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Code Issues Releases Activity

Merge branch 'next' into revo

Browse Source 
Conflicts:
	flight/Modules/ManualControl/manualcontrol.c
	ground/openpilotgcs/src/plugins/config/input.ui
	ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
	shared/uavobjectdefinition/manualcontrolsettings.xml
This commit is contained in:
James Cotton 2012-07-13 10:40:14 -05:00
commit d150fd5331
102 changed files with 3266 additions and 2138 deletions
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8
HISTORY.txt
View File

@ -1,5 +1,13 @@
Short summary of changes. For a complete list see the git log.
2012-07-10
On Windows the installation mode was changed from per-user to per-machine
(for all users) installation. It is recommended to completely uninstall
previous version before installing new one to remove per-user installed
files. Per-machine installation requires elevated (administrator) previleges
during install. But since the same rights are now required to install
optional CDC driver (virtual communication port), it was deemed acceptable.
2012-06-04
AeroSimRC support merged into next

6
flight/Modules/FlightPlan/lib/uavobject.py
View File

@ -109,7 +109,10 @@ class UAVObject:
def addField(self, field):
append(self.fields, field)
'''
#
# Support for getName was removed from embedded UAVO database to save RAM + Flash
#
def getName(self):
"""__NATIVE__
UAVObjHandle objHandle;
@ -143,6 +146,7 @@ class UAVObject:
return PM_RET_OK;
"""
pass
'''
def read(self):
"""__NATIVE__

36
flight/Modules/ManualControl/manualcontrol.c
View File

@ -60,7 +60,6 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1f
#define FLIGHT_MODE_LIMIT 1.0f/3.0f
#define ARMED_TIME_MS 1000
#define ARMED_THRESHOLD 0.50f
//safe band to allow a bit of calibration error or trim offset (in microseconds)
@ -241,19 +240,23 @@ static void manualControlTask(void *parameters)
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
// Check all channel mappings are valid
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
// Check the driver is exists
// Check the driver exists
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] == (uint16_t) PIOS_RCVR_NODRIVER ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER) {
// Check the FlightModeNumber is valid
settings.FlightModeNumber < 1 || settings.FlightModeNumber > MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM ||
// Similar checks for FlightMode channel but only if more than one flight mode has been set. Otherwise don't care
((settings.FlightModeNumber > 1) && (
settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_INVALID ||
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t) PIOS_RCVR_NODRIVER))) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
@ -362,8 +365,6 @@ static void manualControlTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
}
if (processFailsafe(cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE, &settings) == false) {
@ -998,30 +999,27 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
}
/**
* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
* @brief Determine which of N positions the flight mode switch is in and set flight mode accordingly
* @param[out] cmd Pointer to the command structure to set the flight mode in
* @param[in] settings The settings which indicate which position is which mode
* @param[in] flightMode the value of the switch position
*/
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
static void processFlightMode(ManualControlSettingsData *settings, float flightMode)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t newMode;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[2];
else
newMode = settings->FlightModePosition[1];
// Convert flightMode value into the switch position in the range [0..N-1]
uint8_t pos = ((int16_t)(flightMode * 256.0f) + 256) * settings->FlightModeNumber >> 9;
if (pos >= settings->FlightModeNumber)
pos = settings->FlightModeNumber - 1;
if(flightStatus.FlightMode != newMode) {
uint8_t newMode = settings->FlightModePosition[pos];
if (flightStatus.FlightMode != newMode) {
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
}
}
/**

6
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -255,9 +255,9 @@ static int32_t RadioComBridgeInitialize(void)
PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByName("PipXStatus"), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByName("GCSReceiver"), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByName("ObjectPersistence"), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
return 0;
}

1
flight/Modules/Stabilization/stabilization.c
View File

@ -444,7 +444,6 @@ static float bound(float val)
static void SettingsUpdatedCb(UAVObjEvent * ev)
{
memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings);
// Set the roll rate PID constants

12
flight/PiOS.posix/inc/pios_struct_helper.h Normal file
View File

@ -0,0 +1,12 @@
/* Taken from include/linux/kernel.h from the Linux kernel tree */
/**
* container_of - cast a member of a structure out to the containing structure
* @ptr: the pointer to the member.
* @type: the type of the container struct this is embedded in.
* @member: the name of the member within the struct.
*
*/
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})

13
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
View File

@ -274,7 +274,6 @@ void vPortStartFirstTask( void )
*/
portBASE_TYPE xPortStartScheduler( void )
{
portBASE_TYPE xResult;
sigset_t xSignalToBlock;
/**
@ -337,9 +336,9 @@ portBASE_TYPE xPortStartScheduler( void )
PORT_PRINT( "Cleaning Up, Exiting.\n" );
/* Cleanup the mutexes */
xResult = pthread_mutex_destroy( &xRunningThreadMutex );
xResult = pthread_mutex_destroy( &xYieldingThreadMutex );
xResult = pthread_mutex_destroy( &xGuardMutex );
pthread_mutex_destroy( &xRunningThreadMutex );
pthread_mutex_destroy( &xYieldingThreadMutex );
pthread_mutex_destroy( &xGuardMutex );
vPortFree( (void *)pxThreads );
/* Should not get here! */
@ -353,13 +352,12 @@ portBASE_TYPE xPortStartScheduler( void )
void vPortEndScheduler( void )
{
portBASE_TYPE xNumberOfThreads;
portBASE_TYPE xResult;
for ( xNumberOfThreads = 0; xNumberOfThreads < MAX_NUMBER_OF_TASKS; xNumberOfThreads++ )
{
if ( ( pthread_t )NULL != pxThreads[ xNumberOfThreads ].hThread )
{
/* Kill all of the threads, they are in the detached state. */
xResult = pthread_cancel( pxThreads[ xNumberOfThreads ].hThread );
pthread_cancel( pxThreads[ xNumberOfThreads ].hThread );
}
}
@ -683,7 +681,6 @@ void vPortForciblyEndThread( void *pxTaskToDelete )
xTaskHandle hTaskToDelete = ( xTaskHandle )pxTaskToDelete;
xThreadState* xTaskToDelete;
xThreadState* xTaskToResume;
portBASE_TYPE xResult;
PORT_ENTER();
@ -706,7 +703,7 @@ portBASE_TYPE xResult;
/* Send a signal to wake the task so that it definitely cancels. */
pthread_testcancel();
xResult = pthread_cancel( xTaskToDelete->hThread );
pthread_cancel( xTaskToDelete->hThread );
}
else

12
flight/PiOS/inc/pios_struct_helper.h Normal file
View File

@ -0,0 +1,12 @@
/* Taken from include/linux/kernel.h from the Linux kernel tree */
/**
* container_of - cast a member of a structure out to the containing structure
* @ptr: the pointer to the member.
* @type: the type of the container struct this is embedded in.
* @member: the name of the member within the struct.
*
*/
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})

1
flight/Project/gdb/simposix Normal file
View File

@ -0,0 +1 @@
handle SIGUSR1 noprint nostop

2
flight/SimPosix/Makefile
View File

@ -38,7 +38,7 @@ OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= NO
DEBUG ?= YES
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO

59
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -133,7 +133,7 @@ typedef void (*UAVObjEventCallback)(UAVObjEvent* ev);
/**
* Callback used to initialize the object fields to their default values.
*/
typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj, uint16_t instId);
typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj_handle, uint16_t instId);
/**
* Event manager statistics
@ -148,25 +148,23 @@ typedef struct {
int32_t UAVObjInitialize();
void UAVObjGetStats(UAVObjStats* statsOut);
void UAVObjClearStats();
UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
UAVObjHandle UAVObjRegister(uint32_t id,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjGetByID(uint32_t id);
UAVObjHandle UAVObjGetByName(char* name);
uint32_t UAVObjGetID(UAVObjHandle obj);
const char* UAVObjGetName(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb);
int32_t UAVObjIsSingleInstance(UAVObjHandle obj);
int32_t UAVObjIsMetaobject(UAVObjHandle obj);
int32_t UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn);
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file);
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback initCb);
bool UAVObjIsSingleInstance(UAVObjHandle obj);
bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t* dataIn);
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO* file);
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings();
@ -174,18 +172,17 @@ int32_t UAVObjDeleteSettings();
int32_t UAVObjSaveMetaobjects();
int32_t UAVObjLoadMetaobjects();
int32_t UAVObjDeleteMetaobjects();
int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
int32_t UAVObjSetData(UAVObjHandle obj_handle, const void* dataIn);
int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetData(UAVObjHandle obj_handle, void* dataOut);
int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn);
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata* dataOut);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
void UAVObjMetadataInitialize(UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
@ -199,14 +196,14 @@ void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val)
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjUpdated(UAVObjHandle obj);
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId);
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
#endif // UAVOBJECTMANAGER_H

2
flight/UAVObjects/inc/uavobjecttemplate.h
View File

@ -42,8 +42,6 @@
// Object constants
#define $(NAMEUC)_OBJID $(OBJIDHEX)
#define $(NAMEUC)_NAME "$(NAME)"
#define $(NAMEUC)_METANAME "$(NAME)Meta"
#define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST)
#define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)

