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Code Issues Releases Activity

OP-54: GCS\UAVObjects added new field types (unsigned, enum and string) and refactored UAVObjectFields to use templates

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@416 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-04-01 02:00:19 +00:00 committed by vassilis
parent 26377a8418
commit fe212a22e7
20 changed files with 743 additions and 488 deletions
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20
ground/src/plugins/uavobjects/exampleobject.cpp
View File

@ -36,10 +36,14 @@ ExampleObject::ExampleObject(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, N
{
// Create fields
QList<UAVObjectField*> fields;
fields.append(new UAVObjectField(QString("field1"), QString("unit1"), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("field2"), QString("unit2"), UAVObjectField::FIELDTYPE_INT16, 1));
fields.append(new UAVObjectField(QString("field3"), QString("unit3"), UAVObjectField::FIELDTYPE_FLOAT32, 4));
fields.append(new UAVObjectField(QString("field4"), QString("unit4"), UAVObjectField::FIELDTYPE_INT32, 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("field1"), QString("unit1"), 1));
fields.append(new UAVObjectFieldPrimitives<qint16>(QString("field2"), QString("unit2"), 1));
fields.append(new UAVObjectFieldPrimitives<qint32>(QString("field3"), QString("unit3"), 1));
fields.append(new UAVObjectFieldPrimitives<float>(QString("field4"), QString("unit4"), 4));
fields.append(new UAVObjectFieldPrimitives<quint8>(QString("field5"), QString("unit5"), 1));
fields.append(new UAVObjectFieldPrimitives<quint16>(QString("field6"), QString("unit6"), 1));
fields.append(new UAVObjectFieldPrimitives<quint32>(QString("field7"), QString("unit7"), 1));
fields.append(new UAVObjectFieldPrimitives<quint8>(QString("field8"), QString("unit8"), 1));
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
@ -49,11 +53,11 @@ UAVObject::Metadata ExampleObject::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.gcsTelemetryUpdatePeriod = 100;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.flightTelemetryUpdatePeriod = 100;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
return metadata;
@ -61,7 +65,7 @@ UAVObject::Metadata ExampleObject::getDefaultMetadata()
ExampleObject::DataFields ExampleObject::getData()
{
QMutexLocker locker(mutex);
QMutexLocker locker(mutex);
return data;
}

104
ground/src/plugins/uavobjects/exampleobject.h
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
*
* @file exampleobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleObject object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: exampleobject.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*
* @file exampleobject.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleObject object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: exampleobject.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -28,38 +28,50 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef EXAMPLEOBJECT_H
#define EXAMPLEOBJECT_H
#include "uavdataobject.h"
class ExampleObject: public UAVDataObject
{
public:
typedef struct {
#ifndef EXAMPLEOBJECT_H
#define EXAMPLEOBJECT_H
#include "uavdataobject.h"
#include "uavobjectfieldprimitives.h"
class ExampleObject: public UAVDataObject
{
public:
// Field structure
typedef struct {
qint8 field1;
qint16 field2;
float field3[4];
qint32 field4;
} __attribute__((packed)) DataFields;
static const quint32 OBJID = 3048370380U;
static const QString NAME;
static const bool ISSINGLEINST = 0;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
ExampleObject();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // EXAMPLEOBJECT_H
qint32 field3;
float field4[4];
quint8 field5;
quint16 field6;
quint32 field7;
quint8 field8;
} __attribute__((packed)) DataFields;
// Enumeration types
typedef enum { FIELD8_OPTION1=0, FIELD8_OPTION2=1, } FIELD8Enum;
// Constants
static const quint32 OBJID = 1785231914U;
static const QString NAME;
static const bool ISSINGLEINST = 0;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
ExampleObject();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // EXAMPLEOBJECT_H

