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FlightPlan/Python: Updated object generator to create a Python file for each UAVObject. It is now possible to access all UAVObjects from the FlightPlan Python scripts.
Warning: The memory utilization when importing objects is unacceptably high making it unusable in the flight code at this point. It can be however used with the SITL simulator. Some more investigation is needed to understand why several kb of memory are used each time a module is imported (even before any functions are called or objects from the module are created). git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2938 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis
vassilis
parent
870242d456
commit
b084ea7ea1
@ -25,7 +25,7 @@
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#ifndef _PLAT_H_
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#define _PLAT_H_
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#define PM_HEAP_SIZE 0x2000
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#define PM_HEAP_SIZE 0x20000
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#define PM_FLOAT_LITTLE_ENDIAN
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#endif /* _PLAT_H_ */
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@ -91,8 +91,8 @@ static void flightPlanTask(void *parameters)
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status.ErrorFileID = 0;
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status.ErrorLineNum = 0;
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status.ErrorType = FLIGHTPLANSTATUS_ERRORTYPE_NONE;
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status.Debug1 = 0.0;
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status.Debug2 = 0.0;
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status.Debug[0] = 0.0;
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status.Debug[1] = 0.0;
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FlightPlanStatusSet(&status);
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// Main thread loop
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@ -261,8 +261,8 @@ static void objectUpdatedCb(UAVObjEvent * ev)
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statusData.ErrorFileID = 0;
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statusData.ErrorLineNum = 0;
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statusData.ErrorType = FLIGHTPLANSTATUS_ERRORTYPE_NONE;
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statusData.Debug1 = 0.0;
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statusData.Debug2 = 0.0;
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statusData.Debug[0] = 0.0;
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statusData.Debug[1] = 0.0;
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FlightPlanStatusSet(&statusData);
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}
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}
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@ -1,12 +1,37 @@
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import openpilot
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import sys
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#mb = sys.heap()
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#mb = mb[0]
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import openpilot
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#ma = sys.heap()
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#ma = ma[0]
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#print('import openpilot')
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#print(mb-ma)
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#mb = sys.heap()
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#mb = mb[0]
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import flightplanstatus
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#ma = sys.heap()
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#ma = ma[0]
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#print('import flightplanstatus')
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#print(mb-ma)
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#mb = sys.heap()
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#mb = mb[0]
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import mixersettings
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#ma = sys.heap()
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#ma = ma[0]
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#print('import mixersettings')
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#print(mb-ma)
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n = 0
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timenow = openpilot.time()
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timenow = sys.time()
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fpStatus = flightplanstatus.FlightPlanStatus()
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while n < 120:
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n = n+1
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openpilot.debug(n, timenow)
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#openpilot.debug(n, timenow)
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fpStatus.read()
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fpStatus.Debug.value[0] = n
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fpStatus.Debug.value[1] = timenow
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fpStatus.write()
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timenow = openpilot.delayUntil(timenow, 1000)
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if openpilot.hasStopRequest():
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sys.exit()
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@ -31,13 +31,6 @@
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#include "flightplancontrol.h"
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"""
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import sys
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# Get system time in ms
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def time():
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return sys.time()
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# Delay (suspend VM thread) for timeToDelayMs ms
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def delay(timeToDelayMs):
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"""__NATIVE__
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@ -147,9 +140,9 @@ def debug(val1, val2):
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// Update debug1
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pobj = NATIVE_GET_LOCAL(0);