2387
flight/UAVObjects/uavobjectmanager.c
View File

@ -1,20 +1,20 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Object manager library. This library holds a collection of all objects.
* It can be used by all modules/libraries to find an object reference.
* @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
@ -32,6 +32,7 @@
*/
#include "openpilot.h"
#include "pios_struct_helper.h"
// Constants
@ -39,84 +40,144 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
#define OLGetIsMetaobject(olp) ((olp)->flags & OL_IS_METAOBJECT)
#define OLSetIsMetaobject(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_METAOBJECT) : ((olp)->flags | OL_IS_METAOBJECT)))
#define OLGetIsSingleInstance(olp) ((olp)->flags & OL_IS_SINGLE_INSTANCE)
#define OLSetIsSingleInstance(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SINGLE_INSTANCE) : ((olp)->flags | OL_IS_SINGLE_INSTANCE)))
#define OLGetIsSettings(olp) ((olp)->flags & OL_IS_SETTINGS)
#define OLSetIsSettings(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SETTINGS) : ((olp)->flags | OL_IS_SETTINGS)))
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
/**
* List of object instances, holds the actual data structure and instance ID
*/
struct ObjectInstListStruct {
void *data;
uint16_t instId;
struct ObjectInstListStruct *next;
};
typedef struct ObjectInstListStruct ObjectInstList;
/** opaque type for instances **/
typedef void* InstanceHandle;
typedef enum {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
} ObjectListFlags;
/**
* List of objects registered in the object manager
*/
struct ObjectListStruct {
uint32_t id;
/** The object ID */
const char *name;
/** The object name */
ObjectListFlags flags;
/** The object list mode flags */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances;
/** Number of instances */
struct ObjectListStruct *linkedObj;
/** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
ObjectInstList instances;
/** List of object instances, instance 0 always exists */
ObjectEventList *events;
/** Event queues registered on the object */
struct ObjectListStruct *next;
/** Needed by linked list library (utlist.h) */
struct ObjectEventEntry {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventEntry * next;
};
typedef struct ObjectListStruct ObjectList;
/*
MetaInstance == [UAVOBase [UAVObjMetadata]]
SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
MultiInstance == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
____________________/
\-->[InstanceData1 [next]]
_________...________/
\-->[InstanceDataN [next]]
*/
/*
* UAVO Base Type
* - All Types of UAVObjects are of this base type
* - The flags determine what type(s) this object
*/
struct UAVOBase {
/* Let these objects be added to an event queue */
struct ObjectEventEntry * next_event;
/* Describe the type of object that follows this header */
struct UAVOInfo {
bool isMeta : 1;
bool isSingle : 1;
bool isSettings : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
struct UAVOMeta {
struct UAVOBase base;
UAVObjMetadata instance0;
} __attribute__((packed));
/* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
struct UAVOData {
struct UAVOBase base;
uint32_t id;
/*
* Embed the Meta object as another complete UAVO
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
struct UAVOData * next;
uint16_t instance_size;
} __attribute__((packed));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
struct UAVOData uavo;
uint8_t instance0[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Part of a linked list of instances chained off of a multi instance UAVO. */
struct UAVOMultiInst {
struct UAVOMultiInst * next;
uint8_t instance[];
/*
* Additional space will be malloc'd here to hold the
* the data for this instance.
*/
} __attribute__((packed));
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0;
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
*/
} __attribute__((packed));
/** all information about a metaobject are hardcoded constants **/
#define MetaNumBytes sizeof(UAVObjMetadata)
#define MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj)-offsetof(struct UAVOData, metaObj)))
#define MetaObjectPtr(obj) ((struct UAVODataMeta*) &((obj)->metaObj))
#define MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->instance0))
#define LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.instance0))
#define MetaObjectId(id) ((id)+1)
/** all information about instances are dependant on object type **/
#define ObjSingleInstanceDataOffset(obj) ((void*)(&(( (struct UAVOSingle*)obj )->instance0)))
#define InstanceDataOffset(inst) ((void*)&(( (struct UAVOMultiInst*)inst )->instance))
#define InstanceData(instance) (void*)instance
// Private functions
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
UAVObjEventType event);
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
UAVObjEventType event);
static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId);
static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb);
#if defined(PIOS_INCLUDE_SDCARD)
static void objectFilename(ObjectList * obj, uint8_t * filename);
static void objectFilename(UAVObjHandle obj_handle, uint8_t * filename);
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static ObjectList *objList;
static struct UAVOData * uavo_list;
static xSemaphoreHandle mutex;
static UAVObjMetadata defMetadata;
static const UAVObjMetadata defMetadata = {
.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT),
.telemetryUpdatePeriod = 0,
.gcsTelemetryUpdatePeriod = 0,
.loggingUpdatePeriod = 0,
};
static UAVObjStats stats;
/**
@ -126,31 +187,32 @@ static UAVObjStats stats;
*/
int32_t UAVObjInitialize()
{
// Initialize variables
objList = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Initialize variables
uavo_list = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
return -1;
// Initialize default metadata structure (metadata of metaobjects)
UAVObjMetadataInitialize(&defMetadata);
// Done
return 0;
// Done
return 0;
}
/*****************
* Statistics
****************/
/**
* Get the statistics counters
* @param[out] statsOut The statistics counters will be copied there
*/
void UAVObjGetStats(UAVObjStats * statsOut)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memcpy(statsOut, &stats, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/**
@ -158,17 +220,84 @@ void UAVObjGetStats(UAVObjStats * statsOut)
*/
void UAVObjClearStats()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
memset(&stats, 0, sizeof(UAVObjStats));
xSemaphoreGiveRecursive(mutex);
}
/************************
* Object Initialization
***********************/
static void UAVObjInitMetaData (struct UAVOMeta * obj_meta)
{
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(obj_meta->base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isMeta = true;
uavo_base->flags.isSingle = true;
uavo_base->next_event = NULL;
/* Clear the instance data carried in the UAVO */
memset(&(obj_meta->instance0), 0, sizeof(obj_meta->instance0));
}
static struct UAVOData * UAVObjAllocSingle(uint32_t num_bytes)
{
/* Compute the complete size of the object, including the data for a single embedded instance */
uint32_t object_size = sizeof(struct UAVOSingle) + num_bytes;
/* Allocate the object from the heap */
struct UAVOSingle * uavo_single = (struct UAVOSingle *) pvPortMalloc(object_size);
if (!uavo_single)
return (NULL);
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(uavo_single->uavo.base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isSingle = true;
uavo_base->next_event = NULL;
/* Clear the instance data carried in the UAVO */
memset(&(uavo_single->instance0), 0, num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_single->uavo));
}
static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
{
/* Compute the complete size of the object, including the data for a single embedded instance */
uint32_t object_size = sizeof(struct UAVOMulti) + num_bytes;
/* Allocate the object from the heap */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) pvPortMalloc(object_size);
if (!uavo_multi)
return (NULL);
/* Fill in the common part of the UAVO */
struct UAVOBase * uavo_base = &(uavo_multi->uavo.base);
memset(uavo_base, 0, sizeof(*uavo_base));
uavo_base->flags.isSingle = false;
uavo_base->next_event = NULL;
/* Set up the type-specific part of the UAVO */
uavo_multi->num_instances = 1;
/* Clear the instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_multi->uavo));
}
/**************************
* UAVObject Database APIs
*************************/
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
@ -176,85 +305,60 @@ void UAVObjClearStats()
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
UAVObjHandle UAVObjRegister(uint32_t id,
int32_t isSingleInstance, int32_t isSettings,
uint32_t num_bytes,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
ObjectList *metaObj;
struct UAVOData * uavo_data = NULL;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
/* Don't allow duplicate registrations */
if (UAVObjGetByID(id))
goto unlock_exit;
// Create and append entry
objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry->id = id;
objEntry->name = name;
OLSetIsMetaobject(objEntry, isMetaobject);
OLSetIsSingleInstance(objEntry, isSingleInstance);
OLSetIsSettings(objEntry, isSettings);
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
objEntry->instances.data = NULL;
objEntry->instances.instId = 0xFFFF;
objEntry->instances.next = NULL;
objEntry->linkedObj = NULL; // will be set later
LL_APPEND(objList, objEntry);
/* Map the various flags to one of the UAVO types we understand */
if (isSingleInstance) {
uavo_data = UAVObjAllocSingle (num_bytes);
} else {
uavo_data = UAVObjAllocMulti (num_bytes);
}
// Create instance zero
instEntry = createInstance(objEntry, 0);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Create metaobject and update linkedObj
if (isMetaobject) {
objEntry->linkedObj = NULL; // will be set later
} else {
// Create metaobject
metaObj =
(ObjectList *) UAVObjRegister(id + 1, metaName,
NULL, 1, 1, 0,
sizeof
(UAVObjMetadata),
NULL);
// Link two objects
objEntry->linkedObj = metaObj;
metaObj->linkedObj = objEntry;
}
if (!uavo_data)
goto unlock_exit;
// Initialize object fields and metadata to default values
if (initCb != NULL) {
initCb((UAVObjHandle) objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!OLGetIsMetaobject(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (OLGetIsSettings(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
/* Fill in the details about this UAVO */
uavo_data->id = id;
uavo_data->instance_size = num_bytes;
if (isSettings) {
uavo_data->base.flags.isSettings = true;
}
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData (&uavo_data->metaObj);
/* Add the newly created object to the global list of objects */
LL_APPEND(uavo_list, uavo_data);
/* Initialize object fields and metadata to default values */
if (initCb)
initCb((UAVObjHandle) uavo_data, 0);
/* Always try to load the meta object from flash */
UAVObjLoad((UAVObjHandle) &(uavo_data->metaObj), 0);
/* Attempt to load settings object from flash */
if (uavo_data->base.flags.isSettings)
UAVObjLoad((UAVObjHandle) uavo_data, 0);
// fire events for outer object and its embedded meta object
UAVObjInstanceUpdated((UAVObjHandle) uavo_data, 0);
UAVObjInstanceUpdated((UAVObjHandle) &(uavo_data->metaObj), 0);
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) uavo_data;
}
/**
@ -264,52 +368,27 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
*/
UAVObjHandle UAVObjGetByID(uint32_t id)
{
ObjectList *objEntry;
UAVObjHandle * found_obj = (UAVObjHandle *) NULL;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
}
// Look for object
struct UAVOData * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
}
if (MetaObjectId(tmp_obj->id) == id) {
found_obj = (UAVObjHandle *)&(tmp_obj->metaObj);
goto unlock_exit;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
}
/**
* Retrieve an object from the list given its name
* \param[in] name The name of the object
* \return The object or NULL if not found.
*/
UAVObjHandle UAVObjGetByName(char *name)
{
ObjectList *objEntry;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
LL_FOREACH(objList, objEntry) {
if (objEntry->name != NULL
&& strcmp(objEntry->name, name) == 0) {
// Release lock
xSemaphoreGiveRecursive(mutex);
// Done, object found
return (UAVObjHandle) objEntry;
}
}
// Object not found, release lock and return error
xSemaphoreGiveRecursive(mutex);
return NULL;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return found_obj;
}
/**
@ -317,19 +396,24 @@ UAVObjHandle UAVObjGetByName(char *name)
* \param[in] obj The object handle
* \return The object ID
*/
uint32_t UAVObjGetID(UAVObjHandle obj)
uint32_t UAVObjGetID(UAVObjHandle obj_handle)
{
return ((ObjectList *) obj)->id;
}
PIOS_Assert(obj_handle);
/**
* Get the object's name
* \param[in] obj The object handle
* \return The object's name
*/
const char *UAVObjGetName(UAVObjHandle obj)
{
return ((ObjectList *) obj)->name;
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO */
struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
return MetaObjectId (uavo_data->id);
} else {
/* We have a data object, augment our pointer */
struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
return (uavo_data->id);
}
}
/**
@ -339,7 +423,23 @@ const char *UAVObjGetName(UAVObjHandle obj)
*/
uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
{
return ((ObjectList *) obj)->numBytes;
PIOS_Assert(obj);
uint32_t instance_size;
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj;
if (uavo_base->flags.isMeta) {
instance_size = MetaNumBytes;
} else {
/* We have a data object, augment our pointer */
struct UAVOData * uavo = (struct UAVOData *) uavo_base;
instance_size = uavo->instance_size;
}
return (instance_size);
}
/**
@ -349,9 +449,24 @@ uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The object linked object handle
*/
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj_handle)
{
return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO. */
struct UAVOData * uavo_data = container_of ((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
return (UAVObjHandle) uavo_data;
} else {
/* We have a data object, augment our pointer */
struct UAVOData * uavo_data = (struct UAVOData *) uavo_base;
return (UAVObjHandle) &(uavo_data->metaObj);
}
}
/**
@ -359,13 +474,19 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The number of instances
*/
uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
uint16_t UAVObjGetNumInstances(UAVObjHandle obj_handle)
{
uint32_t numInstances;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
numInstances = ((ObjectList *) obj)->numInstances;
xSemaphoreGiveRecursive(mutex);
return numInstances;
PIOS_Assert(obj_handle);
if (UAVObjIsSingleInstance(obj_handle)) {
/* Only one instance is allowed */
return 1;
} else {
/* Multi-instance object. Inspect the object */
/* Augment our pointer to reflect the proper type */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) obj_handle;
return uavo_multi->num_instances;
}
}
/**
@ -373,29 +494,37 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
* \param[in] obj The object handle
* \return The instance ID or 0 if an error
*/
uint16_t UAVObjCreateInstance(UAVObjHandle obj,
UAVObjInitializeCallback initCb)
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (UAVObjIsMetaobject(obj_handle)) {
return 0;
}
// Create new instance
objEntry = (ObjectList *) obj;
instEntry = createInstance(objEntry, objEntry->numInstances);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Initialize instance data
if (initCb != NULL) {
initCb(obj, instEntry->instId);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return instEntry->instId;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
InstanceHandle instEntry;
uint16_t instId = 0;
// Create new instance
instId = UAVObjGetNumInstances(obj_handle);
instEntry = createInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Initialize instance data
if (initCb) {
initCb(obj_handle, instId);
}
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return instId;
}
/**
@ -403,9 +532,14 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
bool UAVObjIsSingleInstance(UAVObjHandle obj_handle)
{
return OLGetIsSingleInstance((ObjectList *) obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isSingle;
}
/**
@ -413,9 +547,14 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
bool UAVObjIsMetaobject(UAVObjHandle obj_handle)
{
return OLGetIsMetaobject((ObjectList *) obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isMeta;
}
/**
@ -423,9 +562,14 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
bool UAVObjIsSettings(UAVObjHandle obj_handle)
{
return OLGetIsSettings((ObjectList *) obj);
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase * uavo_base = (struct UAVOBase *) obj_handle;
return uavo_base->flags.isSettings;
}
/**
@ -435,39 +579,49 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
* \param[in] dataIn The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
const uint8_t * dataIn)
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId,
const uint8_t * dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
int32_t rc = -1;
// Get the instance
instEntry = getInstance(objEntry, instId);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle), dataIn, MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Set the data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Cast handle to object
obj = (struct UAVOData *) obj_handle;
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Get the instance
instEntry = getInstance(obj, instId);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
}
// Set the data
memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
}
// Fire event
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -477,30 +631,41 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
* \param[out] dataOut The byte array
* \return 0 if success or -1 if failure
*/
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t * dataOut)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast handle to object
objEntry = (ObjectList *) obj;
int32_t rc = -1;
// Get the instance
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Pack data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Cast handle to object
obj = (struct UAVOData *) obj_handle;
// Get the instance
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Pack data
memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -512,50 +677,72 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
FILEINFO * file)
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
FILEINFO * file)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesWritten;
ObjectList *objEntry;
ObjectInstList *instEntry;
uint32_t bytesWritten;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (UAVObjIsMetaobject(obj_handle)) {
// Get the instance information
if (instId != 0) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
uint32_t objId = UAVObjGetID(obj_handle);
PIOS_FWRITE(file, &objId, sizeof(objId),
&bytesWritten);
// Cast to object
objEntry = (ObjectList *) obj;
// Write the data and check that the write was successful
PIOS_FWRITE(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes,
&bytesWritten);
if (bytesWritten != MetaNumBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
} else {
struct UAVOData * uavo;
InstanceHandle instEntry;
// Get the instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
&bytesWritten);
// Cast to object
uavo = (struct UAVOData *) obj_handle;
// Write the instance ID
if (!OLGetIsSingleInstance(objEntry)) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
&bytesWritten);
if (bytesWritten != objEntry->numBytes) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done
xSemaphoreGiveRecursive(mutex);
// Get the instance information
instEntry = getInstance(uavo, instId);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Write the object ID
PIOS_FWRITE(file, &uavo->id, sizeof(uavo->id),
&bytesWritten);
// Write the instance ID
if (!UAVObjIsSingleInstance(obj_handle)) {
PIOS_FWRITE(file, &instId,
sizeof(instId), &bytesWritten);
}
// Write the data and check that the write was successful
PIOS_FWRITE(file, InstanceData(instEntry), uavo->instance_size,
&bytesWritten);
if (bytesWritten != uavo->instance_size) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -568,59 +755,60 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
* @param[in] file File to append to
* @return 0 if success or -1 if failure
*/
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0)
return -1;
if (objEntry == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj_handle, instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle)) != 0)
return -1;
} else {
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
ObjectInstList *instEntry = getInstance(objEntry, instId);
if (instEntry == NULL)
return -1;
if (instEntry == NULL)
return -1;
if (InstanceData(instEntry) == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
return -1;
if (PIOS_FLASHFS_ObjSave(obj_handle, instId, InstanceData(instEntry)) != 0)
return -1;
}
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
uint8_t filename[14];
FILEINFO file;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(obj_handle, filename);
// Get filename
objectFilename(objEntry, filename);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
// Open file
if (PIOS_FOPEN_WRITE(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Append object
if (UAVObjSaveToFile(obj_handle, instId, &file) == -1) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -631,68 +819,87 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
{
#if defined(PIOS_INCLUDE_SDCARD)
uint32_t bytesRead;
ObjectList *objEntry;
ObjectInstList *instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj;
uint32_t bytesRead;
struct UAVOBase *objEntry;
InstanceHandle instEntry;
uint32_t objId;
uint16_t instId;
UAVObjHandle obj_handle;
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return NULL;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj = UAVObjGetByID(objId);
if (obj == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (ObjectList *) obj;
// Read the object ID
if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Get the object
obj_handle = UAVObjGetByID(objId);
if (obj_handle == 0) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry = (struct UAVOBase *) obj_handle;
// Get the instance ID
instId = 0;
if (!OLGetIsSingleInstance(objEntry)) {
if (PIOS_FREAD
// Get the instance ID
instId = 0;
if (!UAVObjIsSingleInstance(obj_handle)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Get the instance information
instEntry = getInstance(objEntry, instId);
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Read the instance data
if (PIOS_FREAD
(file, instEntry->data, objEntry->numBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
if (UAVObjIsMetaobject(obj_handle)) {
// If the instance does not exist create it and any other instances before it
if (instId != 0) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Read the instance data
if (PIOS_FREAD
(file, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
} else {
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj;
// Get the instance information
instEntry = getInstance((struct UAVOData *)objEntry, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
instEntry = createInstance((struct UAVOData *)objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Read the instance data
if (PIOS_FREAD
(file, InstanceData(instEntry), ((struct UAVOData *)objEntry)->instance_size, &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Fire event
sendEvent(objEntry, instId, EV_UNPACKED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return obj_handle;
#else /* PIOS_INCLUDE_SDCARD */
return NULL;
return NULL;
#endif
}
@ -704,74 +911,74 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
ObjectList *objEntry = (ObjectList *) obj;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0)
return -1;
if (objEntry == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj_handle, instId, (uint8_t*) MetaDataPtr((struct UAVOMeta *)obj_handle)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else
return -1;
} else {
ObjectInstList *instEntry = getInstance(objEntry, instId);
InstanceHandle instEntry = getInstance( (struct UAVOData *)obj_handle, instId);
if (instEntry == NULL)
return -1;
if (instEntry == NULL)
return -1;
if (instEntry->data == NULL)
return -1;
// Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj_handle, instId, InstanceData(instEntry)) == 0)
sendEvent((struct UAVOBase*)obj_handle, instId, EV_UNPACKED);
else
return -1;
}
// Fire event on success
int32_t retval;
if ((retval = PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data)) == 0)
sendEvent(objEntry, instId, EV_UNPACKED);
else
return retval;
#endif
#if defined(PIOS_INCLUDE_SDCARD)
FILEINFO file;
ObjectList *objEntry;
UAVObjHandle loadedObj;
ObjectList *loadedObjEntry;
uint8_t filename[14];
FILEINFO file;
UAVObjHandle loadedObj;
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(obj_handle, filename);
// Get filename
objectFilename(objEntry, filename);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
loadedObjEntry = (ObjectList *) loadedObj;
if (loadedObjEntry->id != objEntry->id) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
// Open file
if (PIOS_FOPEN_READ(filename, file)) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Load object
loadedObj = UAVObjLoadFromFile(&file);
if (loadedObj == 0) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Check that the IDs match
if (UAVObjGetID(loadedObj) != UAVObjGetID(obj_handle)) {
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Done, close file and unlock
PIOS_FCLOSE(file);
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -780,35 +987,32 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
* @param[in] instId The object instance
* @return 0 if success or -1 if failure
*/
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
{
PIOS_Assert(obj_handle);
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
PIOS_FLASHFS_ObjDelete(obj, instId);
PIOS_FLASHFS_ObjDelete(obj_handle, instId);
#endif
#if defined(PIOS_INCLUDE_SDCARD)
ObjectList *objEntry;
uint8_t filename[14];
uint8_t filename[14];
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object
objEntry = (ObjectList *) obj;
// Get filename
objectFilename(obj_handle, filename);
// Get filename
objectFilename(objEntry, filename);
// Delete file
PIOS_FUNLINK(filename);
// Delete file
PIOS_FUNLINK(filename);
// Done
xSemaphoreGiveRecursive(mutex);
// Done
xSemaphoreGiveRecursive(mutex);
#endif /* PIOS_INCLUDE_SDCARD */
return 0;
return 0;
}
/**
@ -817,27 +1021,30 @@ int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
*/
int32_t UAVObjSaveSettings()
{
ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
int32_t rc = -1;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
if (UAVObjSave((UAVObjHandle) obj, 0) ==
-1) {
goto unlock_exit;
}
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -846,27 +1053,30 @@ int32_t UAVObjSaveSettings()
*/
int32_t UAVObjLoadSettings()
{
ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
int32_t rc = -1;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Load object
if (UAVObjLoad((UAVObjHandle) obj, 0) ==
-1) {
goto unlock_exit;
}
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -875,27 +1085,30 @@ int32_t UAVObjLoadSettings()
*/
int32_t UAVObjDeleteSettings()
{
ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
int32_t rc = -1;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
if (UAVObjDelete((UAVObjHandle) obj, 0)
== -1) {
goto unlock_exit;
}
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -904,27 +1117,27 @@ int32_t UAVObjDeleteSettings()
*/
int32_t UAVObjSaveMetaobjects()
{
ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsMetaobject(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
int32_t rc = -1;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
goto unlock_exit;
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -933,27 +1146,27 @@ int32_t UAVObjSaveMetaobjects()
*/
int32_t UAVObjLoadMetaobjects()
{
ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
int32_t rc = -1;
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
goto unlock_exit;
}
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -962,253 +1175,293 @@ int32_t UAVObjLoadMetaobjects()
*/
int32_t UAVObjDeleteMetaobjects()
{
ObjectList *objEntry;
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
}
// Done
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
{
return UAVObjSetInstanceData(obj, 0, dataIn);
}
/**
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size)
{
return UAVObjSetInstanceDataField(obj, 0, dataIn, offset, size);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
{
return UAVObjGetInstanceData(obj, 0, dataOut);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size)
{
return UAVObjGetInstanceDataField(obj, 0, dataOut, offset, size);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
const void *dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
UAVObjMetadata *mdata;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data, dataIn, objEntry->numBytes);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
UAVObjMetadata* mdata;
// Lock
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
int32_t rc = -1;
// Check access level
if ( !OLGetIsMetaobject(objEntry) )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
goto unlock_exit;
}
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
rc = 0;
// return if we set too much of what we have
if ( (size + offset) > objEntry->numBytes) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(instEntry->data + offset, dataIn, size);
// Fire event
sendEvent(objEntry, instId, EV_UPDATED);
// Unlock
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
* Get the data of a specific object instance
* Set the object data
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
void *dataOut)
int32_t UAVObjSetData(UAVObjHandle obj_handle, const void *dataIn)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList *) obj;
// Get instance information
instEntry = getInstance(objEntry, instId);
if (instEntry == NULL) {
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, instEntry->data, objEntry->numBytes);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
return UAVObjSetInstanceData(obj_handle, 0, dataIn);
}
/**
* Get the data of a specific object instance
* Set the object data
* \param[in] obj The object handle
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void* dataIn, uint32_t offset, uint32_t size)
{
return UAVObjSetInstanceDataField(obj_handle, 0, dataIn, offset, size);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
int32_t UAVObjGetData(UAVObjHandle obj_handle, void *dataOut)
{
ObjectList* objEntry;
ObjectInstList* instEntry;
return UAVObjGetInstanceData(obj_handle, 0, dataOut);
}
/**
* Get the object data
* \param[in] obj The object handle
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void* dataOut, uint32_t offset, uint32_t size)
{
return UAVObjGetInstanceDataField(obj_handle, 0, dataOut, offset, size);
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
const void *dataIn)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Cast to object info
objEntry = (ObjectList*)obj;
int32_t rc = -1;
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle), dataIn, MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *) obj_handle;
// Check access level
if (UAVObjReadOnly(obj_handle)) {
goto unlock_exit;
}
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Set data
memcpy(InstanceData(instEntry), dataIn, obj->instance_size);
}
// return if we request too much of what we can give
if ( (size + offset) > objEntry->numBytes)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
return -1;
}
// Set data
memcpy(dataOut, instEntry->data + offset, size);
// Fire event
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
rc = 0;
// Unlock
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return 0;
return rc;
}
/**
* Set the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[in] dataIn The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > MetaNumBytes) {
goto unlock_exit;
}
// Set data
memcpy(MetaDataPtr((struct UAVOMeta *)obj_handle) + offset, dataIn, size);
} else {
struct UAVOData * obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *)obj_handle;
// Check access level
if (UAVObjReadOnly(obj_handle)) {
goto unlock_exit;
}
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > obj->instance_size) {
goto unlock_exit;
}
// Set data
memcpy(InstanceData(instEntry) + offset, dataIn, size);
}
// Fire event
sendEvent((struct UAVOBase *)obj_handle, instId, EV_UPDATED);
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
void *dataOut)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle), MetaNumBytes);
} else {
struct UAVOData *obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *) obj_handle;
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, InstanceData(instEntry), obj->instance_size);
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
* Get the data of a specific object instance
* \param[in] obj The object handle
* \param[in] instId The object instance ID
* \param[out] dataOut The object's data structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size)
{
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > MetaNumBytes) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, MetaDataPtr((struct UAVOMeta *)obj_handle) + offset, size);
} else {
struct UAVOData * obj;
InstanceHandle instEntry;
// Cast to object info
obj = (struct UAVOData *)obj_handle;
// Get instance information
instEntry = getInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
// Check for overrun
if ((size + offset) > obj->instance_size) {
goto unlock_exit;
}
// Set data
memcpy(dataOut, InstanceData(instEntry) + offset, size);
}
rc = 0;
unlock_exit:
xSemaphoreGiveRecursive(mutex);
return rc;
}
/**
@ -1217,25 +1470,21 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* data
* \param[in] dataIn The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata * dataIn)
{
ObjectList *objEntry;
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Set metadata (metadata of metaobjects can not be modified)
if (UAVObjIsMetaobject(obj_handle)) {
return -1;
}
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!OLGetIsMetaobject(objEntry)) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
dataIn);
} else {
return -1;
}
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
UAVObjSetData((UAVObjHandle) MetaObjectPtr((struct UAVOData *)obj_handle), dataIn);
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
@ -1244,44 +1493,29 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
* \param[out] dataOut The object's metadata structure
* \return 0 if success or -1 if failure
*/
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata * dataOut)
{
ObjectList *objEntry;
PIOS_Assert(obj_handle);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
objEntry = (ObjectList *) obj;
if (OLGetIsMetaobject(objEntry)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
dataOut);
}
// Get metadata
if (UAVObjIsMetaobject(obj_handle)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) MetaObjectPtr( (struct UAVOData *)obj_handle ),
dataOut);
}
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
// Unlock
xSemaphoreGiveRecursive(mutex);
return 0;
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
{
metadata->flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata->telemetryUpdatePeriod = 0;
metadata->gcsTelemetryUpdatePeriod = 0;
metadata->loggingUpdatePeriod = 0;
}
/*******************************
* Object Metadata Manipulation
******************************/
/**
* Get the UAVObject metadata access member
@ -1290,6 +1524,7 @@ void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
*/
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_ACCESS_SHIFT) & 1;
}
@ -1300,6 +1535,7 @@ UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
*/
void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
{
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
@ -1310,6 +1546,7 @@ void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
*/
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
{
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1;
}
@ -1319,6 +1556,7 @@ UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
* \param[in] mode The access mode
*/
void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
@ -1328,6 +1566,7 @@ void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
@ -1337,6 +1576,7 @@ uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
* \param[in] val The telemetry acked boolean
*/
void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
@ -1346,6 +1586,7 @@ void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
@ -1355,6 +1596,7 @@ uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
@ -1364,6 +1606,7 @@ void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
* \return the telemetry update mode
*/
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
@ -1373,6 +1616,7 @@ UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
* \param[in] val The telemetry update mode
*/
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
@ -1382,6 +1626,7 @@ void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val
* \return the GCS telemetry update mode
*/
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata) {
PIOS_Assert(metadata);
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
@ -1391,6 +1636,7 @@ UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata)
* \param[in] val The GCS telemetry update mode
*/
void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
PIOS_Assert(metadata);
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
@ -1403,22 +1649,13 @@ void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode
* \arg 1 if read only
* \arg -1 if unable to get meta data
*/
int8_t UAVObjReadOnly(UAVObjHandle obj)
int8_t UAVObjReadOnly(UAVObjHandle obj_handle)
{
ObjectList *objEntry;
UAVObjMetadata *mdata;
// Cast to object info
objEntry = (ObjectList *) obj;
// Check access level
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
}
return -1;
PIOS_Assert(obj_handle);
if (!UAVObjIsMetaobject(obj_handle)) {
return UAVObjGetAccess(LinkedMetaDataPtr( (struct UAVOData *)obj_handle)) == ACCESS_READONLY;
}
return -1;
}
/**
@ -1429,14 +1666,16 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
uint8_t eventMask)
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue,
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj_handle);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj_handle, queue, 0, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1445,13 +1684,15 @@ int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
* \param[in] queue The event queue
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj_handle);
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj_handle, queue, 0);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1462,14 +1703,15 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
uint8_t eventMask)
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb,
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj_handle, 0, cb, eventMask);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1478,13 +1720,14 @@ int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = disconnectObj(obj_handle, 0, cb);
xSemaphoreGiveRecursive(mutex);
return res;
}
/**
@ -1492,9 +1735,9 @@ int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
* will be generated as soon as the object is updated.
* \param[in] obj The object handle
*/
void UAVObjRequestUpdate(UAVObjHandle obj)
void UAVObjRequestUpdate(UAVObjHandle obj_handle)
{
UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
UAVObjRequestInstanceUpdate(obj_handle, UAVOBJ_ALL_INSTANCES);
}
/**
@ -1503,20 +1746,21 @@ void UAVObjRequestUpdate(UAVObjHandle obj)
* \param[in] obj The object handle
* \param[in] instId Object instance ID to update
*/
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
PIOS_Assert(obj_handle);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((struct UAVOBase *) obj_handle, instId, EV_UPDATE_REQ);
xSemaphoreGiveRecursive(mutex);
}
/**
* Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
* \param[in] obj The object handle
*/
void UAVObjUpdated(UAVObjHandle obj)
void UAVObjUpdated(UAVObjHandle obj_handle)
{
UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
UAVObjInstanceUpdated(obj_handle, UAVOBJ_ALL_INSTANCES);
}
/**
@ -1524,11 +1768,12 @@ void UAVObjUpdated(UAVObjHandle obj)
* \param[in] obj The object handle
* \param[in] instId The object instance ID
*/
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
PIOS_Assert(obj_handle);
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
sendEvent((struct UAVOBase *) obj_handle, instId, EV_UPDATED_MANUAL);
xSemaphoreGiveRecursive(mutex);
}
/**
@ -1538,133 +1783,152 @@ void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
*/
void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
{
ObjectList *objEntry;
PIOS_Assert(iterator);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
LL_FOREACH(objList, objEntry) {
(*iterator) ((UAVObjHandle) objEntry);
}
// Iterate through the list and invoke iterator for each object
struct UAVOData *obj;
LL_FOREACH(uavo_list, obj) {
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
// Release lock
xSemaphoreGiveRecursive(mutex);
}
/**
* Send an event to all event queues registered on the object.
* Send a triggered event to all event queues registered on the object.
*/
static int32_t sendEvent(ObjectList * obj, uint16_t instId,
UAVObjEventType event)
static int32_t sendEvent(struct UAVOBase * obj, uint16_t instId,
UAVObjEventType triggered_event)
{
ObjectEventList *eventEntry;
UAVObjEvent msg;
/* Set up the message that will be sent to all registered listeners */
UAVObjEvent msg = {
.obj = (UAVObjHandle) obj,
.event = triggered_event,
.instId = instId,
};
// Setup event
msg.obj = (UAVObjHandle) obj;
msg.event = event;
msg.instId = instId;
// Go through each object and push the event message in the queue (if event is activated for the queue)
struct ObjectEventEntry *event;
LL_FOREACH(obj->next_event, event) {
if (event->eventMask == 0
|| (event->eventMask & triggered_event) != 0) {
// Send to queue if a valid queue is registered
if (event->queue) {
// will not block
if (xQueueSend(event->queue, &msg, 0) != pdTRUE) {
stats.lastQueueErrorID = UAVObjGetID(obj);
++stats.eventQueueErrors;
}
}
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry) {
if (eventEntry->eventMask == 0
|| (eventEntry->eventMask & event) != 0) {
// Send to queue if a valid queue is registered
if (eventEntry->queue != 0) {
if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE) // will not block
{
stats.lastQueueErrorID = UAVObjGetID(obj);
++stats.eventQueueErrors;
}
}
// Invoke callback (from event task) if a valid one is registered
if (eventEntry->cb != 0) {
if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE) // invoke callback from the event task, will not block
{
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
}
}
}
// Invoke callback (from event task) if a valid one is registered
if (event->cb) {
// invoke callback from the event task, will not block
if (EventCallbackDispatch(&msg, event->cb) != pdTRUE) {
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
}
}
}
// Done
return 0;
return 0;
}
/**
* Create a new object instance, return the instance info or NULL if failure.
*/
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
{
ObjectInstList *instEntry;
int32_t n;
struct UAVOMultiInst *instEntry;
// For single instance objects, only instance zero is allowed
if (OLGetIsSingleInstance(obj) && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Check if the instance already exists
if (getInstance(obj, instId) != NULL) {
return NULL;
}
// Create any missing instances (all instance IDs must be sequential)
for (n = obj->numInstances; n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
/* Don't allow more than one instance for single instance objects */
if (UAVObjIsSingleInstance(&(obj->base))) {
PIOS_Assert(0);
return NULL;
}
if (instId == 0) { /* Instance 0 ObjectInstList allocated with ObjectList element */
instEntry = &obj->instances;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL)
return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
} else {
// Create the actual instance
instEntry =
(ObjectInstList *)
pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL)
return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL)
return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances.next, instEntry);
}
++obj->numInstances;
/* Don't create more than the allowed number of instances */
if (instId >= UAVOBJ_MAX_INSTANCES) {
return NULL;
}
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
/* Don't allow duplicate instances */
if (instId < UAVObjGetNumInstances(&(obj->base))) {
return NULL;
}
// Done
return instEntry;
// Create any missing instances (all instance IDs must be sequential)
for (uint16_t n = UAVObjGetNumInstances(&(obj->base)); n < instId; ++n) {
if (createInstance(obj, n) == NULL) {
return NULL;
}
}
/* Create the actual instance */
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
if (!instEntry)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
( (struct UAVOMulti*)obj )->num_instances++;
// Fire event
UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
// Done
return InstanceDataOffset(instEntry);
}
/**
* Get the instance information or NULL if the instance does not exist
*/
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
static InstanceHandle getInstance(struct UAVOData * obj, uint16_t instId)
{
ObjectInstList *instEntry;
if (UAVObjIsMetaobject(&obj->base)) {
/* Metadata Instance */
// Look for specified instance ID
LL_FOREACH(&(obj->instances), instEntry) {
if (instEntry->instId == instId) {
return instEntry;
}
}
// If this point is reached then instance id was not found
return NULL;
if (instId != 0)
return NULL;
/* Augment our pointer to reflect the proper type */
struct UAVOMeta * uavo_meta = (struct UAVOMeta *) obj;
return (&(uavo_meta->instance0));
} else if (UAVObjIsSingleInstance(&(obj->base))) {
/* Single Instance */
if (instId != 0)
return NULL;
/* Augment our pointer to reflect the proper type */
struct UAVOSingle * uavo_single = (struct UAVOSingle *) obj;
return (&(uavo_single->instance0));
} else {
/* Multi Instance */
/* Augment our pointer to reflect the proper type */
struct UAVOMulti * uavo_multi = (struct UAVOMulti *) obj;
if (instId >= uavo_multi->num_instances)
return NULL;
// Look for specified instance ID
uint16_t instance = 0;
struct UAVOMultiInst *instEntry;
LL_FOREACH(&(uavo_multi->instance0), instEntry) {
if (instance++ == instId) {
/* Found it */
return &(instEntry->instance);
}
}
/* Instance was not found */
return NULL;
}
}
/**
@ -1675,35 +1939,34 @@ static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
* \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
struct ObjectEventEntry *event;
struct UAVOBase *obj;
// Check that the queue is not already connected, if it is simply update event mask
objEntry = (ObjectList *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if (eventEntry->queue == queue && eventEntry->cb == cb) {
// Already connected, update event mask and return
eventEntry->eventMask = eventMask;
return 0;
}
}
// Check that the queue is not already connected, if it is simply update event mask
obj = (struct UAVOBase *) obj_handle;
LL_FOREACH(obj->next_event, event) {
if (event->queue == queue && event->cb == cb) {
// Already connected, update event mask and return
event->eventMask = eventMask;
return 0;
}
}
// Add queue to list
eventEntry =
(ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
if (eventEntry == NULL) {
return -1;
}
eventEntry->queue = queue;
eventEntry->cb = cb;
eventEntry->eventMask = eventMask;
LL_APPEND(objEntry->events, eventEntry);
// Add queue to list
event = (struct ObjectEventEntry *) pvPortMalloc(sizeof(struct ObjectEventEntry));
if (event == NULL) {
return -1;
}
event->queue = queue;
event->cb = cb;
event->eventMask = eventMask;
LL_APPEND(obj->next_event, event);
// Done
return 0;
// Done
return 0;
}
/**
@ -1713,25 +1976,25 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
* \param[in] cb The event callback
* \return 0 if success or -1 if failure
*/
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb)
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;
struct ObjectEventEntry *event;
struct UAVOBase *obj;
// Find queue and remove it
objEntry = (ObjectList *) obj;
LL_FOREACH(objEntry->events, eventEntry) {
if ((eventEntry->queue == queue
&& eventEntry->cb == cb)) {
LL_DELETE(objEntry->events, eventEntry);
vPortFree(eventEntry);
return 0;
}
}
// Find queue and remove it
obj = (struct UAVOBase *) obj_handle;
LL_FOREACH(obj->next_event, event) {
if ((event->queue == queue
&& event->cb == cb)) {
LL_DELETE(obj->next_event, event);
vPortFree(event);
return 0;
}
}
// If this point is reached the queue was not found
return -1;
// If this point is reached the queue was not found
return -1;
}
#if defined(PIOS_INCLUDE_SDCARD)
@ -1740,16 +2003,16 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
*/
static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
{
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
va_list args;
va_start(args, format);
vsprintf((char *)buffer, (char *)format, args);
}
/**
* Get an 8 character (plus extension) filename for the object.
*/
static void objectFilename(ObjectList * obj, uint8_t * filename)
static void objectFilename(UAVObjHandle obj_handle, uint8_t * filename)
{
customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
customSPrintf(filename, (uint8_t *) "%X.obj", UAVObjGetID(obj_handle));
}
#endif /* PIOS_INCLUDE_SDCARD */

