Flight/SystemMod: Creation of the system module, for now it only responds to a request to load/save the settings objects

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@468 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -75,6 +75,8 @@ OPTESTS  = ./Tests
 OPMODULEDIR = ./Modules
 MODEXAMPLE = $(OPMODULEDIR)/Example
 MODEXAMPLEINC = $(MODEXAMPLE)/inc
+MODSYSTEM = $(OPMODULEDIR)/System
+MODSYSTEMINC = $(MODSYSTEM)/inc
 MODTELEMETRY = $(OPMODULEDIR)/Telemetry
 MODTELEMETRYINC = $(MODTELEMETRY)/inc
 MODGPS = $(OPMODULEDIR)/GPS
@@ -106,6 +108,7 @@ DOXYGENDIR = ../Doc/Doxygen
 
 ## MODULES
 SRC = $(MODEXAMPLE)/examplemodevent.c $(MODEXAMPLE)/examplemodperiodic.c $(MODEXAMPLE)/examplemodthread.c
+SRC = $(MODSYSTEM)/systemmod.c
 SRC +=  $(MODTELEMETRY)/telemetry.c
 SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
 
@@ -130,6 +133,7 @@ SRC += $(OPUAVOBJ)/eventdispatcher.c
 SRC += $(OPUAVOBJ)/exampleobject1.c
 SRC += $(OPUAVOBJ)/exampleobject2.c
 SRC += $(OPUAVOBJ)/examplesettings.c
+SRC += $(OPUAVOBJ)/settingspersistence.c
 
 ## PIOS Hardware (STM32F10x)
 SRC += $(PIOSSTM32F10X)/pios_sys.c
@@ -245,6 +249,7 @@ EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
 EXTRAINCDIRS  += $(MODEXAMPLE)
 EXTRAINCDIRS  += $(MODEXAMPLEINC)
+EXTRAINCDIRS  += $(MODSYSTEMINC)
 EXTRAINCDIRS  += $(MODTELEMETRY)
 EXTRAINCDIRS  += $(MODTELEMETRYINC)
 EXTRAINCDIRS  += $(MODGPS)

flight/OpenPilot/Modules/System/inc/systemmod.h

@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemmod.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      System module
+ *
+ * @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
+ */
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+#include "openpilot.h"
+
+int32_t SystemModInitialize(void);
+
+#endif // SYSTEM_H
+

flight/OpenPilot/Modules/System/systemmod.c

@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ *
+ * @file       systemmod.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      System module
+ *
+ * @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
+ */
+
+#include "systemmod.h"
+#include "settingspersistence.h"
+
+// Private constants
+
+// Private types
+
+// Private variables
+
+// Private functions
+static void ObjectUpdatedCb(UAVObjEvent* ev);
+
+/**
+ * Initialise the module, called on startup.
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t SystemModInitialize(void)
+{
+	// Listen for ExampleObject1 updates, connect a callback function
+	SettingsPersistenceConnectCallback(&ObjectUpdatedCb);
+
+	return 0;
+}
+
+/**
+ * Function called in response to object updates
+ */
+static void ObjectUpdatedCb(UAVObjEvent* ev)
+{
+	SettingsPersistenceData setper;
+
+	// If the object updated was the SettingsPersistence execute requested action
+	if ( ev->obj == SettingsPersistenceHandle() )
+	{
+		// Get object data
+		SettingsPersistenceGet(&setper);
+
+		// Execute action
+		if ( setper.Operation == SETTINGSPERSISTENCE_OPERATION_LOAD)
+		{
+			UAVObjLoadSettings();
+		}
+		else if ( setper.Operation == SETTINGSPERSISTENCE_OPERATION_SAVE)
+		{
+			UAVObjSaveSettings();
+		}
+	}
+}
+
+