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if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_INT )
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status.Debug1 = (float)(((pPmInt_t) pobj)->val);
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status.Debug[0] = (float)(((pPmInt_t) pobj)->val);
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else if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_FLT )
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status.Debug1 = (float)(((pPmFloat_t) pobj)->val);
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status.Debug[0] = (float)(((pPmFloat_t) pobj)->val);
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else
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{
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PM_RAISE(retval, PM_RET_EX_TYPE);
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@ -159,9 +152,9 @@ def debug(val1, val2):
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// Update debug2
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pobj = NATIVE_GET_LOCAL(1);
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if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_INT )
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status.Debug2 = (float)(((pPmInt_t) pobj)->val);
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status.Debug[1] = (float)(((pPmInt_t) pobj)->val);
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else if ( OBJ_GET_TYPE(pobj) == OBJ_TYPE_FLT )
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status.Debug2 = (float)(((pPmFloat_t) pobj)->val);
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status.Debug[1] = (float)(((pPmFloat_t) pobj)->val);
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else
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{
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PM_RAISE(retval, PM_RET_EX_TYPE);
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425
flight/Modules/FlightPlan/lib/uavobject.py
Normal file
425
flight/Modules/FlightPlan/lib/uavobject.py
Normal file
@ -0,0 +1,425 @@
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##
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##############################################################################
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#
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# @file uavobject.py
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# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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# @brief Base classes for python UAVObject
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#
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# @see The GNU Public License (GPL) Version 3
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#
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#############################################################################/
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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"""__NATIVE__
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#include "openpilot.h"
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#define TYPE_INT8 0
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#define TYPE_INT16 1
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#define TYPE_INT32 2
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#define TYPE_UINT8 3
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#define TYPE_UINT16 4
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#define TYPE_UINT32 5
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#define TYPE_FLOAT32 6
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#define TYPE_ENUM 7
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"""
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from list import append
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class UAVObjectMetadata:
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class UpdateMode:
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PERIODIC = 0
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ONCHANGE = 1
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MANUAL = 2
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NEVER = 3
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class Access:
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READWRITE = 0
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READONLY = 1
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def __init__(self, objId):
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self.access = UAVObjectMetadata.Access.READWRITE
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self.gcsAccess = UAVObjectMetadata.Access.READWRITE
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self.telemetryAcked = False
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self.telemetryUpdateMode = UAVObjectMetadata.UpdateMode.MANUAL
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self.telemetryUpdatePeriod = 0
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self.gcsTelemetryAcked = False
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self.gcsTelemetryUpdateMode = UAVObjectMetadata.UpdateMode.MANUAL
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self.gcsTelemetryUpdatePeriod = 0
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self.loggingUpdateMode = 0
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self.loggingUpdatePeriod = UAVObjectMetadata.UpdateMode.MANUAL
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self.objId = objId
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self.read()
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def read(self):
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pass
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def write(self):
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pass
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class UAVObjectField:
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class FType:
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INT8 = 0
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INT16 = 1
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INT32 = 2
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UINT8 = 3
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UINT16 = 4
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UINT32 = 5
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FLOAT32 = 6
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ENUM = 7
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def __init__(self, ftype, numElements):
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self.ftype = ftype
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self.numElements = numElements
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if ftype == UAVObjectField.FType.FLOAT32:
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if numElements == 1:
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self.value = 0.0
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else:
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self.value = []
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for n in range(0, numElements):
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append(self.value, 0.0)
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else:
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if numElements == 1:
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self.value = 0
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else:
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self.value = []
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for n in range(0, numElements):
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append(self.value, 0)
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class UAVObject:
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def __init__(self, objId):
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self.metadata = UAVObjectMetadata(objId)
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self.objId = objId
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self.instId = 0
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self.fields = []
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def addField(self, field):
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append(self.fields, field)
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def getName(self):
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"""__NATIVE__
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UAVObjHandle objHandle;
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pPmObj_t nameObj;
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pPmObj_t self;
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pPmObj_t attrs;
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pPmObj_t fieldName;
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pPmObj_t field;
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PmReturn_t retval;
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uint32_t objId;
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const char* name;
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uint8_t const *tmpStr;
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// Get dictionary of class attributes
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self = NATIVE_GET_LOCAL(0);
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attrs = (pPmObj_t)((pPmInstance_t)self)->cli_attrs;
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// Get object ID
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tmpStr = (uint8_t const *)"objId";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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objId = ((pPmInt_t) field)->val;
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// Get name
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objHandle = UAVObjGetByID(objId);
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name = UAVObjGetName(objHandle);
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// Create return object
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retval = string_new(name, &nameObj); PM_RETURN_IF_ERROR(retval);
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NATIVE_SET_TOS(nameObj);
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return PM_RET_OK;
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"""
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pass
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def read(self):
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"""__NATIVE__
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uint8_t numBytes;
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UAVObjHandle objHandle;
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uint32_t objId;
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uint16_t instId;
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pPmObj_t self;
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pPmObj_t attrs;
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pPmObj_t field;
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pPmObj_t fields;
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pPmObj_t fieldName;
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pPmObj_t value;
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PmReturn_t retval;
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uint32_t numFields;
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uint32_t fieldIdx;
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uint32_t dataIdx;
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uint32_t valueIdx;
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uint32_t type;
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uint32_t numElements;
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uint8_t const *tmpStr;
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int16_t *tmpInt16;
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int32_t *tmpInt32;
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float *tmpFloat;
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// Get dictionary of class attributes
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self = NATIVE_GET_LOCAL(0);
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attrs = (pPmObj_t)((pPmInstance_t)self)->cli_attrs;
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// Get object ID
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tmpStr = (uint8_t const *)"objId";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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objId = ((pPmInt_t) field)->val;
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// Get the instance ID
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tmpStr = (uint8_t const *)"instId";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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instId = ((pPmInt_t) field)->val;
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// Get handle and number of bytes in the object
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objHandle = UAVObjGetByID(objId);
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numBytes = UAVObjGetNumBytes(objHandle);
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uint8_t data[numBytes];
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// Read object data
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UAVObjGetInstanceData(objHandle, instId, data);
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// Get dictionary of fields