2
flight/UAVObjects/uavobjecttemplate.c
View File

@ -54,7 +54,7 @@ int32_t $(NAME)Initialize(void)
return -2;
// Register object with the object manager
handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, $(NAMEUC)_METANAME, 0,
handle = UAVObjRegister($(NAMEUC)_OBJID,
$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);
// Done

85
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -132,16 +132,11 @@ ConfigCcpmWidget::ConfigCcpmWidget(QWidget *parent) : VehicleConfig(parent)
}
m_ccpm->PitchCurve->setMin(-1);
resetMixer(m_ccpm->PitchCurve, 5);
resetMixer(m_ccpm->ThrottleCurve, 5);
MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager());
Q_ASSERT(mixerSettings);
UAVObjectField * curve2source = mixerSettings->getField("Curve2Source");
Q_ASSERT(curve2source);
//initialize our two mixer curves
m_ccpm->PitchCurve->initLinearCurve(5, 1.0, -1.0);
m_ccpm->ThrottleCurve->initLinearCurve(5, 1.0);
//initialize channel names
m_ccpm->ccpmEngineChannel->addItems(channelNames);
m_ccpm->ccpmEngineChannel->setCurrentIndex(0);
m_ccpm->ccpmTailChannel->addItems(channelNames);
@ -474,14 +469,6 @@ void ConfigCcpmWidget::UpdateType()
}
/**
Resets a mixer curve
*/
void ConfigCcpmWidget::resetMixer(MixerCurveWidget *mixer, int numElements)
{
mixer->initLinearCurve(numElements,(double)1);
}
void ConfigCcpmWidget::UpdateCurveWidgets()
{
int NumCurvePoints,i,Changed;
@ -501,7 +488,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)m_ccpm->ThrottleCurve->setCurve(curveValues);
if (Changed==1)
m_ccpm->ThrottleCurve->setCurve(&curveValues);
curveValues.clear();
Changed=0;
@ -513,7 +501,8 @@ void ConfigCcpmWidget::UpdateCurveWidgets()
if (ThisValue!=OldCurveValues.at(i))Changed=1;
}
// Setup all Throttle1 curves for all types of airframes
if (Changed==1)m_ccpm->PitchCurve->setCurve(curveValues);
if (Changed==1)
m_ccpm->PitchCurve->setCurve(&curveValues);
}
void ConfigCcpmWidget::updatePitchCurveValue(QList<double> curveValues0,double Value0)
@ -606,50 +595,40 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue2->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
//set default visible
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
if ( CurveType.compare("Flat")==0)
{
m_ccpm->CurveLabel1->setText("Value");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Linear")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Step")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
m_ccpm->CurveLabel3->setText("Step at");
m_ccpm->CurveLabel3->setVisible(true);
m_ccpm->CurveValue3->setVisible(true);
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Exp")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
@ -660,14 +639,10 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
}
if ( CurveType.compare("Log")==0)
{
m_ccpm->CurveLabel1->setText("Min");
m_ccpm->CurveLabel1->setVisible(true);
m_ccpm->CurveValue1->setVisible(true);
m_ccpm->CurveLabel2->setText("Max");
m_ccpm->CurveLabel2->setVisible(true);
m_ccpm->CurveValue2->setVisible(true);
@ -677,22 +652,17 @@ void ConfigCcpmWidget::UpdateCurveSettings()
m_ccpm->CurveValue3->setMinimum(1.0);
m_ccpm->CurveValue3->setMaximum(100.0);
m_ccpm->CurveValue3->setSingleStep(1.0);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);;
m_ccpm->ccpmGenerateCurve->setVisible(true);
m_ccpm->CurveToGenerate->setVisible(true);
m_ccpm->CurveValue3->setCorrectionMode(QAbstractSpinBox::CorrectToNearestValue);
}
if ( CurveType.compare("Custom")==0)
{
m_ccpm->CurveLabel1->setVisible(false);
m_ccpm->CurveValue1->setVisible(false);
m_ccpm->CurveLabel2->setVisible(false);
m_ccpm->CurveValue2->setVisible(false);
m_ccpm->CurveLabel3->setVisible(false);
m_ccpm->CurveValue3->setVisible(false);
m_ccpm->ccpmGenerateCurve->setVisible(false);
m_ccpm->CurveToGenerate->setVisible(false);
}
UpdateCurveWidgets();
UpdateCurveWidgets();
}
void ConfigCcpmWidget::GenerateCurve()
@ -881,7 +851,8 @@ void ConfigCcpmWidget::UpdateMixer()
float CollectiveConstant,PitchConstant,RollConstant,ThisAngle[6];
QString Channel;
throwConfigError(QString("HeliCP"));
if (throwConfigError(QString("HeliCP")))
return;
GUIConfigDataUnion config = GetConfigData();
@ -1744,13 +1715,16 @@ void ConfigCcpmWidget::SwashLvlSpinBoxChanged(int value)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigCcpmWidget::throwConfigError(QString airframeType)
bool ConfigCcpmWidget::throwConfigError(QString airframeType)
{
Q_UNUSED(airframeType);
bool error = false;
if((m_ccpm->ccpmServoWChannel->currentIndex()==0)&&(m_ccpm->ccpmServoWChannel->isEnabled()))
{
m_ccpm->ccpmServoWLabel->setText("<font color=red>Servo W</font>");
error = true;
}
else
{
@ -1759,6 +1733,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoXChannel->currentIndex()==0)&&(m_ccpm->ccpmServoXChannel->isEnabled()))
{
m_ccpm->ccpmServoXLabel->setText("<font color=red>Servo X</font>");
error = true;
}
else
{
@ -1767,6 +1742,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoYChannel->currentIndex()==0)&&(m_ccpm->ccpmServoYChannel->isEnabled()))
{
m_ccpm->ccpmServoYLabel->setText("<font color=red>Servo Y</font>");
error = true;
}
else
{
@ -1775,6 +1751,7 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmServoZChannel->currentIndex()==0)&&(m_ccpm->ccpmServoZChannel->isEnabled()))
{
m_ccpm->ccpmServoZLabel->setText("<font color=red>Servo Z</font>");
error = true;
}
else
{
@ -1793,10 +1770,12 @@ void ConfigCcpmWidget::throwConfigError(QString airframeType)
if((m_ccpm->ccpmTailChannel->currentIndex()==0)&&(m_ccpm->ccpmTailChannel->isEnabled()))
{
m_ccpm->ccpmTailLabel->setText("<font color=red>Tail Rotor</font>");
error = true;
}
else
{
m_ccpm->ccpmTailLabel->setText("<font color=black>Tail Rotor</font>");
}
return error;
}

3
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.h
View File

@ -95,7 +95,7 @@ private:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
void ccpmSwashplateUpdate();
void ccpmSwashplateRedraw();
@ -103,7 +103,6 @@ private:
void GenerateCurve();
void UpdateMixer();
void UpdateType();
void resetMixer(MixerCurveWidget *mixer, int numElements);
void UpdateCurveWidgets();
void updatePitchCurveValue(QList<double>,double);
void updateThrottleCurveValue(QList<double>,double);

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -262,15 +262,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch and either Roll or Yaw
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
((m_aircraft->fwAileron1ChannelBox->currentText() == "None") &&
(m_aircraft->fwRudder1ChannelBox->currentText() == "None"))) {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -351,14 +343,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Aileron1 and Aileron 2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwAileron1ChannelBox->currentText() == "None" ||
m_aircraft->fwAileron2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("ERROR: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -436,14 +421,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least Pitch1 and Pitch2, and engine
if (m_aircraft->fwEngineChannelBox->currentText() == "None" ||
m_aircraft->fwElevator1ChannelBox->currentText() == "None" ||
m_aircraft->fwElevator2ChannelBox->currentText() == "None") {
// TODO: explain the problem in the UI
// m_aircraft->fwStatusLabel->setText("WARNING: check channel assignment");
if (throwConfigError(airframeType)) {
return false;
}
@ -526,7 +504,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigFixedWingWidget::throwConfigError(QString airframeType)
bool ConfigFixedWingWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -618,4 +596,6 @@ void ConfigFixedWingWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->fwStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

32
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -289,16 +289,9 @@ void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Motor, steering, and balance
if (m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering2ChannelBox->currentText() == "None") )
{
if (throwConfigError(airframeType)) {
return false;
}
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
@ -352,16 +345,11 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeType){
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - Left and right steering
if ( m_aircraft->gvMotor2ChannelBox->currentText() == "None" ||
m_aircraft->gvSteering1ChannelBox->currentText() == "None")
{
if (throwConfigError(airframeType)) {
return false;
}
// Now setup the channels:
GUIConfigDataUnion config = GetConfigData();
ResetActuators(&config);
@ -411,14 +399,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(airframeType);
// - At least one motor and one steering servo
if ((m_aircraft->gvMotor1ChannelBox->currentText() == "None" &&
m_aircraft->gvMotor2ChannelBox->currentText() == "None") ||
(m_aircraft->gvSteering1ChannelBox->currentText() == "None" &&
m_aircraft->gvSteering2ChannelBox->currentText() == "None"))
{
if (throwConfigError(airframeType)) {
return false;
}
@ -468,7 +449,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
bool ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
{
//Initialize configuration error flag
bool error=false;
@ -558,5 +539,6 @@ void ConfigGroundVehicleWidget::throwConfigError(QString airframeType)
if (error){
m_aircraft->gvStatusLabel->setText(QString("<font color='red'>ERROR: Assign all necessary channels</font>"));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.h
View File

@ -63,7 +63,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
virtual void throwConfigError(QString airframeType);
virtual bool throwConfigError(QString airframeType);
protected:

119
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -93,17 +93,22 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
m_aircraft->mrRollMixLevel->setValue(100);
m_aircraft->mrPitchMixLevel->setValue(100);
m_aircraft->mrYawMixLevel->setValue(50);
m_aircraft->triYawChannelBox->setEnabled(true);
}
else if (frameType == "QuadX" || frameType == "Quad X") {
setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
quad->setElementId("quad-X");
quad->setElementId("quad-x");
//Enable all necessary motor channel boxes...
for (i=1; i <=4; i++) {
enableComboBox(uiowner, QString("multiMotorChannelBox%0").arg(i), true);
}
// init mixer levels
m_aircraft->mrRollMixLevel->setValue(50);
m_aircraft->mrPitchMixLevel->setValue(50);
m_aircraft->mrYawMixLevel->setValue(50);
@ -283,20 +288,12 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
{
QString airframeType;
QList<QString> motorList;
// We can already setup the feedforward here, as it is common to all platforms
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
// Curve is also common to all quads:
setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
setThrottleCurve(mixerObj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
airframeType = "QuadP";
@ -314,15 +311,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "HexaCoax";
//Show any config errors in GUI
throwConfigError(6);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ) {
if (throwConfigError(6)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorW" << "VTOLMotorNE" << "VTOLMotorE"
@ -348,18 +337,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Octo";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
<< "VTOLMotorS" << "VTOLMotorSW" << "VTOLMotorW" << "VTOLMotorNW";
@ -383,17 +363,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoV";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -419,17 +389,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxP";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE" << "VTOLMotorSE"
@ -454,17 +414,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "OctoCoaxX";
//Show any config errors in GUI
throwConfigError(8);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None" ||
m_aircraft->multiMotorChannelBox7->currentText() == "None" ||
m_aircraft->multiMotorChannelBox8->currentText() == "None") {
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNW" << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorE"
@ -489,12 +439,9 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
airframeType = "Tri";
//Show any config errors in GUI
throwConfigError(3);
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ) {
if (throwConfigError(3)) {
return airframeType;
}
if (m_aircraft->triYawChannelBox->currentText() == "None") {
m_aircraft->mrStatusLabel->setText("<font color='red'>Error: Assign a Yaw channel</font>");
@ -523,8 +470,6 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
setupMultiRotorMixer(mixer);
//tell the mixer about tricopter yaw channel
UAVDataObject* mixerObj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixerObj);
int channel = m_aircraft->triYawChannelBox->currentIndex()-1;
if (channel > -1){
@ -868,14 +813,7 @@ bool ConfigMultiRotorWidget::setupQuad(bool pLayout)
// Check coherence:
//Show any config errors in GUI
throwConfigError(4);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None") {
if (throwConfigError(4)) {
return false;
}
@ -943,19 +881,9 @@ bool ConfigMultiRotorWidget::setupHexa(bool pLayout)
{
// Check coherence:
//Show any config errors in GUI
throwConfigError(6);
// - Four engines have to be defined
if (m_aircraft->multiMotorChannelBox1->currentText() == "None" ||
m_aircraft->multiMotorChannelBox2->currentText() == "None" ||
m_aircraft->multiMotorChannelBox3->currentText() == "None" ||
m_aircraft->multiMotorChannelBox4->currentText() == "None" ||
m_aircraft->multiMotorChannelBox5->currentText() == "None" ||
m_aircraft->multiMotorChannelBox6->currentText() == "None") {
if (throwConfigError(6))
return false;
}
QList<QString> motorList;
if (pLayout) {
motorList << "VTOLMotorN" << "VTOLMotorNE" << "VTOLMotorSE"
@ -1069,7 +997,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
/**
This function displays text and color formatting in order to help the user understand what channels have not yet been configured.
*/
void ConfigMultiRotorWidget::throwConfigError(int numMotors)
bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
{
//Initialize configuration error flag
bool error=false;
@ -1096,6 +1024,7 @@ void ConfigMultiRotorWidget::throwConfigError(int numMotors)
if (error){
m_aircraft->mrStatusLabel->setText(QString("<font color='red'>ERROR: Assign all %1 motor channels</font>").arg(numMotors));
}
return error;
}

2
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
View File

@ -71,7 +71,7 @@ private slots:
virtual void setupUI(QString airframeType);
virtual void refreshWidgetsValues(QString frameType);
virtual QString updateConfigObjectsFromWidgets();
void throwConfigError(int numMotors);
virtual bool throwConfigError(int numMotors);
protected:

54
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -233,6 +233,30 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
}
}
double VehicleConfig::getMixerValue(UAVDataObject* mixer, QString elementName)
{
Q_ASSERT(mixer);
double value = 0.0;
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
value = field->getDouble();
}
return value;
}
void VehicleConfig::setMixerValue(UAVDataObject* mixer, QString elementName, double value)
{
Q_ASSERT(mixer);
QPointer<UAVObjectField> field = mixer->getField(elementName);
if (field) {
field->setDouble(value);
}
}
void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
{
QPointer<UAVObjectField> field;
@ -287,6 +311,36 @@ void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveEle
}
}
bool VehicleConfig::isValidThrottleCurve(QList<double>* curve)
{
Q_ASSERT(curve);
if (curve) {
for (int i=0; i < curve->count(); i++) {
if (curve->at(i) != 0)
return true;
}
}
return false;
}
double VehicleConfig::getCurveMin(QList<double>* curve)
{
double min = 0;
for (int i=0; i<curve->count(); i++)
min = std::min(min, curve->at(i));
return min;
}
double VehicleConfig::getCurveMax(QList<double>* curve)
{
double max = 0;
for (int i=0; i<curve->count(); i++)
max = std::max(max, curve->at(i));
return max;
}
/**
Reset the contents of a field
*/

6
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -130,9 +130,13 @@ class VehicleConfig: public ConfigTaskWidget
void resetMixerVector(UAVDataObject* mixer, int channel);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);
void setMixerValue(UAVDataObject* mixer, QString elementName, double value);
void setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
void getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
bool isValidThrottleCurve(QList<double>* curve);
double getCurveMin(QList<double>* curve);
double getCurveMax(QList<double>* curve);
virtual void ResetActuators(GUIConfigDataUnion* configData);
virtual QStringList getChannelDescriptions();

2
ground/openpilotgcs/src/plugins/config/configgadget.qrc
View File

@ -7,7 +7,7 @@
<file>images/AHRS-v1.3.png</file>
<file>images/paper-plane.svg</file>
<file>images/curve-bg.svg</file>
<file>images/quad-shapes.svg</file>
<file>images/multirotor-shapes.svg</file>
<file>images/ccpm_setup.svg</file>
<file>images/PipXtreme.png</file>
<file>images/Transmitter.png</file>

81
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -85,6 +85,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
@ -99,6 +103,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
enableControls(false);
populateWidgets();
@ -632,7 +637,8 @@ void ConfigInputWidget::setChannel(int newChan)
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory")) {
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
m_config->wzNext->setEnabled(true);
m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
} else
@ -1113,10 +1119,11 @@ void ConfigInputWidget::invertControls()
}
manualSettingsObj->setData(manualSettingsData);
}
void ConfigInputWidget::moveFMSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv=manualCommandObj->getData();
ManualControlCommand::DataFields manualCommandDataPriv = manualCommandObj->getData();
float valueScaled;
int chMin = manualSettingsDataPriv.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE];
@ -1139,12 +1146,72 @@ void ConfigInputWidget::moveFMSlider()
valueScaled = 0;
}
if(valueScaled < -(1.0 / 3.0))
m_config->fmsSlider->setValue(-100);
else if (valueScaled > (1.0/3.0))
m_config->fmsSlider->setValue(100);
// Bound and scale FlightMode from [-1..+1] to [0..1] range
if (valueScaled < -1.0)
valueScaled = -1.0;
else
m_config->fmsSlider->setValue(0);
if (valueScaled > 1.0)
valueScaled = 1.0;
// Convert flightMode value into the switch position in the range [0..N-1]
// This uses the same optimized computation as flight code to be consistent
uint8_t pos = ((int16_t)(valueScaled * 256) + 256) * manualSettingsDataPriv.FlightModeNumber >> 9;
if (pos >= manualSettingsDataPriv.FlightModeNumber)
pos = manualSettingsDataPriv.FlightModeNumber - 1;
m_config->fmsSlider->setValue(pos);
}
void ConfigInputWidget::updatePositionSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
switch(manualSettingsDataPriv.FlightModeNumber) {
default:
case 6:
m_config->fmsModePos6->setEnabled(true);
// pass through
case 5:
m_config->fmsModePos5->setEnabled(true);
// pass through
case 4:
m_config->fmsModePos4->setEnabled(true);
// pass through
case 3:
m_config->fmsModePos3->setEnabled(true);
// pass through
case 2:
m_config->fmsModePos2->setEnabled(true);
// pass through
case 1:
m_config->fmsModePos1->setEnabled(true);
// pass through
case 0:
break;
}
switch(manualSettingsDataPriv.FlightModeNumber) {
case 0:
m_config->fmsModePos1->setEnabled(false);
// pass through
case 1:
m_config->fmsModePos2->setEnabled(false);
// pass through
case 2:
m_config->fmsModePos3->setEnabled(false);
// pass through
case 3:
m_config->fmsModePos4->setEnabled(false);
// pass through
case 4:
m_config->fmsModePos5->setEnabled(false);
// pass through
case 5:
m_config->fmsModePos6->setEnabled(false);
// pass through
case 6:
default:
break;
}
}
void ConfigInputWidget::updateCalibration()

1
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -146,6 +146,7 @@ private slots:
void moveSticks();
void dimOtherControls(bool value);
void moveFMSlider();
void updatePositionSlider();
void invertControls();
void simpleCalibration(bool state);
void updateCalibration();

193
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -119,9 +119,8 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
QStringList airframeTypes;
airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
m_aircraft->aircraftType->addItems(airframeTypes);
m_aircraft->aircraftType->setCurrentIndex(0); //Set default vehicle to Fixed Wing
m_aircraft->airframesWidget->setCurrentIndex(0); // Force the tab index to match
m_aircraft->aircraftType->setCurrentIndex(1); //Set default vehicle to MultiRotor
m_aircraft->airframesWidget->setCurrentIndex(1); // Force the tab index to match
QStringList fixedWingTypes;
fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
@ -138,7 +137,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
"Hexacopter" << "Hexacopter X" << "Hexacopter Y6" <<
"Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X" ;
m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
m_aircraft->multirotorFrameType->setCurrentIndex(1); //Set default model to "Quad +"
m_aircraft->multirotorFrameType->setCurrentIndex(2); //Set default model to "Quad X"
//NEW STYLE: Loop through the widgets looking for all widgets that have "ChannelBox" in their name
@ -152,10 +151,10 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
m_aircraft->quadShape->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
QSvgRenderer *renderer = new QSvgRenderer();
renderer->load(QString(":/configgadget/images/quad-shapes.svg"));
renderer->load(QString(":/configgadget/images/multirotor-shapes.svg"));
quad = new QGraphicsSvgItem();
quad->setSharedRenderer(renderer);
quad->setElementId("quad-plus");
quad->setElementId("quad-x");
QGraphicsScene *scene = new QGraphicsScene(this);
scene->addItem(quad);
scene->setSceneRect(quad->boundingRect());
@ -274,7 +273,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_FIXEDWINGELEVON:
case SystemSettings::AIRFRAMETYPE_FIXEDWINGVTAIL:
{
ConfigFixedWingWidget* fixedwing = new ConfigFixedWingWidget();
QPointer<ConfigFixedWingWidget> fixedwing = new ConfigFixedWingWidget();
channelDesc = fixedwing->getChannelDescriptions();
}
break;
@ -282,7 +281,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
// helicp
case SystemSettings::AIRFRAMETYPE_HELICP:
{
ConfigCcpmWidget* heli = new ConfigCcpmWidget();
QPointer<ConfigCcpmWidget> heli = new ConfigCcpmWidget();
channelDesc = heli->getChannelDescriptions();
}
break;
@ -300,7 +299,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA:
{
ConfigMultiRotorWidget* multi = new ConfigMultiRotorWidget();
QPointer<ConfigMultiRotorWidget> multi = new ConfigMultiRotorWidget();
channelDesc = multi->getChannelDescriptions();
}
break;
@ -310,7 +309,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
case SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
{
ConfigGroundVehicleWidget* ground = new ConfigGroundVehicleWidget();
QPointer<ConfigGroundVehicleWidget> ground = new ConfigGroundVehicleWidget();
channelDesc = ground->getChannelDescriptions();
}
break;
@ -444,16 +443,17 @@ void ConfigVehicleTypeWidget::enableFFTest()
// Depending on phase, either move actuator or send FF settings:
if (ffTuningPhase) {
// Send FF settings to the board
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
UAVObjectField* field = obj->getField(QString("FeedForward"));
field->setDouble((double)m_aircraft->feedForwardSlider->value()/100);
field = obj->getField(QString("AccelTime"));
field->setDouble(m_aircraft->accelTime->value());
field = obj->getField(QString("DecelTime"));
field->setDouble(m_aircraft->decelTime->value());
field = obj->getField(QString("MaxAccel"));
field->setDouble(m_aircraft->maxAccelSlider->value());
obj->updated();
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
mixer->updated();
} else {
// Toggle motor state
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
@ -614,84 +614,55 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
{
Q_UNUSED(o);
if(!allObjectsUpdated())
return;
//if(!allObjectsUpdated())
// return;
//WHAT DOES THIS DO?
bool dirty=isDirty(); //WHY IS THIS CALLED HERE AND THEN AGAIN SEVERAL LINES LATER IN setupAirframeUI()
// Get the Airframe type from the system settings:
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(obj);
UAVObjectField *field = obj->getField(QString("AirframeType"));
UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
Q_ASSERT(system);
UAVObjectField *field = system->getField(QString("AirframeType"));
Q_ASSERT(field);
// At this stage, we will need to have some hardcoded settings in this code, this
// is not ideal, but here you go.
QString frameType = field->getValue().toString();
setupAirframeUI(frameType);
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve1"));
Q_ASSERT(field);
QList<double> curveValues;
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->multiThrottleCurve->initCurve(&curveValues);
m_aircraft->fixedWingThrottle->initCurve(&curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(&curveValues);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->multiThrottleCurve->initLinearCurve(field->getNumElements(),0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(field->getNumElements(),(double)1);
m_aircraft->groundVehicleThrottle1->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->multiThrottleCurve->initCurve(curveValues);
m_aircraft->fixedWingThrottle->initCurve(curveValues);
m_aircraft->groundVehicleThrottle1->initCurve(curveValues);
}
// no, init a straight curve
m_aircraft->multiThrottleCurve->initLinearCurve(curveValues.count(), 0.9);
m_aircraft->fixedWingThrottle->initLinearCurve(curveValues.count(), 1.0);
m_aircraft->groundVehicleThrottle1->initLinearCurve(curveValues.count(), 1.0);
}
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
Q_ASSERT(obj);
field = obj->getField(QString("ThrottleCurve2"));
Q_ASSERT(field);
curveValues.clear();
// If the 1st element of the curve is <= -10, then the curve
// is a straight line (that's how the mixer works on the mainboard):
if (field->getValue(0).toInt() <= -10) {
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->groundVehicleThrottle2->initCurve(&curveValues);
}
else {
double temp=0;
double value;
for (unsigned int i=0; i < field->getNumElements(); i++) {
value=field->getValue(i).toDouble();
temp+=value;
curveValues.append(value);
}
if(temp==0)
{
m_aircraft->groundVehicleThrottle2->initLinearCurve(field->getNumElements(),(double)1);
}
else
{
m_aircraft->groundVehicleThrottle2->initCurve(curveValues);
}
m_aircraft->groundVehicleThrottle2->initLinearCurve(curveValues.count(), 1.0);
}
// Load the Settings for fixed wing frames:
if (frameType.startsWith("FixedWing")) {
@ -716,8 +687,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
} else if (frameType == "Custom") {
setComboCurrentIndex(m_aircraft->aircraftType, m_aircraft->aircraftType->findText("Custom"));
}
}
updateCustomAirframeUI();
setDirty(dirty);
@ -786,39 +756,35 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
QPointer<VehicleConfig> vconfig = new VehicleConfig();
QList<double> curveValues;
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, &curveValues);
// setup throttlecurve 1
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
int total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
// is at least one of the curve values != 0?
if (vconfig->isValidThrottleCurve(&curveValues)) {
// yes, use the curve we just read from mixersettings
m_aircraft->customThrottle1Curve->setMin(vconfig->getCurveMin(&curveValues));
m_aircraft->customThrottle1Curve->setMax(vconfig->getCurveMax(&curveValues));
m_aircraft->customThrottle1Curve->initCurve(&curveValues);
}
else {
m_aircraft->customThrottle1Curve->initCurve(curveValues);
// no, init a straight curve
m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.count(),(double)1);
}
// setup throttlecurve 2
vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
// Setup all Throttle2 curves for all types of airframes //AT THIS MOMENT, THAT MEANS ONLY GROUND VEHICLES
vconfig->getThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, &curveValues);
total = 0;
for (int i=0; i<curveValues.length(); i++)
total += curveValues.at(i);
if (curveValues.at(0) <= -10 || total == 0) {
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
if (vconfig->isValidThrottleCurve(&curveValues)) {
m_aircraft->customThrottle2Curve->setMin(vconfig->getCurveMin(&curveValues));
m_aircraft->customThrottle2Curve->setMax(vconfig->getCurveMax(&curveValues));
m_aircraft->customThrottle2Curve->initCurve(&curveValues);
}
else {
m_aircraft->customThrottle2Curve->initCurve(curveValues);
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(),(double)1);
}
// Update the mixer table:
for (int channel=0; channel<8; channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
@ -843,6 +809,12 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
}
}
// Update feed forward settings
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer,"FeedForward") * 100);
m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer,"AccelTime"));
m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer,"DecelTime"));
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer,"MaxAccel"));
}
@ -855,6 +827,17 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
*/
void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
{
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
QPointer<VehicleConfig> vconfig = new VehicleConfig();
// Update feed forward settings
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
QString airframeType = "Custom"; //Sets airframe type default to "Custom"
if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@ -869,12 +852,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
}
else {
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
VehicleConfig* vconfig = new VehicleConfig();
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());

133
ground/openpilotgcs/src/plugins/config/images/quad-shapes.svg → ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
View File

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Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 436 KiB

After

Width:  |  Height:  |  Size: 407 KiB

318
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -204,31 +204,12 @@
<attribute name="title">
<string>Flight Mode Switch Settings</string>
</attribute>
<widget class="QLabel" name="label_16">
<property name="geometry">
<rect>
<x>310</x>
<y>30</y>
<width>201</width>
<height>17</height>
</rect>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>for multirotors!</string>
</property>
</widget>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>30</x>
<y>160</y>
<width>451</width>
<y>260</y>
<width>541</width>
<height>161</height>
</rect>
</property>
@ -401,25 +382,177 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="0" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QGroupBox" name="groupBox_2">
<property name="geometry">
<rect>
<x>30</x>
<y>30</y>
<width>451</width>
<height>121</height>
<y>20</y>
<width>541</width>
<height>211</height>
</rect>
</property>
<property name="title">
<string>FlightMode Switch Positions</string>
</property>
<widget class="QComboBox" name="fmsModePos5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>100</x>
<y>140</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>100</x>
<y>110</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
</property>
</widget>
<widget class="QLabel" name="label_pos4">
<property name="geometry">
<rect>
<x>10</x>
<y>115</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 4</string>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>100</x>
<y>170</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QLabel" name="label_pos5">
<property name="geometry">
<rect>
<x>10</x>
<y>145</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 5</string>
</property>
</widget>
<widget class="QLabel" name="label_pos6">
<property name="geometry">
<rect>
<x>10</x>
<y>175</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 6</string>
</property>
</widget>
<widget class="QSlider" name="fmsSlider">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>70</x>
<y>28</y>
<width>20</width>
<height>160</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>This slider moves when you move the flight mode switch
on your remote. It shows currently active flight mode.
Setup the flight mode channel on the RC Input tab if you have not done so already.</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>5</number>
</property>
<property name="pageStep">
<number>10</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="sliderPosition">
<number>0</number>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="invertedAppearance">
<bool>true</bool>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>1</number>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos2">
<property name="geometry">
<rect>
<x>100</x>
<y>55</y>
<y>50</y>
<width>151</width>
<height>26</height>
</rect>
@ -432,7 +565,20 @@ margin:1px;</string>
<property name="geometry">
<rect>
<x>100</x>
<y>25</y>
<y>80</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos1">
<property name="geometry">
<rect>
<x>100</x>
<y>20</y>
<width>151</width>
<height>26</height>
</rect>
@ -444,37 +590,11 @@ margin:1px;</string>
<string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
</property>
</widget>
<widget class="QLabel" name="label_11">
<widget class="QLabel" name="label_pos2">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>Pos. 3</string>
</property>
</widget>
<widget class="QComboBox" name="fmsModePos1">
<property name="geometry">
<rect>
<x>100</x>
<y>85</y>
<width>151</width>
<height>26</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
<widget class="QLabel" name="label_12">
<property name="geometry">
<rect>
<x>10</x>
<y>60</y>
<x>11</x>
<y>55</y>
<width>62</width>
<height>17</height>
</rect>
@ -483,11 +603,11 @@ margin:1px;</string>
<string>Pos. 2</string>
</property>
</widget>
<widget class="QLabel" name="label_13">
<widget class="QLabel" name="label_pos1">
<property name="geometry">
<rect>
<x>10</x>
<y>90</y>
<x>11</x>
<y>25</y>
<width>62</width>
<height>17</height>
</rect>
@ -496,55 +616,68 @@ margin:1px;</string>
<string>Pos. 1</string>
</property>
</widget>
<widget class="QSlider" name="fmsSlider">
<property name="enabled">
<bool>false</bool>
</property>
<widget class="QLabel" name="label_pos3">
<property name="geometry">
<rect>
<x>70</x>
<y>30</y>
<width>20</width>
<height>81</height>
<x>11</x>
<y>85</y>
<width>62</width>
<height>17</height>
</rect>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
<property name="text">
<string>Pos. 3</string>
</property>
</widget>
<widget class="QSpinBox" name="fmsPosNum">
<property name="geometry">
<rect>
<x>458</x>
<y>20</y>
<width>61</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>This slider moves when you move the flight mode switch
on your remote. Setup the flightmode channel on the RC Input tab
if you have not done so already.</string>
<string>Number of positions your FlightMode switch has.
Default is 3.
It will be 2 or 3 for most of setups, but it also can be up to 6.
In that case you have to configure your radio mixers so the whole range
from min to max is split into N equal intervals, and you may set arbitrary
channel value for each flight mode.</string>
</property>
<property name="minimum">
<number>-100</number>
<number>1</number>
</property>
<property name="maximum">
<number>100</number>
<number>6</number>
</property>
<property name="pageStep">
<number>10</number>
<property name="value">
<number>3</number>
</property>
<property name="sliderPosition">
<number>-100</number>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>277</x>
<y>22</y>
<width>171</width>
<height>16</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>100</number>
<property name="text">
<string>Number of flight modes:</string>
</property>
</widget>
<widget class="QLabel" name="label_15">
<property name="geometry">
<rect>
<x>270</x>
<y>30</y>
<width>141</width>
<height>31</height>
<x>310</x>
<y>120</y>
<width>191</width>
<height>30</height>
</rect>
</property>
<property name="font">
@ -554,13 +687,15 @@ if you have not done so already.</string>
</font>
</property>
<property name="text">
<string>Warning: avoid &quot;Manual&quot;</string>
<string>Avoid &quot;Manual&quot; for multirotors!</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</widget>
<zorder>groupBox_2</zorder>
<zorder>groupBox</zorder>
</widget>
<widget class="QWidget" name="tab_4">
<attribute name="title">
@ -750,9 +885,6 @@ Applies and Saves all settings to SD</string>
</widget>
<tabstops>
<tabstop>fmsSlider</tabstop>
<tabstop>fmsModePos3</tabstop>
<tabstop>fmsModePos2</tabstop>
<tabstop>fmsModePos1</tabstop>
<tabstop>fmsSsPos1Roll</tabstop>
<tabstop>fmsSsPos1Pitch</tabstop>
<tabstop>fmsSsPos1Yaw</tabstop>

