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Code Issues Releases Activity

First step to fixing metat data representation for android

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This commit is contained in:
James Cotton 2012-08-02 11:04:35 -05:00
parent cd89d97bbb
commit c736488c3b
3 changed files with 85 additions and 79 deletions
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46
androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java
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@ -13,43 +13,25 @@ public class UAVMetaObject extends UAVObject {
ownMetadata = new Metadata(); ownMetadata = new Metadata();
ownMetadata.flightAccess = UAVObject.AccessMode.ACCESS_READWRITE; ownMetadata.flags = 0; // TODO: Fix flags
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.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UAVObject.UpdateMode.UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0; ownMetadata.loggingUpdatePeriod = 0;
// Setup fields
List<String> boolEnum = new ArrayList<String>();
boolEnum.add("False");
boolEnum.add("True");
List<String> updateModeEnum = new ArrayList<String>(); List<String> modesBitField = new ArrayList<String>();
updateModeEnum.add("Periodic"); modesBitField.add("FlightReadOnly");
updateModeEnum.add("On Change"); modesBitField.add("GCSReadOnly");
updateModeEnum.add("Manual"); modesBitField.add("FlightTelemetryAcked");
updateModeEnum.add("Never"); modesBitField.add("GCSTelemetryAcked");
modesBitField.add("FlightUpdatePeriodic");
modesBitField.add("FlightUpdateOnChange");
modesBitField.add("GCSUpdatePeriodic");
modesBitField.add("GCSUpdateOnChange");
List<String> accessModeEnum = new ArrayList<String>(); fields.add( new UAVObjectField("Modes", "", UAVObjectField.FieldType.BITFIELD, 1, modesBitField) );
accessModeEnum.add("Read/Write"); fields.add( new UAVObjectField("Flight Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
accessModeEnum.add("Read Only"); fields.add( new UAVObjectField("GCS Telemetry Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
fields.add( new UAVObjectField("Logging Update Period", "ms", UAVObjectField.FieldType.UINT16, 1, null) );
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 ) );
int numBytes = 0; int numBytes = 0;
ListIterator<UAVObjectField> li = fields.listIterator(); ListIterator<UAVObjectField> li = fields.listIterator();

70
androidgcs/src/org/openpilot/uavtalk/UAVObject.java
View File

@ -120,17 +120,10 @@ public abstract class UAVObject {
* Object update mode * Object update mode
*/ */
public enum UpdateMode { public enum UpdateMode {
UPDATEMODE_PERIODIC, /** UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
* Automatically update object at periodic UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
* intervals
*/
UPDATEMODE_ONCHANGE, /** Only update object when its data changes */ UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
UPDATEMODE_MANUAL, /** UPDATEMODE_THROTTLED /** Object is updated on change, but not more often than the interval time */
* Manually update object, by calling the updated()
* function
*/
UPDATEMODE_NEVER
/** Object is never updated */
}; };
/** /**
@ -140,47 +133,32 @@ public abstract class UAVObject {
ACCESS_READWRITE, ACCESS_READONLY ACCESS_READWRITE, ACCESS_READONLY
}; };
/**
* Access mode
*/
public enum Acked {
FALSE, TRUE
};
public final class Metadata { public final class Metadata {
public AccessMode flightAccess;
/** /**
* Defines the access level for the local flight transactions (readonly * Object metadata, each object has a meta object that holds its metadata. The metadata define
* and readwrite) * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/ */
public AccessMode gcsAccess; public int flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
/**
* Defines the access level for the local GCS transactions (readonly and /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
* 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; public int flightTelemetryUpdatePeriod;
/**
* Update period used by the autopilot (only if telemetry mode is /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
* PERIODIC) public int gcsTelemetryUpdatePeriod;
*/
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) */ /** 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; public int loggingUpdatePeriod;
/** /**
* Update period used by the logging module (only if logging mode is * Update period used by the logging module (only if logging mode is