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tmpStr = (uint8_t const *)"fields";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &fields); PM_RETURN_IF_ERROR(retval);
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numFields = ((pPmList_t) fields)->length;
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// Process each field
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dataIdx = 0;
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for (fieldIdx = 0; fieldIdx < numFields; ++fieldIdx)
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{
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// Get field
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retval = list_getItem(fields, fieldIdx, &field); PM_RETURN_IF_ERROR(retval);
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attrs = (pPmObj_t)((pPmInstance_t)field)->cli_attrs;
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// Get type
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tmpStr = (uint8_t const *)"ftype";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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type = ((pPmInt_t) field)->val;
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// Get number of elements
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tmpStr = (uint8_t const *)"numElements";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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numElements = ((pPmInt_t) field)->val;
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// Get value
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tmpStr = (uint8_t const *)"value";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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// Set value for each element
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for (valueIdx = 0; valueIdx < numElements; ++valueIdx)
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{
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// Update value based on type
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switch (type)
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{
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case TYPE_INT8:
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case TYPE_UINT8:
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case TYPE_ENUM:
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retval = int_new(data[dataIdx], &value); PM_RETURN_IF_ERROR(retval);
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dataIdx = dataIdx + 1;
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break;
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case TYPE_INT16:
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case TYPE_UINT16:
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tmpInt16 = (int16_t*)(&data[dataIdx]);
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retval = int_new(*tmpInt16, &value); PM_RETURN_IF_ERROR(retval);
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dataIdx = dataIdx + 2;
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break;
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case TYPE_INT32:
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case TYPE_UINT32:
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tmpInt32 = (int32_t*)(&data[dataIdx]);
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retval = int_new(*tmpInt32, &value); PM_RETURN_IF_ERROR(retval);
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dataIdx = dataIdx + 4;
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break;
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case TYPE_FLOAT32:
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tmpFloat = (float*)(&data[dataIdx]);
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retval = float_new(*tmpFloat, &value); PM_RETURN_IF_ERROR(retval);
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dataIdx = dataIdx + 4;
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break;
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}
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// Set value
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if ( OBJ_GET_TYPE(field) == OBJ_TYPE_LST )
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{
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retval = list_setItem(field, valueIdx, value); PM_RETURN_IF_ERROR(retval);
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}
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else
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{
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tmpStr = (uint8_t const *)"value";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_setItem(attrs, fieldName, value); PM_RETURN_IF_ERROR(retval);
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}
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}
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}
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// Done
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return PM_RET_OK;
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"""
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pass
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def write(self):
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"""__NATIVE__
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uint8_t numBytes;
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UAVObjHandle objHandle;
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uint32_t objId;
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uint16_t instId;
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pPmObj_t self;
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pPmObj_t attrs;
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pPmObj_t field;
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pPmObj_t fields;
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pPmObj_t fieldName;
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pPmObj_t value;
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PmReturn_t retval;
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uint32_t numFields;
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uint32_t fieldIdx;
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uint32_t dataIdx;
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uint32_t valueIdx;
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uint32_t type;
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uint32_t numElements;
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uint8_t const *tmpStr;
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int8_t tmpInt8;
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int16_t tmpInt16;
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int32_t tmpInt32;
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float tmpFloat;