322
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -1,8 +1,22 @@
<gcs>
<General>
<OverrideLanguage>en_AU</OverrideLanguage>
<AutoConnect>true</AutoConnect>
<AutoSelect>true</AutoSelect>
<LastPreferenceCategory>LineardialGadget</LastPreferenceCategory>
<LastPreferencePage>Mainboard CPU</LastPreferencePage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>476</SettingsWindowHeight>
<SettingsWindowWidth>697</SettingsWindowWidth>
</General>
<IPconnection>
<Current>
<arr_1>
<Port>1</Port>
<UseTCP>0</UseTCP>
</arr_1>
<size>1</size>
</Current>
</IPconnection>
<KeyBindings>
<size>0</size>
</KeyBindings>
@ -11,37 +25,17 @@
<FullScreen>false</FullScreen>
<Maximized>true</Maximized>
</MainWindow>
<Plugins>
<SoundNotifyPlugin>
<configInfo>
<locked>false</locked>
<version>1.0.0</version>
</configInfo>
<data>
<Current>
<arr_1>
<CurrentLanguage></CurrentLanguage>
<DataObject></DataObject>
<ExpireTimeout>0</ExpireTimeout>
<ObjectField></ObjectField>
<Repeat></Repeat>
<SayOrder></SayOrder>
<Sound1></Sound1>
<Sound2></Sound2>
<Sound3></Sound3>
<SoundCollectionPath></SoundCollectionPath>
<Value></Value>
<ValueSpinBox>0</ValueSpinBox>
</arr_1>
<size>1</size>
</Current>
<EnableSound>false</EnableSound>
<listNotifies>
<size>0</size>
</listNotifies>
</data>
</SoundNotifyPlugin>
</Plugins>
<ModePriorities>
<Mode1>91</Mode1>
<Mode2>90</Mode2>
<Mode3>89</Mode3>
<Mode4>88</Mode4>
<Mode5>87</Mode5>
<Welcome>100</Welcome>
</ModePriorities>
<SerialConnection>
<speed>57600</speed>
</SerialConnection>
<UAVGadgetConfigurations>
<ConfigGadget>
<default>
@ -65,7 +59,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -100,7 +94,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
@ -131,11 +125,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
@ -166,11 +157,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
@ -203,9 +191,7 @@
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -240,7 +226,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -275,7 +261,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
@ -308,9 +294,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
@ -343,9 +327,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>11.2</needle1MaxValue>
@ -378,9 +360,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -413,9 +393,7 @@
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -450,7 +428,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -485,7 +463,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle2</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -516,11 +494,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -555,7 +530,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -590,7 +565,7 @@
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
@ -621,11 +596,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
@ -656,11 +628,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityActual</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
@ -693,9 +662,7 @@
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeActual</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
@ -726,11 +693,8 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPosition</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -761,11 +725,10 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -796,11 +759,10 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>ManualControlCommand</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>2000</needle1MaxValue>
@ -831,11 +793,10 @@
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroAltitude</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
@ -916,7 +877,7 @@
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Serial port 0</defaultPort>
<defaultPort>Communications Port (COM1)</defaultPort>
<defaultSpeed>11</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
@ -931,7 +892,7 @@
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Serial port 0</defaultPort>
<defaultPort>Communications Port (COM1)</defaultPort>
<defaultSpeed>17</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
@ -948,8 +909,6 @@
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.1</hostAddress>
<inPort>9009</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>9010</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
@ -967,8 +926,6 @@
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.3</hostAddress>
<inPort>6756</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>49000</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
@ -977,17 +934,39 @@
</data>
</XPlane__PCT__20HITL>
</HITL>
<ImportExportGadget>
<HITLv2>
<default>
<configInfo>
<locked>false</locked>
<version>1.0.1</version>
<version>0.0.0</version>
</configInfo>
<data>
<iniFile>gcs.ini</iniFile>
<attActCalc>false</attActCalc>
<attActHW>false</attActHW>
<attActSim>true</attActSim>
<attActual>true</attActual>
<attRaw>true</attRaw>
<attRawRate>20</attRawRate>
<gcsReciever>true</gcsReciever>
<gpsPosRate>200</gpsPosRate>
<gpsPosition>true</gpsPosition>
<homeLocRate>0</homeLocRate>
<homeLocation>true</homeLocation>
<hostAddress>127.0.0.1</hostAddress>
<inPort>40100</inPort>
<inputCommand>true</inputCommand>
<manualControl>false</manualControl>
<manualOutput>false</manualOutput>
<outPort>40200</outPort>
<outputRate>20</outputRate>
<remoteAddress>127.0.0.1</remoteAddress>
<simulatorId>ASimRC</simulatorId>
<sonarAltRate>50</sonarAltRate>
<sonarAltitude>false</sonarAltitude>
<sonarMaxAlt>@Variant(AAAAh0CgAAA=)</sonarMaxAlt>
</data>
</default>
</ImportExportGadget>
</HITLv2>
<LineardialGadget>
<Accel__PCT__20Horizontal__PCT__20X>
<configInfo>
@ -1183,17 +1162,17 @@
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>50</greenMax>
<greenMax>90</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>80</redMin>
<redMin>95</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>80</yellowMax>
<yellowMin>50</yellowMin>
<yellowMax>95</yellowMax>
<yellowMin>90</yellowMin>
</data>
</Mainboard__PCT__20CPU>
<Pitch__PCT__20Desired>
@ -1439,6 +1418,17 @@
<enableVbo>false</enableVbo>
</data>
</Aeroquad__PCT__20__PCT__2B>
<CopterControl>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CopterControl>
<Easyquad__PCT__20X>
<configInfo>
<locked>false</locked>
@ -1571,6 +1561,17 @@
<enableVbo>false</enableVbo>
</data>
</Quadcopter>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<Scorpion__PCT__20Tricopter>
<configInfo>
<locked>false</locked>
@ -1604,28 +1605,6 @@
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<CopterControl>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CopterControl>
</ModelViewGadget>
<OPMapGadget>
<Google__PCT__20Sat>
@ -1712,14 +1691,18 @@
</data>
</smooth>
</PFDGadget>
<PipXtreme>
<QmlViewGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dialFile>Unknown</dialFile>
<useOpenGLFlag>true</useOpenGLFlag>
</data>
</default>
</PipXtreme>
</QmlViewGadget>
<ScopeGadget>
<Accel>
<configInfo>
@ -1738,6 +1721,7 @@
<uavField>x</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1747,6 +1731,7 @@
<uavField>y</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1756,6 +1741,7 @@
<uavField>z</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1781,6 +1767,7 @@
<uavField>Channel-4</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1790,6 +1777,7 @@
<uavField>Channel-5</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1799,6 +1787,7 @@
<uavField>Channel-6</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1808,6 +1797,7 @@
<uavField>Channel-7</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
@ -1833,6 +1823,7 @@
<uavField>Roll</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1842,6 +1833,7 @@
<uavField>Yaw</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1851,6 +1843,7 @@
<uavField>Pitch</uavField>
<uavObject>AttitudeActual</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1876,6 +1869,7 @@
<uavField>Pressure</uavField>
<uavObject>BaroAltitude</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1901,6 +1895,7 @@
<uavField>Channel-1</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1910,6 +1905,7 @@
<uavField>Channel-4</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -1919,6 +1915,7 @@
<uavField>Channel-5</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -1928,6 +1925,7 @@
<uavField>Channel-6</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
@ -1937,6 +1935,7 @@
<uavField>Channel-7</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
@ -1946,6 +1945,7 @@
<uavField>Channel-2</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
@ -1955,6 +1955,7 @@
<uavField>Channel-3</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
@ -1964,6 +1965,7 @@
<uavField>Channel-0</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
@ -1989,6 +1991,7 @@
<uavField>x</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -1998,6 +2001,7 @@
<uavField>y</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2007,6 +2011,7 @@
<uavField>z</uavField>
<uavObject>Accels</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2032,6 +2037,7 @@
<uavField>z</uavField>
<uavObject>Gyros</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2041,6 +2047,7 @@
<uavField>y</uavField>
<uavObject>Gyros</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2050,6 +2057,7 @@
<uavField>x</uavField>
<uavObject>Gyros</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2075,6 +2083,7 @@
<uavField>X</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2084,6 +2093,7 @@
<uavField>Y</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2093,6 +2103,7 @@
<uavField>Z</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2118,6 +2129,7 @@
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2127,6 +2139,7 @@
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2136,6 +2149,7 @@
<uavField>StackRemaining-Guidance</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
@ -2145,6 +2159,7 @@
<uavField>StackRemaining-Watchdog</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve11>
@ -2154,6 +2169,7 @@
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2163,6 +2179,7 @@
<uavField>StackRemaining-TelemetryTxPri</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
@ -2172,6 +2189,7 @@
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
@ -2181,6 +2199,7 @@
<uavField>StackRemaining-GPS</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
@ -2190,6 +2209,7 @@
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
@ -2199,6 +2219,7 @@
<uavField>StackRemaining-Altitude</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
@ -2208,6 +2229,7 @@
<uavField>StackRemaining-AHRSComms</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve8>
@ -2217,6 +2239,7 @@
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
@ -2242,6 +2265,7 @@
<uavField>TxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
@ -2251,6 +2275,7 @@
<uavField>RxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
@ -2260,6 +2285,7 @@
<uavField>TxRetries</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
@ -2285,9 +2311,20 @@
<uavField>FlightTime</uavField>
<uavObject>SystemStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>0</color>
<mathFunction></mathFunction>
<uavField></uavField>
<uavObject></uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurveCount>2</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>800</refreshInterval>
@ -2417,26 +2454,14 @@
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Mainboard CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>AHRS CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAABA)</splitterSizes>
<type>splitter</type>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Mainboard CPU</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIwAAAAIAAACN)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAACB)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
@ -2837,9 +2862,10 @@
<version>UAVGadgetManagerV1</version>
</Mode5>
</UAVGadgetManager>
<ViewGroup_Default>@ByteArray(AAAA/wAAAAD9AAAAAAAABQAAAALCAAAABAAAAAQAAAABAAAACPwAAAAA)</ViewGroup_Default>
<Workspace>
<Icon1>:/core/images/ah.png</Icon1>
<AllowTabBarMovement>false</AllowTabBarMovement>
<Icon1>:\core\images\ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/scopes.png</Icon3>
<Icon4>:/core/images/joystick.png</Icon4>
@ -2848,9 +2874,10 @@
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<NumberOfWorkspaces>5</NumberOfWorkspaces>
<TabBarPlacementIndex>1</TabBarPlacementIndex>
<Workspace1>Flight data</Workspace1>
<Workspace10>Workspace10</Workspace10>
<Workspace2>Configuration</Workspace2>
<Workspace3>Scopes</Workspace3>
<Workspace4>HITL</Workspace4>
@ -2859,6 +2886,5 @@
<Workspace7>Workspace7</Workspace7>
<Workspace8>Workspace8</Workspace8>
<Workspace9>Workspace9</Workspace9>
<Workspace10>Workspace10</Workspace10>
</Workspace>
</gcs>

2
ground/openpilotgcs/src/plugins/rawhid/rawhid.cpp
View File

@ -41,7 +41,7 @@ class IConnection;
static const int READ_TIMEOUT = 200;
static const int READ_SIZE = 64;
static const int WRITE_TIMEOUT = 200;
static const int WRITE_TIMEOUT = 1000;
static const int WRITE_SIZE = 64;

17
ground/openpilotgcs/src/plugins/systemhealth/html/Actuator-Critical.html Normal file
View File

@ -0,0 +1,17 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Servo Output: Critical</h1>
<p>
One of the following conditions may be present:
<ul>
<li>System is in failsafe mode.</li>
<li>One or more servos outputs failed to update.</li>
</ul>
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/AlarmOK.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Alarm: OK</h1>
<p>
There are no problems with this alarm.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Attitude-Critical.html Normal file
View File

@ -0,0 +1,13 @@
html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Attitude: Critical</h1>
<p>
This alarm will remain set until data is received from the accelerometer.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Attitude-Error.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Attitude: Error</h1>
<p>
Failed to get an update from the accelerometer or gyros.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Battery-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Battery: Critical</h1>
<p>
Battery voltage has fallen below the <b>alarm</b> threshold.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Battery-Error.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Battery: Error</h1>
<p>
Both battery current and voltage are at or below zero.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Battery-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Battery: Warning</h1>
<p>
Battery voltage has fallen below the <b>warning</b> threshold.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/BootFault-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Boot Fault: Critical</h1>
<p>
System has failed to boot more than three times: system defaults have been set.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/CPU-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>CPU: Critical</h1>
<p>
CPU load has exceeded 95%
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/CPU-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>CPU: Warning</h1>
<p>
CPU load has exceeded 80%
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/EventSystem-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Event System: Warning</h1>
<p>
There were problems with UAVObject events or callbacks
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/FlightTime-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Flight Time: Critical</h1>
<p>
Estimated flight time based on battery usage is less than 30s.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/FlightTime-Error.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Flight Time: Error</h1>
<p>
Estimated flight time cannot be determined as battery voltage and current are at or below 0.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/FlightTime-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Flight Time: Warning</h1>
<p>
Estimated flight time based on battery usage is less than 60s.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/GPS-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>GPS: Critical</h1>
<p>
The GPS is receiving data but there is no position fix.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/GPS-Error.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>GPS: Error</h1>
<p>
The GPS has timed out; either there is no GPS plugged in, the GPS has locked up or there is some other hardware fault.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/GPS-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>GPS: Warning</h1>
<p>
The GPS has a fix and navigation can be used. However, the position quality is very low (the indication is &lt;7 satellites)
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Guidance-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Guidance: Warning</h1>
<p>
Timed out waiting for an attitude update.
</p>
</body>
</html>

24
ground/openpilotgcs/src/plugins/systemhealth/html/ManualControl-Critical.html Normal file
View File

@ -0,0 +1,24 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>RC Input: Critical</h1>
<p>
One of the following conditions may be present:
<ul>
<li>
<p>One or more of the r/c input channel types is not set.</p>
<p>On the GCS configuration page, make sure all inputs have a Type set.</p>
</li>
<li>One or more of the r/c input channel mappings are invalid.</li>
<li>The driver is uninitialized for one or more of the r/c input channels.</li>
<li>Current flight mode is undefined: this indicates a bug in the code.</li>
<li>Current flight mode set to guidance but flight status flight mode is reported as something other than altitude hold.</li>
<li>During update of desired stabilization mode, flight status is reported as something other than stabilized 1, 2 or 3.</li>
</ul>
</p>
</body>
</html>

17
ground/openpilotgcs/src/plugins/systemhealth/html/ManualControl-Warning.html Normal file
View File

@ -0,0 +1,17 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>RC Input: Warning</h1>
<p>
One of the following conditions may be present:
<ul>
<li>System is in failsafe mode.</li>
<li>Failed to update one or more of the accessory channels.</li>
</ul>
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Memory-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Memory: Critical</h1>
<p>
Either the remaining heap space or the IRQ stack has fallen below the <b>critical</b> limit (1000 bytes heap, 80 entries IRQ stack).
</p>
</body>
</html>

16
ground/openpilotgcs/src/plugins/systemhealth/html/Memory-Warning.html Normal file
View File

@ -0,0 +1,16 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Memory: Warning</h1>
<p>
Either the remaining heap space or the IRQ stack has fallen below the <b>warning</b> limit (4000 bytes heap, 150 entries IRQ stack).
</p>
<p>
<b>Note:</b> if this is an original CC board (not CC3D or Revo), this condition is normal.
</p>
</body>
</html>

18
ground/openpilotgcs/src/plugins/systemhealth/html/Sensors-Critical.html Normal file
View File

@ -0,0 +1,18 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Sensors: Critical</h1>
<p>
One of the following conditions may be present:
<ul>
<li>Either the accelerometer, gyro or magnetometer tests failed.</li>
<li>Timed out waiting for data from the accelerometer or gyro.</li>
</ul>
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Stabilization-Warning.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Stabilization: Warning</h1>
<p>
Timed out waiting for an attitude update.
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Stack-Critical.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Stack: Critical</h1>
<p>
Stack overflow
</p>
</body>
</html>

13
ground/openpilotgcs/src/plugins/systemhealth/html/Telemetry-Error.html Normal file
View File

@ -0,0 +1,13 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Telemetry: Error</h1>
<p>
Telemetry system is disconnected.
</p>
</body>
</html>

43
ground/openpilotgcs/src/plugins/systemhealth/systemhealth.pro
View File

@ -1,20 +1,23 @@
TEMPLATE = lib
TARGET = SystemHealthGadget
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(systemhealth_dependencies.pri)
HEADERS += systemhealthplugin.h
HEADERS += systemhealthgadget.h
HEADERS += systemhealthgadgetwidget.h
HEADERS += systemhealthgadgetfactory.h
HEADERS += systemhealthgadgetconfiguration.h
HEADERS += systemhealthgadgetoptionspage.h
SOURCES += systemhealthplugin.cpp
SOURCES += systemhealthgadget.cpp
SOURCES += systemhealthgadgetfactory.cpp
SOURCES += systemhealthgadgetwidget.cpp
SOURCES += systemhealthgadgetconfiguration.cpp
SOURCES += systemhealthgadgetoptionspage.cpp
OTHER_FILES += SystemHealthGadget.pluginspec
FORMS += systemhealthgadgetoptionspage.ui
TEMPLATE = lib
TARGET = SystemHealthGadget
QT += svg
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(systemhealth_dependencies.pri)
HEADERS += systemhealthplugin.h
HEADERS += systemhealthgadget.h
HEADERS += systemhealthgadgetwidget.h
HEADERS += systemhealthgadgetfactory.h
HEADERS += systemhealthgadgetconfiguration.h
HEADERS += systemhealthgadgetoptionspage.h
SOURCES += systemhealthplugin.cpp
SOURCES += systemhealthgadget.cpp
SOURCES += systemhealthgadgetfactory.cpp
SOURCES += systemhealthgadgetwidget.cpp
SOURCES += systemhealthgadgetconfiguration.cpp
SOURCES += systemhealthgadgetoptionspage.cpp
OTHER_FILES += SystemHealthGadget.pluginspec
FORMS += systemhealthgadgetoptionspage.ui
RESOURCES += \
systemhealth.qrc

30
ground/openpilotgcs/src/plugins/systemhealth/systemhealth.qrc Normal file
View File

@ -0,0 +1,30 @@
<RCC>
<qresource prefix="/systemhealth">
<file>html/Actuator-Critical.html</file>
<file>html/ManualControl-Critical.html</file>
<file>html/ManualControl-Warning.html</file>
<file>html/CPU-Critical.html</file>
<file>html/CPU-Warning.html</file>
<file>html/FlightTime-Error.html</file>
<file>html/Battery-Warning.html</file>
<file>html/BootFault-Critical.html</file>
<file>html/EventSystem-Warning.html</file>
<file>html/FlightTime-Critical.html</file>
<file>html/AlarmOK.html</file>
<file>html/Attitude-Critical.html</file>
<file>html/Attitude-Error.html</file>
<file>html/Battery-Critical.html</file>
<file>html/Battery-Error.html</file>
<file>html/FlightTime-Warning.html</file>
<file>html/GPS-Critical.html</file>
<file>html/GPS-Error.html</file>
<file>html/GPS-Warning.html</file>
<file>html/Guidance-Warning.html</file>
<file>html/Memory-Critical.html</file>
<file>html/Memory-Warning.html</file>
<file>html/Sensors-Critical.html</file>
<file>html/Stabilization-Warning.html</file>
<file>html/Stack-Critical.html</file>
<file>html/Telemetry-Error.html</file>
</qresource>
</RCC>

74
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file systemhealthgadgetwidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @author OpenPilot Team & Edouard Lafargue Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SystemHealthPlugin System Health Plugin
@ -32,6 +32,7 @@
#include "systemalarms.h"
#include <QDebug>
#include <QWhatsThis>
/*
* Initialize the widget
@ -62,6 +63,7 @@ SystemHealthGadgetWidget::SystemHealthGadgetWidget(QWidget *parent) : QGraphicsV
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
setToolTip(tr("Displays flight system errors. Click on an alarm for more information."));
}
/**
@ -195,3 +197,73 @@ void SystemHealthGadgetWidget::resizeEvent(QResizeEvent *event)
Q_UNUSED(event);
fitInView(background, Qt::KeepAspectRatio );
}
void SystemHealthGadgetWidget::mousePressEvent ( QMouseEvent * event )
{
QGraphicsScene *graphicsScene = scene();
if(graphicsScene){
QPoint point = event->pos();
bool haveAlarmItem = false;
foreach(QGraphicsItem* sceneItem, items(point)){
QGraphicsSvgItem *clickedItem = dynamic_cast<QGraphicsSvgItem*>(sceneItem);
if(clickedItem){
if((clickedItem != foreground) && (clickedItem != background)){
// Clicked an actual alarm. We need to set haveAlarmItem to true
// as two of the items in this loop will always be foreground and
// background. Without this flag, at some point in the loop we
// would always call showAllAlarmDescriptions...
haveAlarmItem = true;
QString itemId = clickedItem->elementId();
if(itemId.contains("OK")){
// No alarm set for this item
showAlarmDescriptionForItemId("AlarmOK", event->globalPos());
}else{
// Warning, error or critical alarm
showAlarmDescriptionForItemId(itemId, event->globalPos());
}
}else if(!haveAlarmItem){
// Clicked foreground or background
showAllAlarmDescriptions(event->globalPos());
}
}
}
}
}
void SystemHealthGadgetWidget::showAlarmDescriptionForItemId(const QString itemId, const QPoint& location){
QFile alarmDescription(":/systemhealth/html/" + itemId + ".html");
if(alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)){
QTextStream textStream(&alarmDescription);
QWhatsThis::showText(location, textStream.readAll());
}
}
void SystemHealthGadgetWidget::showAllAlarmDescriptions(const QPoint& location){
QGraphicsScene *graphicsScene = scene();
if(graphicsScene){
QString alarmsText;
// Loop through all items in the scene looking for svg items that represent alarms
foreach(QGraphicsItem* curItem, graphicsScene->items()){
QGraphicsSvgItem* curSvgItem = dynamic_cast<QGraphicsSvgItem*>(curItem);
if(curSvgItem && (curSvgItem != foreground) && (curSvgItem != background)){
QString elementId = curSvgItem->elementId();
if(!elementId.contains("OK")){
// Found an alarm, get its corresponding alarm html file contents
// and append to the cumulative string for all alarms.
QFile alarmDescription(":/systemhealth/html/" + elementId + ".html");
if(alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)){
QTextStream textStream(&alarmDescription);
alarmsText.append(textStream.readAll());
}
}
}
}
// Show alarms text if we have any
if(alarmsText.length() > 0){
QWhatsThis::showText(location, alarmsText);
}
}
}

7
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.h
View File

@ -2,7 +2,7 @@
******************************************************************************
*
* @file systemhealthgadgetwidget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @author OpenPilot Team & Edouard Lafargue Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SystemHealthPlugin System Health Plugin
@ -34,6 +34,7 @@
#include <QGraphicsView>
#include <QtSvg/QSvgRenderer>
#include <QtSvg/QGraphicsSvgItem>
#include <QMouseEvent>
#include <QFile>
#include <QTimer>
@ -52,6 +53,7 @@ public:
protected:
void paintEvent(QPaintEvent *event);
void resizeEvent(QResizeEvent *event);
void mousePressEvent ( QMouseEvent * event );
private slots:
void updateAlarms(UAVObject *systemAlarm); // Called by the systemalarms UAVObject
@ -67,5 +69,8 @@ private:
// Simple flag to skip rendering if the
bool fgenabled; // layer does not exist.
void showAlarmDescriptionForItemId(const QString itemId, const QPoint& location);
void showAllAlarmDescriptions(const QPoint &location);
};
#endif /* SYSTEMHEALTHGADGETWIDGET_H_ */

