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OP-48 Flight/UAVObjects Add access mode field in the metadata. This field can be used to disable local UAVObject updates in the flight or GCS software. It is transparent to any modules and plug-ins, the access control is done by the UAVObjectManager. This functionality is needed for the HITL simulation since certain objects that are normally updated by the flight software (e.g. AttitudeActual, Airspeed etc) will now need to be updated by the GCS. The modules reading those objects do not need to know if the object is updated by the GCS or by the flight software, when HITL is enabled it is transparent to the modules.

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NOTE: Delete any metaobjects that you may have saved in the SD card (delete all .obj files). 


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@643 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-05-20 00:58:40 +00:00 committed by vassilis
parent c4832e3436
commit e3556a3f31
21 changed files with 62 additions and 0 deletions
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2
flight/OpenPilot/UAVObjects/actuatorcommand.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;

2
flight/OpenPilot/UAVObjects/actuatordesired.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;

2
flight/OpenPilot/UAVObjects/actuatorsettings.c
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@ -117,6 +117,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/attitudedesired.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;

2
flight/OpenPilot/UAVObjects/exampleobject1.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/exampleobject2.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 100;

2
flight/OpenPilot/UAVObjects/examplesettings.c
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@ -80,6 +80,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/flighttelemetrystats.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 5000;

2
flight/OpenPilot/UAVObjects/gcstelemetrystats.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/gpsobject.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;

10
flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
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@ -46,6 +46,8 @@ typedef enum {
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*/
typedef struct {
uint8_t access; /** Defines the access level for the local transactions (readonly and readwrite) */
uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
@ -72,6 +74,14 @@ typedef enum {
#define EV_MASK_ALL 0
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL)
/**
* Access types
*/
typedef enum {
ACCESS_READWRITE = 0,
ACCESS_READONLY = 1
} UAVObjAccessType;
/**
* Event message, this structure is sent in the event queue each time an event is generated
*/

2
flight/OpenPilot/UAVObjects/manualcontrolcommand.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 3000;

2
flight/OpenPilot/UAVObjects/manualcontrolsettings.c
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@ -107,6 +107,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/objectpersistence.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/stabilizationsettings.c
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@ -80,6 +80,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/systemalarms.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 4000;

2
flight/OpenPilot/UAVObjects/systemsettings.c
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@ -78,6 +78,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

2
flight/OpenPilot/UAVObjects/systemstats.c
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@ -77,6 +77,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;

2
flight/OpenPilot/UAVObjects/telemetrysettings.c
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@ -78,6 +78,8 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;

14
flight/OpenPilot/UAVObjects/uavobjectmanager.c
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@ -102,6 +102,8 @@ int32_t UAVObjInitialize()
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
@ -995,6 +997,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dat
{
ObjectList* objEntry;
ObjectInstList* instEntry;
UAVObjMetadata* mdata;
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1002,6 +1005,17 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dat
// Cast to object info
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances->data);
if ( mdata->access == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
}
}
// Get instance information
instEntry = getInstance(objEntry, instId);
if ( instEntry == NULL )

2
flight/OpenPilot/UAVObjects/uavobjecttemplate.c
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@ -77,6 +77,8 @@ $(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.telemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);