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// Get dictionary of class attributes
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self = NATIVE_GET_LOCAL(0);
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attrs = (pPmObj_t)((pPmInstance_t)self)->cli_attrs;
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// Get object ID
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tmpStr = (uint8_t const *)"objId";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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objId = ((pPmInt_t) field)->val;
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// Get the instance ID
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tmpStr = (uint8_t const *)"instId";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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instId = ((pPmInt_t) field)->val;
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// Get handle and number of bytes in the object
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objHandle = UAVObjGetByID(objId);
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numBytes = UAVObjGetNumBytes(objHandle);
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uint8_t data[numBytes];
|
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|
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// Get dictionary of fields
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tmpStr = (uint8_t const *)"fields";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &fields); PM_RETURN_IF_ERROR(retval);
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numFields = ((pPmList_t) fields)->length;
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// Process each field
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dataIdx = 0;
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for (fieldIdx = 0; fieldIdx < numFields; ++fieldIdx)
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{
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// Get field
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retval = list_getItem(fields, fieldIdx, &field); PM_RETURN_IF_ERROR(retval);
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attrs = (pPmObj_t)((pPmInstance_t)field)->cli_attrs;
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// Get type
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tmpStr = (uint8_t const *)"ftype";
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retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
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retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
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type = ((pPmInt_t) field)->val;
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// Get number of elements
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tmpStr = (uint8_t const *)"numElements";
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||||
retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
|
||||
retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
|
||||
numElements = ((pPmInt_t) field)->val;
|
||||
// Get value
|
||||
tmpStr = (uint8_t const *)"value";
|
||||
retval = string_new(&tmpStr, &fieldName); PM_RETURN_IF_ERROR(retval);
|
||||
retval = dict_getItem(attrs, fieldName, &field); PM_RETURN_IF_ERROR(retval);
|
||||
// Set value for each element
|
||||
for (valueIdx = 0; valueIdx < numElements; ++valueIdx)
|
||||
{
|
||||
// Get value
|
||||
if ( OBJ_GET_TYPE(field) == OBJ_TYPE_LST )
|
||||
{
|
||||
retval = list_getItem(field, valueIdx, &value); PM_RETURN_IF_ERROR(retval);
|
||||
}
|
||||
else
|
||||
value = field;
|
||||
// Update value based on type
|
||||
switch (type)
|
||||
{
|
||||
case TYPE_INT8:
|
||||
case TYPE_UINT8:
|
||||
case TYPE_ENUM:
|
||||
if ( OBJ_GET_TYPE(value) == OBJ_TYPE_INT )
|
||||
{
|
||||
tmpInt8 = (int8_t)((pPmInt_t)value)->val;
|
||||
}
|
||||
else if ( OBJ_GET_TYPE(value) == OBJ_TYPE_FLT )
|
||||
{
|
||||
tmpInt8 = (int8_t)((pPmFloat_t)value)->val;
|
||||
}
|
||||
memcpy( &data[dataIdx], &tmpInt8, 1 );
|
||||
dataIdx = dataIdx + 1;
|
||||
break;
|
||||
case TYPE_INT16:
|
||||
case TYPE_UINT16:
|
||||
if ( OBJ_GET_TYPE(value) == OBJ_TYPE_INT )
|
||||
{
|
||||
tmpInt16 = (int16_t)((pPmInt_t)value)->val;
|
||||
}
|
||||
else if ( OBJ_GET_TYPE(value) == OBJ_TYPE_FLT )
|
||||
{
|
||||
tmpInt16 = (int16_t)((pPmFloat_t)value)->val;
|
||||
}
|
||||
memcpy( &data[dataIdx], &tmpInt16, 2 );
|
||||
dataIdx = dataIdx + 2;
|
||||
break;
|
||||
case TYPE_INT32:
|
||||
case TYPE_UINT32:
|
||||
if ( OBJ_GET_TYPE(value) == OBJ_TYPE_INT )
|
||||
{
|
||||
tmpInt32 = (int32_t)((pPmInt_t)value)->val;
|
||||
}
|
||||
else if ( OBJ_GET_TYPE(value) == OBJ_TYPE_FLT )
|
||||
{
|
||||
tmpInt32 = (int32_t)((pPmFloat_t)value)->val;
|
||||
}
|
||||
memcpy( &data[dataIdx], &tmpInt32, 4 );
|
||||
dataIdx = dataIdx + 4;
|
||||
break;
|
||||
case TYPE_FLOAT32:
|
||||
if ( OBJ_GET_TYPE(value) == OBJ_TYPE_INT )
|
||||
{
|
||||
tmpFloat = (float)((pPmInt_t)value)->val;
|
||||
}
|
||||
else if ( OBJ_GET_TYPE(value) == OBJ_TYPE_FLT )
|
||||
{
|
||||
tmpFloat = (float)((pPmFloat_t)value)->val;
|
||||
}
|
||||
memcpy( &data[dataIdx], &tmpFloat, 4 );
|
||||
dataIdx = dataIdx + 4;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Write object data
|
||||
UAVObjSetInstanceData(objHandle, instId, data);
|
||||
|
||||
// Done
|
||||
return PM_RET_OK;
|
||||
"""
|
||||
pass
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
60
flight/Modules/FlightPlan/lib/uavobjecttemplate.pyt
Normal file
60
flight/Modules/FlightPlan/lib/uavobjecttemplate.pyt
Normal file
@ -0,0 +1,60 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file $(NAMELC).py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the $(NAME) object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator. For use with
|
||||
# the PyMite VM of the FlightPlan module.
|
||||
#
|
||||
# @note Object definition file: $(XMLFILE).
|
||||
# This is an automatically generated file.
|
||||
# DO NOT modify manually.
|
||||
#
|
||||
# @see The GNU Public License (GPL) Version 3
|
||||
#
|
||||
#############################################################################/
|
||||
#
|
||||
# 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
|
||||
#
|
||||
|
||||
|
||||
from uavobject import *
|
||||
|
||||
$(DATAFIELDS)
|
||||
|
||||
# Object $(NAME) definition
|
||||
class $(NAME)(UAVObject):
|
||||
# Object constants
|
||||
OBJID = $(UOBJID)
|
||||
|
||||
# Constructor
|
||||
def __init__(self):
|
||||
UAVObject.__init__(self, $(NAME).OBJID)
|
||||
|
||||
# Create object fields
|
||||
$(DATAFIELDINIT)
|
||||
# Read field data
|
||||
self.read()
|
||||
self.metadata.read()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -115,6 +115,7 @@ FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