13
ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
View File

@ -129,21 +129,23 @@ void TreeItem::appendChild(TreeItem *child)
child->setParentTree(this);
}
void TreeItem::insert(int index, TreeItem *child)
void TreeItem::insertChild(TreeItem *child)
{
int index = nameIndex(child->data(0).toString());
m_children.insert(index, child);
child->setParentTree(this);
}
TreeItem *TreeItem::child(int row)
TreeItem *TreeItem::getChild(int index)
{
return m_children.value(row);
return m_children.value(index);
}
int TreeItem::childCount() const
{
return m_children.count();
}
int TreeItem::row() const
{
if (m_parent)
@ -224,3 +226,8 @@ QTime TreeItem::getHiglightExpires()
{
return m_highlightExpires;
}
QList<MetaObjectTreeItem *> TopTreeItem::getMetaObjectItems()
{
return m_metaObjectTreeItemsPerObjectIds.values();
}

54
ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
View File

@ -33,6 +33,7 @@
#include "uavobjectfield.h"
#include <QtCore/QList>
#include <QtCore/QLinkedList>
#include <QtCore/QMap>
#include <QtCore/QVariant>
#include <QtCore/QTime>
#include <QtCore/QTimer>
@ -94,9 +95,9 @@ public:
virtual ~TreeItem();
void appendChild(TreeItem *child);
void insert(int index, TreeItem *child);
void insertChild(TreeItem *child);
TreeItem *child(int row);
TreeItem *getChild(int index);
inline QList<TreeItem*> treeChildren() const { return m_children; }
int childCount() const;
int columnCount() const;
@ -131,6 +132,24 @@ public:
virtual void removeHighlight();
int nameIndex(QString name) {
for (int i = 0; i < childCount(); ++i) {
if (name < getChild(i)->data(0).toString())
return i;
}
return childCount();
}
TreeItem* findChildByName(QString name)
{
foreach (TreeItem* child, m_children) {
if (name == child->data(0).toString()) {
return child;
}
}
return 0;
}
signals:
void updateHighlight(TreeItem*);
@ -152,6 +171,9 @@ private:
static int m_highlightTimeMs;
};
class DataObjectTreeItem;
class MetaObjectTreeItem;
class TopTreeItem : public TreeItem
{
Q_OBJECT
@ -159,19 +181,27 @@ public:
TopTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
TopTreeItem(const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent) { }
QList<quint32> objIds() { return m_objIds; }
void addObjId(quint32 objId) { m_objIds.append(objId); }
void insertObjId(int index, quint32 objId) { m_objIds.insert(index, objId); }
int nameIndex(QString name) {
for (int i = 0; i < childCount(); ++i) {
if (name < child(i)->data(0).toString())
return i;
}
return childCount();
void addObjectTreeItem(quint32 objectId, DataObjectTreeItem* oti) {
m_objectTreeItemsPerObjectIds[objectId] = oti;
}
DataObjectTreeItem* findDataObjectTreeItemByObjectId(quint32 objectId) {
return m_objectTreeItemsPerObjectIds.contains(objectId) ? m_objectTreeItemsPerObjectIds[objectId] : 0;
}
void addMetaObjectTreeItem(quint32 objectId, MetaObjectTreeItem* oti) {
m_metaObjectTreeItemsPerObjectIds[objectId] = oti;
}
MetaObjectTreeItem* findMetaObjectTreeItemByObjectId(quint32 objectId) {
return m_metaObjectTreeItemsPerObjectIds.contains(objectId) ? m_metaObjectTreeItemsPerObjectIds[objectId] : 0;
}
QList<MetaObjectTreeItem*> getMetaObjectItems();
private:
QList<quint32> m_objIds;
QMap<quint32, DataObjectTreeItem*> m_objectTreeItemsPerObjectIds;
QMap<quint32, MetaObjectTreeItem*> m_metaObjectTreeItemsPerObjectIds;
};
class ObjectTreeItem : public TreeItem

1
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
View File

@ -45,5 +45,6 @@ void UAVObjectBrowser::loadConfiguration(IUAVGadgetConfiguration* config)
m_widget->setRecentlyUpdatedColor(m->recentlyUpdatedColor());
m_widget->setManuallyChangedColor(m->manuallyChangedColor());
m_widget->setRecentlyUpdatedTimeout(m->recentlyUpdatedTimeout());
m_widget->setOnlyHilightChangedValues(m->onlyHighlightChangedValues());
}

13
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
View File

@ -202,6 +202,19 @@
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="categorizeCheckbox">
<property name="toolTip">
<string>Select to sort objects in to categories.</string>
</property>
<property name="text">
<string>Categorize Objects</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">

7
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
View File

@ -31,17 +31,20 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
IUAVGadgetConfiguration(classId, parent),
m_recentlyUpdatedColor(QColor(255, 230, 230)),
m_manuallyChangedColor(QColor(230, 230, 255)),
m_recentlyUpdatedTimeout(500)
m_recentlyUpdatedTimeout(500),
m_onlyHilightChangedValues(false)
{
//if a saved configuration exists load it
if(qSettings != 0) {
QColor recent = qSettings->value("recentlyUpdatedColor").value<QColor>();
QColor manual = qSettings->value("manuallyChangedColor").value<QColor>();
int timeout = qSettings->value("recentlyUpdatedTimeout").toInt();
bool hilight = qSettings->value("onlyHilightChangedValues").toBool();
m_recentlyUpdatedColor = recent;
m_manuallyChangedColor = manual;
m_recentlyUpdatedTimeout = timeout;
m_onlyHilightChangedValues = hilight;
}
}
@ -51,6 +54,7 @@ IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
m->m_recentlyUpdatedColor = m_recentlyUpdatedColor;
m->m_manuallyChangedColor = m_manuallyChangedColor;
m->m_recentlyUpdatedTimeout = m_recentlyUpdatedTimeout;
m->m_onlyHilightChangedValues = m_onlyHilightChangedValues;
return m;
}
@ -62,4 +66,5 @@ void UAVObjectBrowserConfiguration::saveConfig(QSettings* qSettings) const {
qSettings->setValue("recentlyUpdatedColor", m_recentlyUpdatedColor);
qSettings->setValue("manuallyChangedColor", m_manuallyChangedColor);
qSettings->setValue("recentlyUpdatedTimeout", m_recentlyUpdatedTimeout);
qSettings->setValue("onlyHilightChangedValues", m_onlyHilightChangedValues);
}

4
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
View File

@ -39,6 +39,7 @@ Q_OBJECT
Q_PROPERTY(QColor m_recentlyUpdatedColor READ recentlyUpdatedColor WRITE setRecentlyUpdatedColor)
Q_PROPERTY(QColor m_manuallyChangedColor READ manuallyChangedColor WRITE setManuallyChangedColor)
Q_PROPERTY(int m_recentlyUpdatedTimeout READ recentlyUpdatedTimeout WRITE setRecentlyUpdatedTimeout)
Q_PROPERTY(bool m_onlyHilightChangedValues READ onlyHighlightChangedValues WRITE setOnlyHighlightChangedValues)
public:
explicit UAVObjectBrowserConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
@ -48,6 +49,7 @@ public:
QColor recentlyUpdatedColor() const { return m_recentlyUpdatedColor; }
QColor manuallyChangedColor() const { return m_manuallyChangedColor; }
int recentlyUpdatedTimeout() const { return m_recentlyUpdatedTimeout; }
bool onlyHighlightChangedValues() const {return m_onlyHilightChangedValues;}
signals:
@ -55,11 +57,13 @@ public slots:
void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; }
void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; }
void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; }
void setOnlyHighlightChangedValues(bool hilight) { m_onlyHilightChangedValues = hilight; }
private:
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
int m_recentlyUpdatedTimeout;
bool m_onlyHilightChangedValues;
};
#endif // UAVOBJECTBROWSERCONFIGURATION_H

2
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowseroptionspage.cpp
View File

@ -52,6 +52,7 @@ QWidget *UAVObjectBrowserOptionsPage::createPage(QWidget *parent)
m_page->recentlyUpdatedButton->setColor(m_config->recentlyUpdatedColor());
m_page->manuallyChangedButton->setColor(m_config->manuallyChangedColor());
m_page->recentlyUpdatedTimeoutSpinBox->setValue(m_config->recentlyUpdatedTimeout());
m_page->hilightBox->setChecked(m_config->onlyHighlightChangedValues());
return w;
@ -62,6 +63,7 @@ void UAVObjectBrowserOptionsPage::apply()
m_config->setRecentlyUpdatedColor(m_page->recentlyUpdatedButton->color());
m_config->setManuallyChangedColor(m_page->manuallyChangedButton->color());
m_config->setRecentlyUpdatedTimeout(m_page->recentlyUpdatedTimeoutSpinBox->value());
m_config->setOnlyHighlightChangedValues(m_page->hilightBox->isChecked());
}
void UAVObjectBrowserOptionsPage::finish()

9
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowseroptionspage.ui
View File

@ -48,7 +48,7 @@
</property>
</spacer>
</item>
<item row="4" column="3">
<item row="5" column="3">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -115,6 +115,13 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="hilightBox">
<property name="text">
<string>Only hilight nodes when value actually changes</string>
</property>
</widget>
</item>
</layout>
</widget>
<customwidgets>

31
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
View File

@ -54,6 +54,7 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
showMetaData(m_browser->metaCheckBox->isChecked());
connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex,QModelIndex)), this, SLOT(currentChanged(QModelIndex,QModelIndex)));
connect(m_browser->metaCheckBox, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
connect(m_browser->categorizeCheckbox, SIGNAL(toggled(bool)), this, SLOT(categorize(bool)));
connect(m_browser->saveSDButton, SIGNAL(clicked()), this, SLOT(saveObject()));
connect(m_browser->readSDButton, SIGNAL(clicked()), this, SLOT(loadObject()));
connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
@ -69,16 +70,32 @@ UAVObjectBrowserWidget::~UAVObjectBrowserWidget()
void UAVObjectBrowserWidget::showMetaData(bool show)
{
int topRowCount = m_model->rowCount(QModelIndex());
for (int i = 0; i < topRowCount; ++i) {
QModelIndex index = m_model->index(i, 0, QModelIndex());
int subRowCount = m_model->rowCount(index);
for (int j = 0; j < subRowCount; ++j) {
m_browser->treeView->setRowHidden(0, index.child(j,0), !show);
}
QList<QModelIndex> metaIndexes = m_model->getMetaDataIndexes();
foreach(QModelIndex index , metaIndexes)
{
m_browser->treeView->setRowHidden(index.row(), index.parent(), !show);
}
}
void UAVObjectBrowserWidget::categorize(bool categorize)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(objManager);
UAVObjectTreeModel* tmpModel = m_model;
m_model = new UAVObjectTreeModel(0, categorize);
m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
m_model->setManuallyChangedColor(m_manuallyChangedColor);
m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);
m_model->setOnlyHilightChangedValues(m_onlyHilightChangedValues);
m_browser->treeView->setModel(m_model);
showMetaData(m_browser->metaCheckBox->isChecked());
delete tmpModel;
}
void UAVObjectBrowserWidget::sendUpdate()
{
ObjectTreeItem *objItem = findCurrentObjectTreeItem();

14
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
View File

@ -45,12 +45,15 @@ class UAVObjectBrowserWidget : public QWidget
public:
UAVObjectBrowserWidget(QWidget *parent = 0);
~UAVObjectBrowserWidget();
void setRecentlyUpdatedColor(QColor color) { m_model->setRecentlyUpdatedColor(color); }
void setManuallyChangedColor(QColor color) { m_model->setManuallyChangedColor(color); }
void setRecentlyUpdatedTimeout(int timeout) { m_model->setRecentlyUpdatedTimeout(timeout); }
void setRecentlyUpdatedColor(QColor color) { m_recentlyUpdatedColor = color; m_model->setRecentlyUpdatedColor(color); }
void setManuallyChangedColor(QColor color) { m_manuallyChangedColor = color; m_model->setManuallyChangedColor(color); }
void setRecentlyUpdatedTimeout(int timeout) { m_recentlyUpdatedTimeout = timeout; m_model->setRecentlyUpdatedTimeout(timeout); }
void setOnlyHilightChangedValues(bool hilight) { m_onlyHilightChangedValues = hilight; m_model->setOnlyHilightChangedValues(hilight); }
public slots:
void showMetaData(bool show);
void categorize(bool categorize);
private slots:
void sendUpdate();
@ -66,6 +69,11 @@ private:
Ui_UAVObjectBrowser *m_browser;
UAVObjectTreeModel *m_model;
int m_recentlyUpdatedTimeout;
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
bool m_onlyHilightChangedValues;
void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
void enableSendRequest(bool enable);
ObjectTreeItem *findCurrentObjectTreeItem();

172
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -38,7 +38,7 @@
#include <QtCore/QSignalMapper>
#include <QtCore/QDebug>
UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent, bool categorize) :
QAbstractItemModel(parent),
m_recentlyUpdatedTimeout(500), // ms
m_recentlyUpdatedColor(QColor(255, 230, 230)),
@ -53,7 +53,7 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newObject(UAVObject*)));
TreeItem::setHighlightTime(m_recentlyUpdatedTimeout);
setupModelData(objManager);
setupModelData(objManager, categorize);
}
UAVObjectTreeModel::~UAVObjectTreeModel()
@ -62,7 +62,7 @@ UAVObjectTreeModel::~UAVObjectTreeModel()
delete m_rootItem;
}
void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager, bool categorize)
{
// root
QList<QVariant> rootData;
@ -82,7 +82,7 @@ void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
foreach (QList<UAVDataObject*> list, objList) {
foreach (UAVDataObject* obj, list) {
addDataObject(obj);
addDataObject(obj, categorize);
}
}
}
@ -90,33 +90,62 @@ void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
void UAVObjectTreeModel::newObject(UAVObject *obj)
{
UAVDataObject *dobj = qobject_cast<UAVDataObject*>(obj);
if (dobj)
if (dobj) {
addDataObject(dobj);
}
void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
{
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
if (root->objIds().contains(obj->getObjID())) {
int index = root->objIds().indexOf(obj->getObjID());
addInstance(obj, root->child(index));
} else {
DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName() + " (" + QString::number(obj->getNumBytes()) + " bytes)");
data->setHighlightManager(m_highlightManager);
connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
int index = root->nameIndex(obj->getName());
root->insert(index, data);
root->insertObjId(index, obj->getObjID());
UAVMetaObject *meta = obj->getMetaObject();
addMetaObject(meta, data);
addInstance(obj, data);
}
}
void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
void UAVObjectTreeModel::addDataObject(UAVDataObject *obj, bool categorize)
{
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
TreeItem* parent = root;
if(categorize && obj->getCategory() != 0 && !obj->getCategory().isEmpty()) {
QStringList categoryPath = obj->getCategory().split('/');
parent = createCategoryItems(categoryPath, root);
}
ObjectTreeItem* existing = root->findDataObjectTreeItemByObjectId(obj->getObjID());
if (existing) {
addInstance(obj, existing);
} else {
DataObjectTreeItem *dataTreeItem = new DataObjectTreeItem(obj->getName() + " (" + QString::number(obj->getNumBytes()) + " bytes)");
dataTreeItem->setHighlightManager(m_highlightManager);
connect(dataTreeItem, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
parent->insertChild(dataTreeItem);
root->addObjectTreeItem(obj->getObjID(), dataTreeItem);
UAVMetaObject *meta = obj->getMetaObject();
MetaObjectTreeItem* metaTreeItem = addMetaObject(meta, dataTreeItem);
root->addMetaObjectTreeItem(meta->getObjID(), metaTreeItem);
addInstance(obj, dataTreeItem);
}
}
TreeItem* UAVObjectTreeModel::createCategoryItems(QStringList categoryPath, TreeItem* root)
{
TreeItem* parent = root;
foreach(QString category, categoryPath) {
TreeItem* existing = parent->findChildByName(category);
if(!existing) {
TreeItem* categoryItem = new TreeItem(category);
connect(categoryItem, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
categoryItem->setHighlightManager(m_highlightManager);
parent->insertChild(categoryItem);
parent = categoryItem;
}
else {
parent = existing;
}
}
return parent;
}
MetaObjectTreeItem* UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
{
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
MetaObjectTreeItem *meta = new MetaObjectTreeItem(obj, tr("Meta Data"));
meta->setHighlightManager(m_highlightManager);
connect(meta, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
foreach (UAVObjectField *field, obj->getFields()) {
@ -127,6 +156,7 @@ void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
}
}
parent->appendChild(meta);
return meta;
}
void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
@ -153,7 +183,6 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
}
}
void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
{
TreeItem *item = new ArrayFieldTreeItem(field->getName());
@ -221,7 +250,7 @@ QModelIndex UAVObjectTreeModel::index(int row, int column, const QModelIndex &pa
else
parentItem = static_cast<TreeItem*>(parent.internalPointer());
TreeItem *childItem = parentItem->child(row);
TreeItem *childItem = parentItem->getChild(row);
if (childItem)
return createIndex(row, column, childItem);
else
@ -281,15 +310,31 @@ int UAVObjectTreeModel::columnCount(const QModelIndex &parent) const
return m_rootItem->columnCount();
}
QList<QModelIndex> UAVObjectTreeModel::getMetaDataIndexes()
{
QList<QModelIndex> metaIndexes;
foreach(MetaObjectTreeItem *metaItem , m_settingsTree->getMetaObjectItems())
{
metaIndexes.append(index(metaItem));
}
foreach(MetaObjectTreeItem *metaItem , m_nonSettingsTree->getMetaObjectItems())
{
metaIndexes.append(index(metaItem));
}
return metaIndexes;
}
QVariant UAVObjectTreeModel::data(const QModelIndex &index, int role) const
{
if (!index.isValid())
return QVariant();
return QVariant();
if (index.column() == TreeItem::dataColumn && role == Qt::EditRole) {
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
return item->data(index.column());
}
// if (role == Qt::DecorationRole)
// return QIcon(":/core/images/openpilot_logo_128.png");
@ -301,16 +346,17 @@ QVariant UAVObjectTreeModel::data(const QModelIndex &index, int role) const
TreeItem *item = static_cast<TreeItem*>(index.internalPointer());
if (index.column() == 0 && role == Qt::BackgroundRole) {
ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(item);
if (objItem && objItem->highlighted())
if (!dynamic_cast<TopTreeItem*>(item) && item->highlighted())
return QVariant(m_recentlyUpdatedColor);
}
if (index.column() == TreeItem::dataColumn && role == Qt::BackgroundRole) {
FieldTreeItem *fieldItem = dynamic_cast<FieldTreeItem*>(item);
if (fieldItem && fieldItem->highlighted())
return QVariant(m_recentlyUpdatedColor);
if (fieldItem && fieldItem->changed())
return QVariant(m_manuallyChangedColor);
return QVariant(m_manuallyChangedColor);
}
if (role != Qt::DisplayRole)
@ -364,58 +410,42 @@ void UAVObjectTreeModel::highlightUpdatedObject(UAVObject *obj)
Q_ASSERT(obj);
ObjectTreeItem *item = findObjectTreeItem(obj);
Q_ASSERT(item);
if(!m_onlyHilightChangedValues){
item->setHighlight(true);
}
item->update();
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());
emit dataChanged(itemIndex, itemIndex);
if(!m_onlyHilightChangedValues){
QModelIndex itemIndex = index(item);
Q_ASSERT(itemIndex != QModelIndex());
emit dataChanged(itemIndex, itemIndex);
}
}
ObjectTreeItem *UAVObjectTreeModel::findObjectTreeItem(UAVObject *object)
{
UAVDataObject *dobj = qobject_cast<UAVDataObject*>(object);
UAVMetaObject *mobj = qobject_cast<UAVMetaObject*>(object);
Q_ASSERT(dobj || mobj);
if (dobj) {
return findDataObjectTreeItem(dobj);
UAVDataObject *dataObject = qobject_cast<UAVDataObject*>(object);
UAVMetaObject *metaObject = qobject_cast<UAVMetaObject*>(object);
Q_ASSERT(dataObject || metaObject);
if (dataObject) {
return findDataObjectTreeItem(dataObject);
} else {
dobj = qobject_cast<UAVDataObject*>(mobj->getParentObject());
Q_ASSERT(dobj);
ObjectTreeItem *dItem = findDataObjectTreeItem(dobj);
Q_ASSERT(dItem);
Q_ASSERT(dItem->object());
if (!dItem->object()->isSingleInstance())
dItem = dynamic_cast<ObjectTreeItem*>(dItem->parent());
foreach (TreeItem *child, dItem->treeChildren()) {
MetaObjectTreeItem *mItem = dynamic_cast<MetaObjectTreeItem*>(child);
if (mItem && mItem->object()) {
Q_ASSERT(mItem->object() == mobj);
return mItem;
}
}
return findMetaObjectTreeItem(metaObject);
}
return 0;
}
DataObjectTreeItem *UAVObjectTreeModel::findDataObjectTreeItem(UAVDataObject *object)
DataObjectTreeItem* UAVObjectTreeModel::findDataObjectTreeItem(UAVDataObject *obj)
{
Q_ASSERT(object);
TopTreeItem *root = object->isSettings() ? m_settingsTree : m_nonSettingsTree;
foreach (TreeItem *child, root->treeChildren()) {
DataObjectTreeItem *dItem = dynamic_cast<DataObjectTreeItem*>(child);
if (dItem && dItem->object() && dItem->object()->isSingleInstance()) {
if(dItem->object() == object) {
return dItem;
}
} else {
foreach (TreeItem *c, dItem->treeChildren()) {
DataObjectTreeItem *d = dynamic_cast<DataObjectTreeItem*>(c);
if (d && d->object() == object)
return d;
}
}
}
return 0;
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
return root->findDataObjectTreeItemByObjectId(obj->getObjID());
}
MetaObjectTreeItem* UAVObjectTreeModel::findMetaObjectTreeItem(UAVMetaObject *obj)
{
UAVDataObject *dataObject = qobject_cast<UAVDataObject*>(obj->getParentObject());
Q_ASSERT(dataObject);
TopTreeItem *root = dataObject->isSettings() ? m_settingsTree : m_nonSettingsTree;
return root->findMetaObjectTreeItemByObjectId(obj->getObjID());
}
void UAVObjectTreeModel::updateHighlight(TreeItem *item)