10
ground/src/plugins/uavobjects/examplesettings.cpp
View File

@ -36,10 +36,10 @@ ExampleSettings::ExampleSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
{
// Create fields
QList<UAVObjectField*> fields;
fields.append(new UAVObjectField(QString("setting1"), QString("unit1"), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("setting2"), QString("unit2"), UAVObjectField::FIELDTYPE_INT16, 1));
fields.append(new UAVObjectField(QString("setting3"), QString("unit3"), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("setting4"), QString("unit4"), UAVObjectField::FIELDTYPE_INT32, 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("setting1"), QString("unit1"), 1));
fields.append(new UAVObjectFieldPrimitives<qint16>(QString("setting2"), QString("unit2"), 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("setting3"), QString("unit3"), 1));
fields.append(new UAVObjectFieldPrimitives<qint32>(QString("setting4"), QString("unit4"), 1));
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
@ -61,7 +61,7 @@ UAVObject::Metadata ExampleSettings::getDefaultMetadata()
ExampleSettings::DataFields ExampleSettings::getData()
{
QMutexLocker locker(mutex);
QMutexLocker locker(mutex);
return data;
}

95
ground/src/plugins/uavobjects/examplesettings.h
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
*
* @file examplesettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: examplesettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*
* @file examplesettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ExampleSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: examplesettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -28,38 +28,45 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef EXAMPLESETTINGS_H
#define EXAMPLESETTINGS_H
#include "uavdataobject.h"
class ExampleSettings: public UAVDataObject
{
public:
typedef struct {
#ifndef EXAMPLESETTINGS_H
#define EXAMPLESETTINGS_H
#include "uavdataobject.h"
#include "uavobjectfieldprimitives.h"
class ExampleSettings: public UAVDataObject
{
public:
// Field structure
typedef struct {
qint8 setting1;
qint16 setting2;
qint8 setting3;
qint32 setting4;
} __attribute__((packed)) DataFields;
static const quint32 OBJID = 3555345034U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;
static const quint32 NUMBYTES = sizeof(DataFields);
ExampleSettings();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // EXAMPLESETTINGS_H
} __attribute__((packed)) DataFields;
// Enumeration types
// Constants
static const quint32 OBJID = 3555345034U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
ExampleSettings();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // EXAMPLESETTINGS_H

52
ground/src/plugins/uavobjects/tests/testobject1.cpp
View File

@ -1,52 +0,0 @@
#include "testobject1.h"
const QString TestObject1::NAME = QString("TestObject1");
TestObject1::TestObject1(): UAVDataObject(OBJID, SINGLEINST, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
fields.append(new UAVObjectField(QString("Field1"), QString("unit1"), UAVObjectField::FIELDTYPE_INT16, 1));
fields.append(new UAVObjectField(QString("Field2"), QString("unit2"), UAVObjectField::FIELDTYPE_FLOAT32, 3));
fields.append(new UAVObjectField(QString("Field3"), QString("unit3"), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("Field4"), QString("unit4"), UAVObjectField::FIELDTYPE_INT32, 1));
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
}
UAVObject::Metadata TestObject1::getDefaultMetadata()
{
// Create metadata
UAVObject::Metadata metadata;
metadata.gcsTelemetryAcked = true;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.gcsTelemetryUpdatePeriod = 200;
metadata.flightTelemetryAcked = true;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
return metadata;
}
TestObject1::DataFields TestObject1::getData()
{
QMutexLocker locker(mutex);
return data;
}
void TestObject1::setData(DataFields& data)
{
QMutexLocker locker(mutex);
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
UAVDataObject* TestObject1::clone(quint32 instID)
{
TestObject1* obj = new TestObject1();
obj->initialize(instID, this->getMetaObject());
return obj;
}

33
ground/src/plugins/uavobjects/tests/testobject1.h
View File

@ -1,33 +0,0 @@
#ifndef TESTOBJECT1_H
#define TESTOBJECT1_H
#include "..\uavdataobject.h"
class TestObject1: public UAVDataObject
{
public:
typedef struct {
qint16 field1;
float field2[3];
qint8 field3;
qint32 field4;
} __attribute__((packed)) DataFields;
static const quint32 OBJID = 0x0005;
static const QString NAME;
static const bool SINGLEINST = false;
static const quint32 NUMBYTES = sizeof(DataFields);
TestObject1();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // TESTOBJECT1_H