|
||||
FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
|
||||
|
||||
UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
|
||||
UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
|
||||
|
||||
# List C source files here. (C dependencies are automatically generated.)
|
||||
# use file-extension c for "c-only"-files
|
||||
@ -443,9 +444,9 @@ ${OUTDIR}/InitMods.c: Makefile.posix
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
|
||||
# Generate code for PyMite
|
||||
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
|
||||
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
||||
@echo ${MSG_PYMITEINIT}
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
|
||||
|
||||
|
||||
@ -59,6 +59,8 @@ void replaceCommonTags(QString& out, ObjectInfo* info)
|
||||
out.replace(QString("$(NAMEUC)"), info->name.toUpper());
|
||||
// Replace $(OBJID) tag
|
||||
out.replace(QString("$(OBJID)"), QString().setNum(info->id));
|
||||
// Replace $(UOBJID) tag
|
||||
out.replace(QString("$(UOBJID)"), QString().setNum((qint32)info->id));
|
||||
// Replace $(OBJIDHEX) tag
|
||||
out.replace(QString("$(OBJIDHEX)"),QString("0x")+ QString().setNum(info->id,16).toUpper());
|
||||
// Replace $(ISSINGLEINST) tag
|
||||
|
||||
@ -28,29 +28,20 @@
|
||||
using namespace std;
|
||||
|
||||
bool UAVObjectGeneratorPython::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
|
||||
|
||||
fieldTypeStrPython << "b" << "h" << "i" << "B" << "H" << "I" << "f" << "b";
|
||||
|
||||
pythonCodePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
|
||||
// Load template and setup output directory
|
||||
pythonCodePath = QDir( templatepath + QString("flight/Modules/FlightPlan/lib"));
|
||||
pythonOutputPath = QDir( outputpath + QString("python") );
|
||||
pythonOutputPath.mkpath(pythonOutputPath.absolutePath());
|
||||
|
||||
pythonCodeTemplate = readFile( pythonCodePath.absoluteFilePath("uavobjecttemplate.py") );
|
||||
|
||||
QString pythonImport,pythonObjInit;
|
||||
|
||||
pythonCodeTemplate = readFile( pythonCodePath.absoluteFilePath("uavobjecttemplate.pyt") );
|
||||
if (pythonCodeTemplate.isEmpty()) {
|
||||
std::cerr << "Problem reading python templates" << endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// Process each object
|
||||
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
|
||||
ObjectInfo* info=parser->getObjectByIndex(objidx);
|
||||
process_object(info);
|
||||
|
||||
// check if they are needed - are never written atm ..
|
||||
pythonImport.append("import " + info->namelc + "\n");
|
||||
pythonObjInit.append("\tuavobjectsinit.uavobjects.append(" + info->name + "." + info->name + "())\n");
|
||||
}
|
||||
|
||||
return true; // if we come here everything should be fine
|
||||
@ -70,42 +61,54 @@ bool UAVObjectGeneratorPython::process_object(ObjectInfo* info)
|
||||
// Replace common tags
|
||||
replaceCommonTags(outCode, info);
|
||||
|
||||
// Replace the $(DATAFIELDS) tag
|
||||
QString fields;
|
||||
|
||||
fields.append(QString("[ \\\n"));
|
||||
// Replace the ($DATAFIELDS) tag
|
||||
QString datafields;
|
||||
for (int n = 0; n < info->fields.length(); ++n)
|
||||
{
|
||||
fields.append(QString("\tuavobject.UAVObjectField(\n"));
|
||||
fields.append(QString("\t\t'%1',\n").arg(info->fields[n]->name));
|
||||
fields.append(QString("\t\t'%1',\n").arg(fieldTypeStrPython[info->fields[n]->type]));
|
||||
fields.append(QString("\t\t%1,\n").arg(info->fields[n]->numElements));
|
||||
|
||||
QStringList elemNames = info->fields[n]->elementNames;
|
||||
fields.append(QString("\t\t[\n"));
|
||||
for (int m = 0; m < elemNames.length(); ++m)
|
||||
{
|
||||
fields.append(QString("\t\t\t'%1',\n").arg(elemNames[m]));