18
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
View File

@ -31,6 +31,7 @@
#include "treeitem.h"
#include <QAbstractItemModel>
#include <QtCore/QMap>
#include <QtCore/QList>
#include <QtGui/QColor>
class TopTreeItem;
@ -48,7 +49,7 @@ class UAVObjectTreeModel : public QAbstractItemModel
{
Q_OBJECT
public:
explicit UAVObjectTreeModel(QObject *parent = 0);
explicit UAVObjectTreeModel(QObject *parent = 0, bool categorize=true);
~UAVObjectTreeModel();
QVariant data(const QModelIndex &index, int role) const;
@ -68,6 +69,9 @@ public:
m_recentlyUpdatedTimeout = timeout;
TreeItem::setHighlightTime(timeout);
}
void setOnlyHilightChangedValues(bool hilight) {m_onlyHilightChangedValues = hilight; }
QList<QModelIndex> getMetaDataIndexes();
signals:
@ -79,17 +83,20 @@ private slots:
void updateHighlight(TreeItem*);
private:
void setupModelData(UAVObjectManager *objManager, bool categorize = true);
QModelIndex index(TreeItem *item);
void addDataObject(UAVDataObject *obj);
void addMetaObject(UAVMetaObject *obj, TreeItem *parent);
void addDataObject(UAVDataObject *obj, bool categorize = true);
MetaObjectTreeItem *addMetaObject(UAVMetaObject *obj, TreeItem *parent);
void addArrayField(UAVObjectField *field, TreeItem *parent);
void addSingleField(int index, UAVObjectField *field, TreeItem *parent);
void addInstance(UAVObject *obj, TreeItem *parent);
TreeItem *createCategoryItems(QStringList categoryPath, TreeItem *root);
QString updateMode(quint8 updateMode);
void setupModelData(UAVObjectManager *objManager);
ObjectTreeItem *findObjectTreeItem(UAVObject *obj);
DataObjectTreeItem *findDataObjectTreeItem(UAVDataObject *obj);
MetaObjectTreeItem *findMetaObjectTreeItem(UAVMetaObject *obj);
TreeItem *m_rootItem;
TopTreeItem *m_settingsTree;
@ -97,6 +104,7 @@ private:
int m_recentlyUpdatedTimeout;
QColor m_recentlyUpdatedColor;
QColor m_manuallyChangedColor;
bool m_onlyHilightChangedValues;
// Highlight manager to handle highlighting of tree items.
HighLightManager *m_highlightManager;

2
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -31,7 +31,7 @@
/**
* Constructor
*/
UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* parent):
UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject *parent):
UAVObject(objID, true, name)
{
this->parent = parent;

16
ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
View File

@ -145,6 +145,22 @@ void UAVObject::setDescription(const QString& description)
this->description = description;
}
/**
* Get the category of the object
*/
QString UAVObject::getCategory()
{
return category;
}
/**
* Set the category of the object
*/
void UAVObject::setCategory(const QString& category)
{
this->category = category;
}
/**
* Get the total number of bytes of the object's data

3
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -103,6 +103,7 @@ public:
quint32 getInstID();
bool isSingleInstance();
QString getName();
QString getCategory();
QString getDescription();
quint32 getNumBytes();
qint32 pack(quint8* dataOut);
@ -163,6 +164,7 @@ protected:
bool isSingleInst;
QString name;
QString description;
QString category;
quint32 numBytes;
QMutex* mutex;
quint8* data;
@ -170,6 +172,7 @@ protected:
void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
void setDescription(const QString& description);
void setCategory(const QString& category);
};
#endif // UAVOBJECT_H

30
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.cpp
View File

@ -8,26 +8,26 @@
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: $(XMLFILE).
*
* @note Object definition file: $(XMLFILE).
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "$(NAMELC).h"
@ -35,6 +35,7 @@
const QString $(NAME)::NAME = QString("$(NAME)");
const QString $(NAME)::DESCRIPTION = QString("$(DESCRIPTION)");
const QString $(NAME)::CATEGORY = QString("$(CATEGORY)");
/**
* Constructor
@ -51,6 +52,9 @@ $(FIELDSINIT)
// Set the object description
setDescription(DESCRIPTION);
// Set the Category of this object type
setCategory(CATEGORY);
connect(this, SIGNAL(objectUpdated(UAVObject*)),
SLOT(emitNotifications()));
}

1
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.h
View File

@ -54,6 +54,7 @@ $(DATAFIELDINFO)
static const quint32 OBJID = $(OBJIDHEX);
static const QString NAME;
static const QString DESCRIPTION;
static const QString CATEGORY;
static const bool ISSINGLEINST = $(ISSINGLEINST);
static const bool ISSETTINGS = $(ISSETTINGS);
static const quint32 NUMBYTES = sizeof(DataFields);

72
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
View File

@ -43,7 +43,6 @@ Node::Node(MixerCurveWidget *graphWidget)
setCacheMode(DeviceCoordinateCache);
setZValue(-1);
vertical = false;
value = 0;
}
void Node::addEdge(Edge *edge)
@ -61,14 +60,14 @@ QList<Edge *> Node::edges() const
QRectF Node::boundingRect() const
{
qreal adjust = 2;
return QRectF(-10 - adjust, -10 - adjust,
23 + adjust, 23 + adjust);
return QRectF(-12 - adjust, -12 - adjust,
28 + adjust, 28 + adjust);
}
QPainterPath Node::shape() const
{
QPainterPath path;
path.addEllipse(-10, -10, 20, 20);
path.addEllipse(-12, -12, 25, 25);
return path;
}
@ -92,59 +91,60 @@ void Node::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWid
}
painter->setBrush(gradient);
painter->setPen(QPen(Qt::black, 0));
painter->drawEllipse(-10, -10, 20, 20);
painter->drawEllipse(-12, -12, 25, 25);
painter->setPen(QPen(Qt::white, 0));
painter->drawText(-10, 3, QString().sprintf("%.2f", value()));
}
void Node::verticalMove(bool flag){
vertical = flag;
}
double Node::getValue() {
return value;
}
void Node::setValue(double val) {
value = val;
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
{
QPointF newPos = value.toPointF();
double Node::value() {
double h = graph->sceneRect().height();
double ratio = (h - pos().y()) / h;
return ((graph->getMax() - graph->getMin()) * ratio ) + graph->getMin();
}
QVariant Node::itemChange(GraphicsItemChange change, const QVariant &val)
{
QPointF newPos = val.toPointF();
double h = graph->sceneRect().height();
switch (change) {
case ItemPositionChange: {
if (!vertical)
break;
// Force node to move vertically
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
return newPos;
if (!vertical)
break;
// Force node to move vertically
newPos.setX(pos().x());
// Stay inside graph
if (newPos.y() < 0)
newPos.setY(0);
//qDebug() << h << " - " << newPos.y();
if (newPos.y() > h)
newPos.setY(h);
return newPos;
}
case ItemPositionHasChanged: {
foreach (Edge *edge, edgeList)
edge->adjust();
double min = graph->getMin();
double range = graph->getMax() - min;
double ratio = (h - newPos.y()) / h;
double val = (range * ratio ) + min;
setValue(val);
update();
graph->itemMoved(val);
graph->itemMoved(value());
break;
}
default:
break;
};
return QGraphicsItem::itemChange(change, value);
return QGraphicsItem::itemChange(change, val);
}
void Node::mousePressEvent(QGraphicsSceneMouseEvent *event)

7
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
View File

@ -55,22 +55,21 @@ public:
QPainterPath shape() const;
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
void setValue(double val);
double getValue();
double value();
protected:
QVariant itemChange(GraphicsItemChange change, const QVariant &value);
QVariant itemChange(GraphicsItemChange change, const QVariant &val);
void mousePressEvent(QGraphicsSceneMouseEvent *event);
void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
private:
double value;
QList<Edge *> edgeList;
QPointF newPos;
MixerCurveWidget *graph;
bool vertical;
};
#endif // MIXERCURVEPOINT_H

82
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
View File

@ -69,6 +69,7 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
//plot->setElementId("map");
scene->addItem(plot);
plot->setZValue(-1);
scene->setSceneRect(plot->boundingRect());
setScene(scene);
@ -77,11 +78,11 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
MixerCurveWidget::~MixerCurveWidget()
{
for (int i=0; i<nodePool.count(); i++)
delete nodePool.at(i);
while (!nodePool.isEmpty())
delete nodePool.takeFirst();
for (int i=0; i<edgePool.count(); i++)
delete edgePool.at(i);
while (!edgePool.isEmpty())
delete edgePool.takeFirst();
}
Node* MixerCurveWidget::getNode(int index)
@ -122,14 +123,11 @@ Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
If a curve exists already, resets it.
Points should be between 0 and 1.
*/
void MixerCurveWidget::initCurve(QList<double> points)
void MixerCurveWidget::initCurve(const QList<double>* points)
{
if (points.length() < 2)
if (points->length() < 2)
return; // We need at least 2 points on a curve!
if (nodeList.count() != points.count())
initNodes(points.count());
// finally, set node positions
setCurve(points);
}
@ -139,12 +137,8 @@ void MixerCurveWidget::initNodes(int numPoints)
// First of all, clear any existing list
if (nodeList.count()) {
foreach (Node *node, nodeList ) {
QList<Edge*> edges = node->edges();
foreach(Edge *edge, edges) {
if (edge->destNode() == node) {
delete edge;
}
else {
foreach(Edge *edge, node->edges()) {
if (edge->sourceNode() == node) {
scene()->removeItem(edge);
}
}
@ -163,6 +157,8 @@ void MixerCurveWidget::initNodes(int numPoints)
nodeList.append(node);
scene()->addItem(node);
node->setPos(0,0);
if (prevNode) {
scene()->addItem(getEdge(i, prevNode, node));
}
@ -179,7 +175,7 @@ QList<double> MixerCurveWidget::getCurve() {
QList<double> list;
foreach(Node *node, nodeList) {
list.append(node->getValue());
list.append(node->value());
}
return list;
@ -187,51 +183,48 @@ QList<double> MixerCurveWidget::getCurve() {
/**
Sets a linear graph
*/
void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
void MixerCurveWidget::initLinearCurve(int numPoints, double maxValue, double minValue)
{
Q_UNUSED(maxValue);
Q_UNUSED(minValue);
double range = setRange(minValue, maxValue);
QList<double> points;
for (double i=0; i<numPoints;i++) {
double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
for (double i=0; i < (double)numPoints; i++) {
double val = (range * ( i / (double)(numPoints-1) ) ) + minValue;
points.append(val);
}
initCurve(points);
initCurve(&points);
}
/**
Setd the current curve settings
*/
void MixerCurveWidget::setCurve(QList<double> points)
void MixerCurveWidget::setCurve(const QList<double>* points)
{
curveUpdating = true;
if (nodeList.count() != points.count())
initNodes(points.count());
int ptCnt = points->count();
if (nodeList.count() != ptCnt)
initNodes(ptCnt);
double min = curveMin + 10;
double max = curveMax + 10;
double range = curveMax - curveMin;
qreal w = plot->boundingRect().width()/(points.count()-1);
qreal w = plot->boundingRect().width()/(ptCnt-1);
qreal h = plot->boundingRect().height();
for (int i=0; i<points.count(); i++) {
for (int i=0; i<ptCnt; i++) {
double val = points.at(i);
if (val < curveMin)
val = curveMin;
if (val > curveMax)
val = curveMax;
double val = (points->at(i) < curveMin) ? curveMin : (points->at(i) > curveMax) ? curveMax : points->at(i);
val += 10;
val -= min;
val /= (max - min);
val += range;
val -= (curveMin + range);
val /= range;
nodeList.at(i)->setPos(w*i, h - (val*h));
nodeList.at(i)->verticalMove(true);
Node* node = nodeList.at(i);
node->setPos(w*i, h - (val*h));
node->verticalMove(true);
}
curveUpdating = false;
update();
emit curveUpdated(points, (double)0);
}
@ -252,13 +245,11 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
fitInView(plot, Qt::KeepAspectRatio);
}
void MixerCurveWidget::itemMoved(double itemValue)
{
if (!curveUpdating) {
QList<double> list = getCurve();
emit curveUpdated(list, itemValue);
QList<double> curve = getCurve();
emit curveUpdated(&curve, itemValue);
}
}
@ -278,8 +269,9 @@ double MixerCurveWidget::getMax()
{
return curveMax;
}
void MixerCurveWidget::setRange(double min, double max)
double MixerCurveWidget::setRange(double min, double max)
{
curveMin = min;
curveMax = max;
return curveMax - curveMin;
}

10
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
View File

@ -44,20 +44,20 @@ public:
MixerCurveWidget(QWidget *parent = 0);
~MixerCurveWidget();
void itemMoved(double itemValue); // Callback when a point is moved, to be updated
void initCurve (QList<double> points);
void initCurve (const QList<double>* points);
QList<double> getCurve();
void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
void setCurve(QList<double>);
void initLinearCurve(int numPoints, double maxValue = 1, double minValue = 0);
void setCurve(const QList<double>* points);
void setMin(double value);
double getMin();
void setMax(double value);
double getMax();
void setRange(double min, double max);
double setRange(double min, double max);
static const int NODE_NUMELEM = 5;
signals:
void curveUpdated(QList<double>, double );
void curveUpdated(const QList<double>* points, const double value);
private slots:

185
ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
View File

@ -55,11 +55,6 @@ Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
connect(utalk, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(transactionCompleted(UAVObject*,bool)));
// Get GCS stats object
gcsStatsObj = GCSTelemetryStats::GetInstance(objMngr);
// Setup transaction timer
transPending = false;
transTimer = new QTimer(this);
transTimer->stop();
connect(transTimer, SIGNAL(timeout()), this, SLOT(transactionTimeout()));
// Setup and start the periodic timer
timeToNextUpdateMs = 0;
updateTimer = new QTimer(this);
@ -70,6 +65,12 @@ Telemetry::Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr)
txRetries = 0;
}
Telemetry::~Telemetry()
{
for (QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.begin(); itr != transMap.end(); ++itr)
delete itr.value();
}
/**
* Register a new object for periodic updates (if enabled)
*/
@ -231,84 +232,81 @@ void Telemetry::updateObject(UAVObject* obj, quint32 eventType)
*/
void Telemetry::transactionCompleted(UAVObject* obj, bool success)
{
// Check if there is a pending transaction and the objects match
if ( transPending && transInfo.obj->getObjID() == obj->getObjID() )
// Lookup the transaction in the transaction map.
quint32 objId = obj->getObjID();
QMap<quint32, ObjectTransactionInfo*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() )
{
// qDebug() << QString("Telemetry: transaction completed for %1").arg(obj->getName());
// Complete transaction
transTimer->stop();
transPending = false;
ObjectTransactionInfo *transInfo = itr.value();
// Remove this transaction as it's complete.
transInfo->timer->stop();
transMap.remove(objId);
delete transInfo;
// Send signal
obj->emitTransactionCompleted(success);
// Process new object updates from queue
processObjectQueue();
} else
{
// qDebug() << "Error: received a transaction completed when did not expect it.";
qDebug() << "Error: received a transaction completed when did not expect it.";
}
}
/**
* Called when a transaction is not completed within the timeout period (timer event)
*/
void Telemetry::transactionTimeout()
void Telemetry::transactionTimeout(ObjectTransactionInfo *transInfo)
{
// qDebug() << "Telemetry: transaction timeout.";
transTimer->stop();
// Proceed only if there is a pending transaction
if ( transPending )
transInfo->timer->stop();
// Check if more retries are pending
if (transInfo->retriesRemaining > 0)
{
// Check if more retries are pending
if (transInfo.retriesRemaining > 0)
{
--transInfo.retriesRemaining;
processObjectTransaction();
++txRetries;
}
else
{
// Terminate transaction
utalk->cancelTransaction();
transPending = false;
// Send signal
transInfo.obj->emitTransactionCompleted(false);
// Process new object updates from queue
processObjectQueue();
++txErrors;
}
--transInfo->retriesRemaining;
processObjectTransaction(transInfo);
++txRetries;
}
else
{
// Stop the timer.
transInfo->timer->stop();
// Terminate transaction
utalk->cancelTransaction(transInfo->obj);
// Send signal
transInfo->obj->emitTransactionCompleted(false);
// Remove this transaction as it's complete.
transMap.remove(transInfo->obj->getObjID());
delete transInfo;
// Process new object updates from queue
processObjectQueue();
++txErrors;
}
}
/**
* Start an object transaction with UAVTalk, all information is stored in transInfo
*/
void Telemetry::processObjectTransaction()
void Telemetry::processObjectTransaction(ObjectTransactionInfo *transInfo)
{
if (transPending)
// Initiate transaction
if (transInfo->objRequest)
{
// qDebug() << tr("Process Object transaction for %1").arg(transInfo.obj->getName());
// Initiate transaction
if (transInfo.objRequest)
{
utalk->sendObjectRequest(transInfo.obj, transInfo.allInstances);
}
else
{
utalk->sendObject(transInfo.obj, transInfo.acked, transInfo.allInstances);
}
// Start timer if a response is expected
if ( transInfo.objRequest || transInfo.acked )
{
transTimer->start(REQ_TIMEOUT_MS);
}
else
{
transTimer->stop();
transPending = false;
}
} else
utalk->sendObjectRequest(transInfo->obj, transInfo->allInstances);
}
else
{
// qDebug() << "Error: inside of processObjectTransaction with no transPending";
utalk->sendObject(transInfo->obj, transInfo->acked, transInfo->allInstances);
}
// Start timer if a response is expected
if ( transInfo->objRequest || transInfo->acked )
{
transInfo->timer->start(REQ_TIMEOUT_MS);
}
else
{
// Otherwise, remove this transaction as it's complete.
transMap.remove(transInfo->obj->getObjID());
delete transInfo;
}
}
@ -318,7 +316,6 @@ void Telemetry::processObjectTransaction()
void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority)
{
// Push event into queue
// qDebug() << "Push event into queue for obj " << QString("%1 event %2").arg(obj->getName()).arg(event);
ObjectQueueInfo objInfo;
objInfo.obj = obj;
objInfo.event = event;
@ -349,15 +346,8 @@ void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allIn
}
}
// If there is no transaction in progress then process event
if (!transPending)
{
// qDebug() << "No transaction pending, process object queue...";
processObjectQueue();
} else
{
// qDebug() << "Transaction pending, DO NOT process object queue...";
}
// Process the transaction
processObjectQueue();
}
/**
@ -365,15 +355,6 @@ void Telemetry::processObjectUpdates(UAVObject* obj, EventMask event, bool allIn
*/
void Telemetry::processObjectQueue()
{
// qDebug() << "Process object queue " << tr("- Depth (%1 %2)").arg(objQueue.length()).arg(objPriorityQueue.length());
// Do nothing if a transaction is already in progress (should not happen)
// but it does a lot
if (transPending)
{
return;
}
// Get object information from queue (first the priority and then the regular queue)
ObjectQueueInfo objInfo;
if ( !objPriorityQueue.isEmpty() )
@ -408,24 +389,23 @@ void Telemetry::processObjectQueue()
if ( ( objInfo.event != EV_UNPACKED ) && ( ( objInfo.event != EV_UPDATED_PERIODIC ) || ( updateMode != UAVObject::UPDATEMODE_THROTTLED ) ) )
{
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = UAVObject::GetGcsTelemetryAcked(metadata);
ObjectTransactionInfo *transInfo = new ObjectTransactionInfo(this);
transInfo->obj = objInfo.obj;
transInfo->allInstances = objInfo.allInstances;
transInfo->retriesRemaining = MAX_RETRIES;
transInfo->acked = UAVObject::GetGcsTelemetryAcked(metadata);
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL || objInfo.event == EV_UPDATED_PERIODIC )
{
transInfo.objRequest = false;
transInfo->objRequest = false;
}
else if ( objInfo.event == EV_UPDATE_REQ )
{
transInfo.objRequest = true;
transInfo->objRequest = true;
}
// Start transaction
transPending = true;
processObjectTransaction();
} else
{
// qDebug() << QString("Process object queue: this is an unpack event for %1").arg(objInfo.obj->getName());
transInfo->telem = this;
// Insert the transaction into the transaction map.
transMap.insert(objInfo.obj->getObjID(), transInfo);
processObjectTransaction(transInfo);
}
// If this is a metaobject then make necessary telemetry updates
@ -579,6 +559,29 @@ void Telemetry::newInstance(UAVObject* obj)
registerObject(obj);
}
ObjectTransactionInfo::ObjectTransactionInfo(QObject* parent):QObject(parent)
{
obj = 0;
allInstances = false;
objRequest = false;
retriesRemaining = 0;
acked = false;
telem = 0;
// Setup transaction timer
timer = new QTimer(this);
timer->stop();
connect(timer, SIGNAL(timeout()), this, SLOT(timeout()));
}
ObjectTransactionInfo::~ObjectTransactionInfo()
{
telem = 0;
timer->stop();
delete timer;
}
void ObjectTransactionInfo::timeout()
{
if (!telem.isNull())
telem->transactionTimeout(this);
}

