)
{
return getObjectInstances(null, objId);
}
@ -287,7 +288,7 @@ public class UAVObjectManager {
/**
* Helper function for the public getObjectInstances()
*/
List<UAVObject> getObjectInstances(String name, int objId)
public List<UAVObject> getObjectInstances(String name, int objId)
{
//QMutexLocker locker(mutex);
// Check if this object type is already in the list
@ -307,7 +308,7 @@ public class UAVObjectManager {
/**
* Get the number of instances for an object given its name
*/
int getNumInstances(String name)
public int getNumInstances(String name)
{
return getNumInstances(name, 0);
}
@ -315,7 +316,7 @@ public class UAVObjectManager {
/**
* Get the number of instances for an object given its ID
*/
int getNumInstances(int objId)
public int getNumInstances(int objId)
{
return getNumInstances(null, objId);
}
@ -323,10 +324,9 @@ public class UAVObjectManager {
/**
* Helper function for public getNumInstances
*/
int getNumInstances(String name, int objId)
public int getNumInstances(String name, int objId)
{
return getObjectInstances(name,objId).size();
}
}