Created a new UAVObject utility plugin to make UAVObject access much easier for all plugins

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2829 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/openpilotgcs/src/plugins/plugins.pro

@@ -49,6 +49,7 @@ plugin_uavtalk.depends += plugin_coreplugin
 plugin_opmap.subdir = opmap
 plugin_opmap.depends = plugin_coreplugin
 plugin_opmap.depends += plugin_uavobjects
+plugin_opmap.depends += plugin_uavobjectutil
 SUBDIRS += plugin_opmap
 
 # Scope UAVGadget
@@ -162,11 +163,17 @@ plugin_pipxtreme.depends += plugin_uavobjects
 plugin_pipxtreme.depends += plugin_rawhid
 SUBDIRS += plugin_pipxtreme
 
-#Scope2 gadget
+#Scope OpenGL Gadget
-#plugin_scope2.subdir = scope2
+#plugin_scopeogl.subdir = scopeogl
-#plugin_scope2.depends = plugin_coreplugin
+#plugin_scopeogl.depends = plugin_coreplugin
-#plugin_scope2.depends += plugin_uavobjects
+#plugin_scopeogl.depends += plugin_uavobjects
-#SUBDIRS += plugin_scope2
+#SUBDIRS += plugin_scopeogl
+
+# UAV Object Utility plugin
+plugin_uavobjectutil.subdir = uavobjectutil
+plugin_uavobjectutil.depends = plugin_coreplugin
+plugin_uavobjectutil.depends += plugin_uavobjects
+SUBDIRS += plugin_uavobjectutil
 
 # Magic Waypoint gadget
 plugin_magicwaypoint.subdir = magicwaypoint

ground/openpilotgcs/src/plugins/uavobjectutil/UAVObjectUtil.pluginspec

@@ -0,0 +1,10 @@
+<plugin name="UAVObjectUtil" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2010 OpenPilot Project</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>Easy access to UAVOBjects</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+    </dependencyList>
+</plugin> 

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pri

@@ -0,0 +1,6 @@
+include(uavobjectutil_dependencies.pri)
+
+# Add the include path to the built-in uavobject include files.
+INCLUDEPATH += $$PWD
+
+LIBS *= -l$$qtLibraryTarget(UAVObjectUtil)

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil.pro

@@ -0,0 +1,14 @@
+TEMPLATE = lib
+TARGET = UAVObjectUtil
+DEFINES += UAVOBJECTUTIL_LIBRARY
+include(../../openpilotgcsplugin.pri)
+include(uavobjectutil_dependencies.pri)
+
+HEADERS += uavobjectutil_global.h \
+	uavobjectutilmanager.h \
+    uavobjectutilplugin.h
+
+SOURCES += uavobjectutilmanager.cpp \
+    uavobjectutilplugin.cpp
+
+OTHER_FILES += UAVObjectUtil.pluginspec

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil_dependencies.pri

@@ -0,0 +1,3 @@
+include(../../plugins/coreplugin/coreplugin.pri)
+include(../../libs/utils/utils.pri)
+include(../../plugins/uavobjects/uavobjects.pri)

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutil_global.h

@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectutil_global.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectUtilPlugin UAVObjectUtil Plugin
+ * @{
+ * @brief The UAVUObjectUtil 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef UAVOBJECTUTIL_GLOBAL_H
+#define UAVOBJECTUTIL_GLOBAL_H
+
+#include <QtCore/qglobal.h>
+
+#if defined(UAVOBJECTUTIL_LIBRARY)
+#  define UAVOBJECTUTIL_EXPORT Q_DECL_EXPORT
+#else
+#  define UAVOBJECTUTIL_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp

@@ -0,0 +1,195 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectutilmanager.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectUtilPlugin UAVObjectUtil Plugin
+ * @{
+ * @brief      The UAVUObjectUtil 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "uavobjectutilmanager.h"
+
+#include "utils/homelocationutil.h"
+
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+
+#include <QMutexLocker>
+#include <QDebug>
+
+UAVObjectUtilManager::UAVObjectUtilManager()
+{
+    mutex = new QMutex(QMutex::Recursive);
+}
+
+UAVObjectUtilManager::~UAVObjectUtilManager()
+{
+	if (mutex)
+	{
+		delete mutex;
+		mutex = NULL;
+	}
+}
+
+// ******************************
+// HomeLocation
+
+int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
+{
+	double ECEF[3];
+	double RNE[9];
+	double Be[3];
+
+	QMutexLocker locker(mutex);
+
+	if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
+		return -1;	// error
+
+	// ******************
+	// save the new home location details
+
+	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+	if (!pm) return -2;
+
+	UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
+	if (!obm) return -3;
+
+	UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
+	if (!obj) return -4;
+
+	UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
+	if (!ECEF_field) return -5;
+
+	UAVObjectField *RNE_field = obj->getField(QString("RNE"));
+	if (!RNE_field) return -6;
+
+	UAVObjectField *Be_field = obj->getField(QString("Be"));
+	if (!Be_field) return -7;
+
+	obj->getField("Latitude")->setDouble(LLA[0] * 10e6);
+	obj->getField("Longitude")->setDouble(LLA[1] * 10e6);
+	obj->getField("Altitude")->setDouble(LLA[2]);
+
+	for (int i = 0; i < 3; i++)
+		ECEF_field->setDouble(ECEF[i] * 100, i);
+
+	for (int i = 0; i < 9; i++)
+		RNE_field->setDouble(RNE[i], i);
+
+	for (int i = 0; i < 3; i++)
+		Be_field->setDouble(Be[i], i);
+
+	obj->getField("Set")->setValue("TRUE");
+
+	obj->updated();
+
+	// ******************
+	// save the new location to SD card
+
+	if (save_to_sdcard)
+	{
+//		saveObjectToSD(obj);
+	}
+
+	// ******************
+	// debug
+
+	qDebug() << "setting HomeLocation UAV Object .. " << endl;
+	QString s;
+	s = "        LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
+	qDebug() << s << endl;
+	s = "        ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
+	qDebug() << s << endl;
+	s = "        RNE  ";  for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
+	qDebug() << s << endl;
+	s = "        Be   ";  for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
+	qDebug() << s << endl;
+
+	// ******************
+
+	return 0;	// OK
+}
+
+int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
+{
+	QMutexLocker locker(mutex);
+
+	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+	if (!pm) return -1;
+
+	UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
+	if (!obm) return -2;
+
+	UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
+	if (!obj) return -3;
+
+	set = obj->getField("Set")->getValue().toBool();
+
+	LLA[0] = obj->getField("Latitude")->getDouble();
+	LLA[1] = obj->getField("Longitude")->getDouble();
+	LLA[2] = obj->getField("Altitude")->getDouble();
+
+	return 0;	// OK
+}
+
+int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
+{
+	QMutexLocker locker(mutex);
+
+	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+	if (!pm) return -1;
+
+	UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
+	if (!obm) return -2;
+
+	UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
+	if (!obj) return -3;
+
+	UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
+	if (!ECEF_field) return -4;
+
+	UAVObjectField *RNE_field = obj->getField(QString("RNE"));
+	if (!RNE_field) return -5;
+
+	UAVObjectField *Be_field = obj->getField(QString("Be"));
+	 if (!Be_field) return -6;
+
+	set = obj->getField("Set")->getValue().toBool();
+
+	LLA[0] = obj->getField("Latitude")->getDouble();
+	LLA[1] = obj->getField("Longitude")->getDouble();
+	LLA[2] = obj->getField("Altitude")->getDouble();
+
+	for (int i = 0; i < 3; i++)
+		ECEF[i] = ECEF_field->getDouble(i);
+
+	for (int i = 0; i < 9; i++)
+		RNE[i] = RNE_field->getDouble(i);
+
+	for (int i = 0; i < 3; i++)
+		Be[i] = Be_field->getDouble(i);
+
+	return 0;	// OK
+}
+
+// ******************************

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h

@@ -0,0 +1,55 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectmanager.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectsPlugin UAVObjects Plugin
+ * @{
+ * @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 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef UAVOBJECTUTILMANAGER_H
+#define UAVOBJECTUTILMANAGER_H
+
+#include "uavobjectutil_global.h"
+
+#include <QtGlobal>
+#include <QObject>
+#include <QMutex>
+
+class UAVOBJECTUTIL_EXPORT UAVObjectUtilManager: public QObject
+{
+    Q_OBJECT
+
+public:
+	UAVObjectUtilManager();
+	~UAVObjectUtilManager();
+
+	int setHomeLocation(double LLA[3], bool save_to_sdcard);
+	int getHomeLocation(bool &set, double LLA[3]);
+	int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
+
+private:
+	QMutex *mutex;
+
+};
+
+
+#endif

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilplugin.cpp

@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectutilplugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectUtilPlugin UAVObjectUtil Plugin
+ * @{
+ * @brief      The UAVUObjectUtil 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 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "uavobjectutilplugin.h"
+
+UAVObjectUtilPlugin::UAVObjectUtilPlugin()
+{
+
+}
+
+UAVObjectUtilPlugin::~UAVObjectUtilPlugin()
+{
+
+}
+
+void UAVObjectUtilPlugin::extensionsInitialized()
+{
+
+}
+
+bool UAVObjectUtilPlugin::initialize(const QStringList & arguments, QString * errorString)
+{
+	Q_UNUSED(arguments)
+	Q_UNUSED(errorString)
+
+	// Create object manager and expose object
+	UAVObjectUtilManager *objUtilMngr = new UAVObjectUtilManager();
+	addAutoReleasedObject(objUtilMngr);
+
+	// Initialize UAVObjects
+//	UAVObjectUtilInitialize(objMngr);
+
+
+    return true;
+}
+
+void UAVObjectUtilPlugin::shutdown()
+{
+
+}
+
+Q_EXPORT_PLUGIN(UAVObjectUtilPlugin)

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilplugin.h

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjectutilplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectUtilPlugin UAVObjectUtil Plugin
+ * @{
+ * @brief The UAVUObjectUtil 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 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef UAVOBJECTUTILPLUGIN_H
+#define UAVOBJECTUTILPLUGIN_H
+
+#include "uavobjectutil_global.h"
+#include <extensionsystem/iplugin.h>
+#include <QtPlugin>
+#include "uavobjectutilmanager.h"
+
+class UAVOBJECTUTIL_EXPORT UAVObjectUtilPlugin: public ExtensionSystem::IPlugin
+{
+    Q_OBJECT
+
+public:
+	UAVObjectUtilPlugin();
+	~UAVObjectUtilPlugin();
+
+    void extensionsInitialized();
+    bool initialize(const QStringList & arguments, QString * errorString);
+    void shutdown();
+};
+
+#endif