|
||||
}
|
||||
fields.append(QString("\t\t],\n"));
|
||||
|
||||
|
||||
fields.append(QString("\t\t{\n"));
|
||||
// Class header
|
||||
datafields.append(QString("# Field %1 definition\n").arg(info->fields[n]->name));
|
||||
datafields.append(QString("class %1Field(UAVObjectField):\n").arg(info->fields[n]->name));
|
||||
// Only for enum types
|
||||
if (info->fields[n]->type == FIELDTYPE_ENUM)
|
||||
{
|
||||
datafields.append(QString("\t# Enumeration options\n"));
|
||||
// Go through each option
|
||||
QStringList options = info->fields[n]->options;
|
||||
for (int m = 0; m < options.length(); ++m){
|
||||
fields.append( QString("\t\t\t'%1' : '%2',\n")
|
||||
.arg(m)
|
||||
.arg( options[m] ) );
|
||||
for (int m = 0; m < options.length(); ++m) {
|
||||
QString name = options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "");
|
||||
if (name[0].isDigit())
|
||||
name = QString("N%1").arg(name);
|
||||
datafields.append(QString("\t%1 = %2\n").arg(name).arg(m));
|
||||
}
|
||||
}
|
||||
fields.append(QString("\t\t}\n"));
|
||||
fields.append(QString("\t),\n"));
|
||||
// Generate element names (only if field has more than one element)
|
||||
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames)
|
||||
{
|
||||
datafields.append(QString("\t# Array element names\n"));
|
||||
// Go through the element names
|
||||
QStringList elemNames = info->fields[n]->elementNames;
|
||||
for (int m = 0; m < elemNames.length(); ++m)
|
||||
{
|
||||
QString name = elemNames[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), "");
|
||||
if (name[0].isDigit())
|
||||
name = QString("N%1").arg(name);
|
||||
datafields.append(QString("\t%1 = %2\n").arg(name).arg(m));
|
||||
}
|
||||
fields.append(QString("]\n"));
|
||||
outCode.replace(QString("$(DATAFIELDS)"), fields);
|
||||
}
|
||||
// Constructor
|
||||
datafields.append(QString("\tdef __init__(self):\n"));
|
||||
datafields.append(QString("\t\tUAVObjectField.__init__(self, %1, %2)\n\n").arg(info->fields[n]->type).arg(info->fields[n]->numElements));
|
||||
}
|
||||
outCode.replace(QString("$(DATAFIELDS)"), datafields);
|
||||
|
||||
// Replace the $(DATAFIELDINIT) tag
|
||||
QString fields;
|
||||
for (int n = 0; n < info->fields.length(); ++n)
|
||||
{
|
||||
fields.append(QString("\t\tself.%1 = %1Field()\n").arg(info->fields[n]->name));
|
||||
fields.append(QString("\t\tself.addField(self.%1)\n").arg(info->fields[n]->name));
|
||||
}
|
||||
outCode.replace(QString("$(DATAFIELDINIT)"), fields);
|
||||
|
||||
// Write the Python code
|
||||
bool res = writeFileIfDiffrent( pythonOutputPath.absolutePath() + "/" + info->namelc + ".py", outCode );
|
||||
|
||||
@ -40,7 +40,6 @@ private:
|
||||
QString pythonCodeTemplate;
|
||||
QDir pythonCodePath;
|
||||
QDir pythonOutputPath;
|
||||
QStringList fieldTypeStrPython;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -5,8 +5,7 @@
|
||||
<field name="ErrorType" units="" type="enum" elements="1" options="None,VMInitError,Exception,IOError,DivByZero,AssertError,AttributeError,ImportError,IndexError,KeyError,MemoryError,NameError,SyntaxError,SystemError,TypeError,ValueError,StopIteration,Warning,UnknownError" defaultvalue="None"/>
|
||||
<field name="ErrorFileID" units="" type="uint32" elements="1"/>
|
||||
<field name="ErrorLineNum" units="" type="uint32" elements="1"/>
|
||||
<field name="Debug1" units="" type="float" elements="1" defaultvalue="0.0"/>
|
||||
<field name="Debug2" units="" type="float" elements="1" defaultvalue="0.0"/>
|
||||
<field name="Debug" units="" type="float" elements="2" defaultvalue="0.0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user