flight/OpenPilot/UAVObjects/inc/settingspersistence.h

@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       settingspersistence.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SettingsPersistence object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: settingspersistence.xml. 
+ *             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
+ */
+
+#ifndef SETTINGSPERSISTENCE_H
+#define SETTINGSPERSISTENCE_H
+
+#include "openpilot.h"
+
+// Object constants
+#define SETTINGSPERSISTENCE_OBJID 3652432370U
+#define SETTINGSPERSISTENCE_NAME "SettingsPersistence"
+#define SETTINGSPERSISTENCE_ISSINGLEINST 1
+#define SETTINGSPERSISTENCE_ISSETTINGS 0
+#define SETTINGSPERSISTENCE_NUMBYTES sizeof(SettingsPersistenceData)
+
+// Object access macros
+#define SettingsPersistenceGet(dataOut) UAVObjGetData(SettingsPersistenceHandle(), dataOut)
+#define SettingsPersistenceSet(dataIn) UAVObjSetData(SettingsPersistenceHandle(), dataIn)
+#define SettingsPersistenceInstGet(instId, dataOut) UAVObjGetInstanceData(SettingsPersistenceHandle(), instId, dataOut)
+#define SettingsPersistenceInstSet(instId, dataIn) UAVObjSetInstanceData(SettingsPersistenceHandle(), instId, dataIn)
+#define SettingsPersistenceConnectQueue(queue) UAVObjConnectQueue(SettingsPersistenceHandle(), queue, EV_MASK_ALL_UPDATES)
+#define SettingsPersistenceConnectCallback(cb) UAVObjConnectCallback(SettingsPersistenceHandle(), cb, EV_MASK_ALL_UPDATES)
+#define SettingsPersistenceCreateInstance() UAVObjCreateInstance(SettingsPersistenceHandle())
+#define SettingsPersistenceRequestUpdate() UAVObjRequestUpdate(SettingsPersistenceHandle())
+#define SettingsPersistenceRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SettingsPersistenceHandle(), instId)
+#define SettingsPersistenceUpdated() UAVObjUpdated(SettingsPersistenceHandle())
+#define SettingsPersistenceInstUpdated(instId) UAVObjUpdated(SettingsPersistenceHandle(), instId)
+#define SettingsPersistenceGetMetadata(dataOut) UAVObjGetMetadata(SettingsPersistenceHandle(), dataOut)
+#define SettingsPersistenceSetMetadata(dataIn) UAVObjSetMetadata(SettingsPersistenceHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Operation;
+
+} __attribute__((packed)) SettingsPersistenceData;
+
+// Enumeration types
+typedef enum { SETTINGSPERSISTENCE_OPERATION_LOAD=0, SETTINGSPERSISTENCE_OPERATION_SAVE=1,  } SETTINGSPERSISTENCEOPERATIONEnum;
+
+
+// Generic interface functions
+int32_t SettingsPersistenceInitialize();
+UAVObjHandle SettingsPersistenceHandle();
+
+#endif // SETTINGSPERSISTENCE_H

flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h

@@ -108,6 +108,8 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId);
 int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId);
 int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file);
 UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
+int32_t UAVObjSaveSettings();
+int32_t UAVObjLoadSettings();
 int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
 int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
 int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);

flight/OpenPilot/UAVObjects/settingspersistence.c

@@ -0,0 +1,73 @@
+/**
+ ******************************************************************************
+ *
+ * @file       settingspersistence.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the SettingsPersistence object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: settingspersistence.xml. 
+ *             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
+ */
+
+#include "settingspersistence.h"
+
+// Private variables
+static UAVObjHandle handle;
+
+/**
+ * Initialize object.
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t SettingsPersistenceInitialize()
+{
+	UAVObjMetadata metadata;
+
+	// Register object with the object manager
+	handle = UAVObjRegister(SETTINGSPERSISTENCE_OBJID, SETTINGSPERSISTENCE_NAME, 0, SETTINGSPERSISTENCE_ISSINGLEINST, SETTINGSPERSISTENCE_ISSETTINGS, SETTINGSPERSISTENCE_NUMBYTES);
+	if (handle == 0) return -1;
+
+	// Initialize metadata
+	metadata.telemetryAcked = 1;
+	metadata.telemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.telemetryUpdatePeriod = 0;
+	metadata.gcsTelemetryAcked = 1;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(handle, &metadata);
+
+	// Done
+	return 0;
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle SettingsPersistenceHandle()
+{
+	return handle;
+}
+
+

flight/OpenPilot/UAVObjects/uavobjectmanager.c

@@ -663,6 +663,67 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	return 0;
 }
 
+/**
+ * Save all settings objects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveSettings()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Save all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isSettings )
+		{
+			// Save object
+			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Load all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadSettings()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Load all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isSettings )
+		{
+			// Load object
+			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
 
 /**
  * Set the object data

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -31,6 +31,7 @@
 #include "exampleobject1.h"
 #include "exampleobject2.h"
 #include "examplesettings.h"
+#include "settingspersistence.h"
 
 
 /**
@@ -42,5 +43,6 @@ void UAVObjectsInitializeAll()
     ExampleObject1Initialize();
     ExampleObject2Initialize();
     ExampleSettingsInitialize();
+    SettingsPersistenceInitialize();
 
 }