48
androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java
View File

@ -7,7 +7,7 @@ import java.util.List;
public class UAVObjectField { public class UAVObjectField {
public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, STRING }; public enum FieldType { INT8, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING };
public UAVObjectField(String name, String units, FieldType type, int numElements, List<String> options) { public UAVObjectField(String name, String units, FieldType type, int numElements, List<String> options) {
List<String> elementNames = new ArrayList<String>(); List<String> elementNames = new ArrayList<String>();
@ -56,6 +56,8 @@ public class UAVObjectField {
return "float32"; return "float32";
case ENUM: case ENUM:
return "enum"; return "enum";
case BITFIELD:
return "bitfield";
case STRING: case STRING:
return "string"; return "string";
default: default:
@ -144,6 +146,11 @@ public class UAVObjectField {
for (int index = 0; index < numElements; ++index) for (int index = 0; index < numElements; ++index)
dataOut.put((Byte) l.get(index)); dataOut.put((Byte) l.get(index));
break; break;
case BITFIELD:
for (int index = 0; index < numElements; ++index) {
Integer val = (Integer) getValue(index);
dataOut.put(val.byteValue());
}
case STRING: case STRING:
// TODO: Implement strings // TODO: Implement strings
throw new Error("Strings not yet implemented"); throw new Error("Strings not yet implemented");
@ -224,6 +231,16 @@ public class UAVObjectField {
} }
break; break;
} }
case BITFIELD:
{
List<Short> l = (List<Short>) this.data;
for (int index = 0 ; index < numElements; ++index) {
int signedval = (int) dataIn.get(); // this sign extends it
int unsignedval = signedval & 0xff; // drop sign extension
l.set(index, (short) unsignedval);
}
break;
}
case ENUM: case ENUM:
{ {
List<Byte> l = (List<Byte>) this.data; List<Byte> l = (List<Byte>) this.data;
@ -275,6 +292,9 @@ public class UAVObjectField {
return options.get(val); return options.get(val);
} }
case BITFIELD:
return ((List<Short>) data).get(index).intValue();
case STRING: case STRING:
{ {
//throw new Exception("Shit I should do this"); //throw new Exception("Shit I should do this");
@ -354,6 +374,12 @@ public class UAVObjectField {
l.set(index, val); l.set(index, val);
break; break;
} }
case BITFIELD:
{
List<Short> l = (List<Short>) this.data;
l.set(index, bound(data).shortValue());
break;
}
case STRING: case STRING:
{ {
//throw new Exception("Sorry I haven't implemented strings yet"); //throw new Exception("Sorry I haven't implemented strings yet");
@ -404,6 +430,8 @@ public class UAVObjectField {
return true; return true;
case ENUM: case ENUM:
return false; return false;
case BITFIELD:
return true;
case STRING: case STRING:
return false; return false;
default: default:
@ -430,6 +458,8 @@ public class UAVObjectField {
return false; return false;
case ENUM: case ENUM:
return true; return true;
case BITFIELD:
return false;
case STRING: case STRING:
return true; return true;
default: default:
@ -493,6 +523,12 @@ public class UAVObjectField {
((ArrayList<Float>) data).add((float) 0); ((ArrayList<Float>) data).add((float) 0);
} }
break; break;
case BITFIELD:
((ArrayList<Short>) data).clear();
for(int index = 0; index < numElements; ++index) {
((ArrayList<Short>) data).add((short) 0);
}
break;
case ENUM: case ENUM:
((ArrayList<Byte>) data).clear(); ((ArrayList<Byte>) data).clear();
for(int index = 0; index < numElements; ++index) { for(int index = 0; index < numElements; ++index) {
@ -549,6 +585,10 @@ public class UAVObjectField {
data = (Object) new ArrayList<Byte>(this.numElements); data = (Object) new ArrayList<Byte>(this.numElements);
numBytesPerElement = 1; numBytesPerElement = 1;
break; break;
case BITFIELD:
data = (Object) new ArrayList<Short>(this.numElements);
numBytesPerElement = 1;
break;
case STRING: case STRING:
data = (Object) new ArrayList<String>(this.numElements); data = (Object) new ArrayList<String>(this.numElements);
numBytesPerElement = 1; numBytesPerElement = 1;
@ -614,6 +654,12 @@ public class UAVObjectField {
if(num > 4294967295L) if(num > 4294967295L)
return 4294967295L; return 4294967295L;
return num; return num;
case BITFIELD:
if(num < 0)
return (long) 0;
if(num > 255)
return (long) 255;
return num;
} }
return num; return num;