57
ground/openpilotgcs/src/plugins/uavtalk/telemetry.h
View File

@ -35,6 +35,24 @@
#include <QMutexLocker>
#include <QTimer>
#include <QQueue>
#include <QMap>
class ObjectTransactionInfo: public QObject {
Q_OBJECT
public:
ObjectTransactionInfo(QObject * parent);
~ObjectTransactionInfo();
UAVObject* obj;
bool allInstances;
bool objRequest;
qint32 retriesRemaining;
bool acked;
QPointer<class Telemetry>telem;
QTimer* timer;
private slots:
void timeout();
};
class Telemetry: public QObject
{
@ -54,24 +72,13 @@ public:
} TelemetryStats;
Telemetry(UAVTalk* utalk, UAVObjectManager* objMngr);
~Telemetry();
TelemetryStats getStats();
void resetStats();
void transactionTimeout(ObjectTransactionInfo *info);
signals:
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
void processPeriodicUpdates();
void transactionCompleted(UAVObject* obj, bool success);
void transactionTimeout();
private:
// Constants
static const int REQ_TIMEOUT_MS = 250;
@ -105,14 +112,6 @@ private:
bool allInstances;
} ObjectQueueInfo;
typedef struct {
UAVObject* obj;
bool allInstances;
bool objRequest;
qint32 retriesRemaining;
bool acked;
} ObjectTransactionInfo;
// Variables
UAVObjectManager* objMngr;
UAVTalk* utalk;
@ -120,11 +119,9 @@ private:
QList<ObjectTimeInfo> objList;
QQueue<ObjectQueueInfo> objQueue;
QQueue<ObjectQueueInfo> objPriorityQueue;
ObjectTransactionInfo transInfo;
bool transPending;
QMap<quint32, ObjectTransactionInfo*>transMap;
QMutex* mutex;
QTimer* updateTimer;
QTimer* transTimer;
QTimer* statsTimer;
qint32 timeToNextUpdateMs;
quint32 txErrors;
@ -137,9 +134,19 @@ private:
void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
void updateObject(UAVObject* obj, quint32 eventMask);
void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
void processObjectTransaction();
void processObjectTransaction(ObjectTransactionInfo *transInfo);
void processObjectQueue();
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
void newInstance(UAVObject* obj);
void processPeriodicUpdates();
void transactionCompleted(UAVObject* obj, bool success);
};

39
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
View File

@ -72,8 +72,6 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
mutex = new QMutex(QMutex::Recursive);
respObj = NULL;
memset(&stats, 0, sizeof(ComStats));
connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
@ -157,10 +155,18 @@ bool UAVTalk::sendObject(UAVObject* obj, bool acked, bool allInstances)
/**
* Cancel a pending transaction
*/
void UAVTalk::cancelTransaction()
void UAVTalk::cancelTransaction(UAVObject* obj)
{
QMutexLocker locker(mutex);
respObj = NULL;
quint32 objId = obj->getObjID();
if(io.isNull())
return;
QMap<quint32, Transaction*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() )
{
transMap.remove(objId);
delete itr.value();
}
}
/**
@ -180,8 +186,10 @@ bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
{
if ( transmitObject(obj, type, allInstances) )
{
respObj = obj;
respAllInstances = allInstances;
Transaction *trans = new Transaction();
trans->obj = obj;
trans->allInstances = allInstances;
transMap.insert(obj->getObjID(), trans);
return true;
}
else
@ -627,9 +635,15 @@ UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
*/
void UAVTalk::updateNack(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
Q_ASSERT(obj);
if ( ! obj )
return;
quint32 objId = obj->getObjID();
QMap<quint32, Transaction*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() && (itr.value()->obj->getInstID() == obj->getInstID() || itr.value()->allInstances))
{
respObj = NULL;
transMap.remove(objId);
delete itr.value();
emit transactionCompleted(obj, false);
}
}
@ -640,9 +654,12 @@ void UAVTalk::updateNack(UAVObject* obj)
*/
void UAVTalk::updateAck(UAVObject* obj)
{
if (respObj != NULL && respObj->getObjID() == obj->getObjID() && (respObj->getInstID() == obj->getInstID() || respAllInstances))
quint32 objId = obj->getObjID();
QMap<quint32, Transaction*>::iterator itr = transMap.find(objId);
if ( itr != transMap.end() && (itr.value()->obj->getInstID() == obj->getInstID() || itr.value()->allInstances))
{
respObj = NULL;
transMap.remove(objId);
delete itr.value();
emit transactionCompleted(obj, true);
}
}
@ -812,7 +829,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset + length);
// Send buffer, check that the transmit backlog does not grow above limit
if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
if (!io.isNull() && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
{
io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
}

12
ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
View File

@ -31,6 +31,7 @@
#include <QIODevice>
#include <QMutex>
#include <QMutexLocker>
#include <QMap>
#include <QSemaphore>
#include "uavobjectmanager.h"
#include "uavtalk_global.h"
@ -55,7 +56,7 @@ public:
~UAVTalk();
bool sendObject(UAVObject* obj, bool acked, bool allInstances);
bool sendObjectRequest(UAVObject* obj, bool allInstances);
void cancelTransaction();
void cancelTransaction(UAVObject* obj);
ComStats getStats();
void resetStats();
@ -66,6 +67,12 @@ private slots:
void processInputStream(void);
private:
typedef struct {
UAVObject* obj;
bool allInstances;
} Transaction;
// Constants
static const int TYPE_MASK = 0xF8;
static const int TYPE_VER = 0x20;
@ -97,8 +104,7 @@ private:
QPointer<QIODevice> io;
UAVObjectManager* objMngr;
QMutex* mutex;
UAVObject* respObj;
bool respAllInstances;
QMap<quint32, Transaction*> transMap;
quint8 rxBuffer[MAX_PACKET_LENGTH];
quint8 txBuffer[MAX_PACKET_LENGTH];
// Variables used by the receive state machine

1
ground/uavobjects/uavobjects.pro
View File

@ -20,6 +20,7 @@ isEmpty(QMAKESPEC) {
win32:SPEC = win32-g++
macx-g++:SPEC = macx-g++
linux-g++:SPEC = linux-g++
linux-g++-32:SPEC = linux-g++
linux-g++-64:SPEC = linux-g++-64
} else {
SPEC = $$QMAKESPEC

2
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -56,6 +56,8 @@ void replaceCommonTags(QString& out, ObjectInfo* info)
out.replace(QString("$(NAMELC)"), info->namelc);
// Replace $(DESCRIPTION) tag
out.replace(QString("$(DESCRIPTION)"), info->description);
// Replace $(CATEGORY) tag
out.replace(QString("$(CATEGORY)"), info->category);
// Replace $(NAMEUC) tag
out.replace(QString("$(NAMEUC)"), info->name.toUpper());
// Replace $(OBJID) tag

7
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -499,6 +499,13 @@ QString UAVObjectParser::processObjectAttributes(QDomNode& node, ObjectInfo* inf
info->name = attr.nodeValue();
info->namelc = attr.nodeValue().toLower();
// Get category attribute if present
attr = attributes.namedItem("category");
if ( !attr.isNull() )
{
info->category = attr.nodeValue();
}
// Get singleinstance attribute
attr = attributes.namedItem("singleinstance");
if ( attr.isNull() )

2
ground/uavobjgenerator/uavobjectparser.h
View File

@ -96,6 +96,7 @@ typedef struct {
int loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
QList<FieldInfo*> fields; /** The data fields for the object **/
QString description; /** Description used for Doxygen **/
QString category; /** Description used for Doxygen **/
} ObjectInfo;
class UAVObjectParser
@ -127,6 +128,7 @@ private:
QString processObjectFields(QDomNode& childNode, ObjectInfo* info);
QString processObjectAccess(QDomNode& childNode, ObjectInfo* info);
QString processObjectDescription(QDomNode& childNode, QString * description);
QString processObjectCategory(QDomNode& childNode, QString * category);
QString processObjectMetadata(QDomNode& childNode, UpdateMode* mode, int* period, bool* acked);
void calculateID(ObjectInfo* info);
quint32 updateHash(quint32 value, quint32 hash);

62
package/winx86/openpilotgcs.nsi
View File

@ -1,7 +1,7 @@
#
# Project: OpenPilot
# NSIS configuration file for OpenPilot GCS
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2011.
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2012.
#
# 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
@ -21,14 +21,15 @@
# This script requires Unicode NSIS 2.46 or higher:
# http://www.scratchpaper.com/
# Features:
# - Installs to the user local appdata path, no admin rights required.
#
# TODO:
# - optionally install for all users (to Program Files with admin rights on Vista/7).
# - install only built/used modules, not a whole directory.
# - remove only installed files, not a whole directory.
;--------------------------------
; Includes
!include "x64.nsh"
;--------------------------------
; Paths
@ -36,12 +37,13 @@
!define PROJECT_ROOT "..\.."
!define NSIS_DATA_TREE "."
!define GCS_BUILD_TREE "..\..\build\ground\openpilotgcs"
!define UAVO_SYNTH_TREE "..\..\build\uavobject-synthetics"
; Default installation folder
InstallDir "$LOCALAPPDATA\OpenPilot"
InstallDir "$PROGRAMFILES\OpenPilot"
; Get installation folder from registry if available
InstallDirRegKey HKCU "Software\OpenPilot" "Install Location"
InstallDirRegKey HKLM "Software\OpenPilot" "Install Location"
;--------------------------------
; Version information
@ -82,7 +84,7 @@
XPStyle on
; Request application privileges for Windows Vista/7
RequestExecutionLevel user
RequestExecutionLevel admin
; Compression level
SetCompressor /solid lzma
@ -90,7 +92,7 @@
;--------------------------------
; Branding
BrandingText "© 2010-2011 The OpenPilot Team, http://www.openpilot.org"
BrandingText "© 2010-2012 The OpenPilot Team, http://www.openpilot.org"
!define MUI_ICON "${NSIS_DATA_TREE}\resources\openpilot.ico"
!define MUI_HEADERIMAGE
@ -113,6 +115,7 @@
;--------------------------------
; Settings for MUI_PAGE_FINISH
!define MUI_FINISHPAGE_RUN
!define MUI_FINISHPAGE_SHOWREADME "$INSTDIR\HISTORY.txt"
!define MUI_FINISHPAGE_RUN_FUNCTION "RunApplication"
;--------------------------------
@ -148,6 +151,7 @@
;--------------------------------
; Installer sections
; Copy GCS core files
Section "Core files" InSecCore
SectionIn RO
SetOutPath "$INSTDIR\bin"
@ -156,6 +160,7 @@ Section "Core files" InSecCore
File "${PROJECT_ROOT}\HISTORY.txt"
SectionEnd
; Copy GCS plugins
Section "Plugins" InSecPlugins
SectionIn RO
SetOutPath "$INSTDIR\lib\openpilotgcs\plugins"
@ -163,6 +168,7 @@ Section "Plugins" InSecPlugins
File /r "${GCS_BUILD_TREE}\lib\openpilotgcs\plugins\*.pluginspec"
SectionEnd
; Copy GCS resources
Section "Resources" InSecResources
SetOutPath "$INSTDIR\share\openpilotgcs\diagrams"
File /r "${GCS_BUILD_TREE}\share\openpilotgcs\diagrams\*"
@ -176,22 +182,51 @@ Section "Resources" InSecResources
File /r "${GCS_BUILD_TREE}\share\openpilotgcs\pfd\*"
SectionEnd
; Copy Notify plugin sound files
Section "Sound files" InSecSounds
SetOutPath "$INSTDIR\share\openpilotgcs\sounds"
File /r "${GCS_BUILD_TREE}\share\openpilotgcs\sounds\*"
SectionEnd
; Copy localization files
; Disabled until GCS source is stable and properly localized
Section "Localization" InSecLocalization
SetOutPath "$INSTDIR\share\openpilotgcs\translations"
; File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\openpilotgcs_*.qm"
File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\qt_*.qm"
SectionEnd
; Copy firmware files
Section "Firmware" InSecFirmware
; SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
; File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
SetOutPath "$INSTDIR\firmware"
File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\fw_coptercontrol-${PACKAGE_LBL}.opfw"
File "${PACKAGE_DIR}\${FIRMWARE_DIR}\fw_coptercontrol-${PACKAGE_LBL}.opfw"
File "${PACKAGE_DIR}\${FIRMWARE_DIR}\fw_pipxtreme-${PACKAGE_LBL}.opfw"
SectionEnd
; Copy utility files
Section "-Utilities" InSecUtilities
SetOutPath "$INSTDIR\utilities"
File "/oname=OPLogConvert-${PACKAGE_LBL}.m" "${UAVO_SYNTH_TREE}\matlab\OPLogConvert.m"
SectionEnd
; Copy driver files
Section "-Drivers" InSecDrivers
SetOutPath "$INSTDIR\drivers"
File "${PROJECT_ROOT}\flight\Project\Windows USB\OpenPilot-CDC.inf"
SectionEnd
; Preinstall OpenPilot CDC driver
Section "CDC driver" InSecInstallDrivers
InitPluginsDir
SetOutPath "$PLUGINSDIR"
${If} ${RunningX64}
File "/oname=dpinst.exe" "${NSIS_DATA_TREE}\redist\dpinst_x64.exe"
${Else}
File "/oname=dpinst.exe" "${NSIS_DATA_TREE}\redist\dpinst_x86.exe"
${EndIf}
ExecWait '"$PLUGINSDIR\dpinst.exe" /lm /path "$INSTDIR\drivers"'
SectionEnd
Section "Shortcuts" InSecShortcuts
@ -239,6 +274,9 @@ SectionEnd
!insertmacro MUI_DESCRIPTION_TEXT ${InSecSounds} $(DESC_InSecSounds)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecLocalization} $(DESC_InSecLocalization)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecFirmware} $(DESC_InSecFirmware)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecUtilities} $(DESC_InSecUtilities)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecDrivers} $(DESC_InSecDrivers)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecInstallDrivers} $(DESC_InSecInstallDrivers)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecShortcuts} $(DESC_InSecShortcuts)
!insertmacro MUI_FUNCTION_DESCRIPTION_END
@ -247,6 +285,7 @@ SectionEnd
Function .onInit
SetShellVarContext all
!insertmacro MUI_LANGDLL_DISPLAY
FunctionEnd
@ -260,6 +299,8 @@ Section "un.OpenPilot GCS" UnSecProgram
RMDir /r /rebootok "$INSTDIR\lib"
RMDir /r /rebootok "$INSTDIR\share"
RMDir /r /rebootok "$INSTDIR\firmware"
RMDir /r /rebootok "$INSTDIR\utilities"
RMDir /r /rebootok "$INSTDIR\drivers"
Delete /rebootok "$INSTDIR\HISTORY.txt"
Delete /rebootok "$INSTDIR\Uninstall.exe"
@ -306,6 +347,7 @@ SectionEnd
Function un.onInit
SetShellVarContext all
!insertmacro MUI_UNGETLANGUAGE
FunctionEnd

BIN
package/winx86/redist/dpinst_x64.exe Normal file
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BIN
package/winx86/redist/dpinst_x86.exe Normal file
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3
package/winx86/translations/strings_de.nsh
View File

@ -31,6 +31,9 @@
LangString DESC_InSecSounds ${LANG_GERMAN} "GCS Sounddateien (benötigt für akustische Ereignisbenachrichtigungen)."
LangString DESC_InSecLocalization ${LANG_GERMAN} "GCS Lokalisierung (für unterstützte Sprachen)."
LangString DESC_InSecFirmware ${LANG_GERMAN} "OpenPilot firmware binaries."
LangString DESC_InSecUtilities ${LANG_GERMAN} "OpenPilot utilities (Matlab log parser)."
LangString DESC_InSecDrivers ${LANG_GERMAN} "OpenPilot hardware driver files (optional OpenPilot CDC driver)."
LangString DESC_InSecInstallDrivers ${LANG_GERMAN} "Install OpenPilot CDC driver (optional)."
LangString DESC_InSecShortcuts ${LANG_GERMAN} "Installiere Verknüpfungen unter Startmenü->Anwendungen."
;--------------------------------

3
package/winx86/translations/strings_en.nsh
View File

@ -31,6 +31,9 @@
LangString DESC_InSecSounds ${LANG_ENGLISH} "GCS sound files (used for audible event notifications)."
LangString DESC_InSecLocalization ${LANG_ENGLISH} "GCS localization (for supported languages)."
LangString DESC_InSecFirmware ${LANG_ENGLISH} "OpenPilot firmware binaries."
LangString DESC_InSecUtilities ${LANG_ENGLISH} "OpenPilot utilities (Matlab log parser)."
LangString DESC_InSecDrivers ${LANG_ENGLISH} "OpenPilot hardware driver files (optional OpenPilot CDC driver)."
LangString DESC_InSecInstallDrivers ${LANG_ENGLISH} "Install OpenPilot CDC driver (optional)."
LangString DESC_InSecShortcuts ${LANG_ENGLISH} "Install application start menu shortcuts."
;--------------------------------

3
package/winx86/translations/strings_es.nsh
View File

@ -31,6 +31,9 @@
LangString DESC_InSecSounds ${LANG_SPANISH} "Archivos de sonido del GCS (usados para los eventos y notificaciones audibles)."
LangString DESC_InSecLocalization ${LANG_SPANISH} "Localización GCS (idiomas soportados)."
LangString DESC_InSecFirmware ${LANG_SPANISH} "OpenPilot firmware binaries."
LangString DESC_InSecUtilities ${LANG_SPANISH} "OpenPilot utilities (Matlab log parser)."
LangString DESC_InSecDrivers ${LANG_SPANISH} "OpenPilot hardware driver files (optional OpenPilot CDC driver)."
LangString DESC_InSecInstallDrivers ${LANG_SPANISH} "Install OpenPilot CDC driver (optional)."
LangString DESC_InSecShortcuts ${LANG_SPANISH} "Instalar accesos directos de la aplicación (menú inicio y escritorio)."
;--------------------------------

3
package/winx86/translations/strings_fr.nsh
View File

@ -31,6 +31,9 @@
LangString DESC_InSecSounds ${LANG_FRENCH} "Fichiers son GCS (pour les notifications sonores)."
LangString DESC_InSecLocalization ${LANG_FRENCH} "Fichiers de localisation (langues supportées)."
LangString DESC_InSecFirmware ${LANG_FRENCH} "OpenPilot firmware binaries."
LangString DESC_InSecUtilities ${LANG_FRENCH} "OpenPilot utilities (Matlab log parser)."
LangString DESC_InSecDrivers ${LANG_FRENCH} "OpenPilot hardware driver files (optional OpenPilot CDC driver)."
LangString DESC_InSecInstallDrivers ${LANG_FRENCH} "Install OpenPilot CDC driver (optional)."
LangString DESC_InSecShortcuts ${LANG_FRENCH} "Installer les raccourcis dans le menu démarrer."
;--------------------------------

3
package/winx86/translations/strings_ru.nsh
View File

@ -31,6 +31,9 @@
LangString DESC_InSecSounds ${LANG_RUSSIAN} "Звуковые файлы (используются для звуковых уведомлений о событиях)."
LangString DESC_InSecLocalization ${LANG_RUSSIAN} "Файлы языковой поддержки (для поддерживаемых языков)."
LangString DESC_InSecFirmware ${LANG_RUSSIAN} "Файлы прошивок OpenPilot."
LangString DESC_InSecUtilities ${LANG_RUSSIAN} "Утилиты (конвертор логов для Matlab)."
LangString DESC_InSecDrivers ${LANG_RUSSIAN} "Файлы драйверов (опциональный драйвер CDC порта)."
LangString DESC_InSecInstallDrivers ${LANG_RUSSIAN} "Установка опционального OpenPilot CDC драйвера."
LangString DESC_InSecShortcuts ${LANG_RUSSIAN} "Установка ярлыков для приложения."
;--------------------------------

3
package/winx86/translations/strings_zh_CN.nsh
View File

@ -31,6 +31,9 @@
LangString DESC_InSecSounds ${LANG_TRADCHINESE} "地面站音频文件（用于对于特定事件的提醒）."
LangString DESC_InSecLocalization ${LANG_TRADCHINESE} "地面站本土化（适用于它所支持的语言）."
LangString DESC_InSecFirmware ${LANG_TRADCHINESE} "OpenPilot firmware binaries."
LangString DESC_InSecUtilities ${LANG_TRADCHINESE} "OpenPilot utilities (Matlab log parser)."
LangString DESC_InSecDrivers ${LANG_TRADCHINESE} "OpenPilot hardware driver files (optional OpenPilot CDC driver)."
LangString DESC_InSecInstallDrivers ${LANG_TRADCHINESE} "Install OpenPilot CDC driver (optional)."
LangString DESC_InSecShortcuts ${LANG_TRADCHINESE} "安装开始菜单的快捷方式."
;--------------------------------

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