30
ground/src/plugins/uavobjects/tests/uavobjectstest.cpp
View File

@ -68,11 +68,11 @@ void UAVObjectsTest::runTest()
// Set data
ExampleObject::DataFields data = obj1->getData();
data.field1 = 1;
data.field3[0] = 2.1;
data.field3[1] = 2.2;
data.field3[2] = 2.3;
data.field2 = 3;
data.field4 = 4;
data.field2 = 2;
data.field3 = 3;
data.field4[0] = 4.1;
data.field4[1] = 4.2;
data.field4[2] = 4.3;
obj1->setData(data);
// Set metadata
@ -93,22 +93,22 @@ void UAVObjectsTest::runTest()
quint8* buf = new quint8[obj1->getNumBytes()];
obj1->pack(buf);
data.field1 = 10;
data.field3[0] = 20.1;
data.field3[1] = 20.2;
data.field3[2] = 20.3;
data.field2 = 30;
data.field4 = 40;
data.field2 = 20;
data.field3 = 30;
data.field4[0] = 40.1;
data.field4[1] = 40.2;
data.field4[2] = 40.3;
obj1->setData(data);
obj1->unpack(buf);
// Save, load testing
obj1->save();
data.field1 = 10;
data.field3[0] = 20.1;
data.field3[1] = 20.2;
data.field3[2] = 20.3;
data.field2 = 30;
data.field4 = 40;
data.field2 = 20;
data.field3 = 30;
data.field4[0] = 40.1;
data.field4[1] = 40.2;
data.field4[2] = 40.3;
obj1->setData(data);
obj1->load();

10
ground/src/plugins/uavobjects/tests/uavobjectstest.pro
View File

@ -13,11 +13,17 @@ SOURCES += main.cpp \
../uavmetaobject.cpp \
../uavdataobject.cpp \
uavobjectstest.cpp \
../exampleobject.cpp
../exampleobject.cpp \
../uavobjectfieldprimitives.cpp \
../uavobjectfieldenum.cpp \
../uavobjectfieldstring.cpp
HEADERS += ../uavobjectmanager.h \
../uavobjectfield.h \
../uavobject.h \
../uavmetaobject.h \
../uavdataobject.h \
uavobjectstest.h \
../exampleobject.h
../exampleobject.h \
../uavobjectfieldprimitives.h \
../uavobjectfieldenum.h \
../uavobjectfieldstring.h

17
ground/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -26,6 +26,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavmetaobject.h"
#include "uavobjectfieldprimitives.h"
/**
* Constructor
@ -45,14 +46,14 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
ownMetadata.loggingUpdatePeriod = 0;
// Setup fields
QList<UAVObjectField*> fields;
fields.append(new UAVObjectField(QString("FlightTelemetryAcked"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("FlightTelemetryUpdateMode"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("FlightTelemetryUpdatePeriod"), QString("ms"), UAVObjectField::FIELDTYPE_INT32, 1));
fields.append(new UAVObjectField(QString("GCSTelemetryAcked"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("GCSTelemetryUpdateMode"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("GCSTelemetryUpdatePeriod"), QString("ms"), UAVObjectField::FIELDTYPE_INT32, 1));
fields.append(new UAVObjectField(QString("LoggingUpdateMode"), QString(""), UAVObjectField::FIELDTYPE_INT8, 1));
fields.append(new UAVObjectField(QString("LoggingUpdatePeriod"), QString("ms"), UAVObjectField::FIELDTYPE_INT32, 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("FlightTelemetryAcked"), QString(""), 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("FlightTelemetryUpdateMode"), QString(""), 1));
fields.append(new UAVObjectFieldPrimitives<qint32>(QString("FlightTelemetryUpdatePeriod"), QString("ms"), 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("GCSTelemetryAcked"), QString(""), 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("GCSTelemetryUpdateMode"), QString(""), 1));
fields.append(new UAVObjectFieldPrimitives<qint32>(QString("GCSTelemetryUpdatePeriod"), QString("ms"), 1));
fields.append(new UAVObjectFieldPrimitives<qint8>(QString("LoggingUpdateMode"), QString(""), 1));
fields.append(new UAVObjectFieldPrimitives<qint32>(QString("LoggingUpdatePeriod"), QString("ms"), 1));
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));

208
ground/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -28,32 +28,15 @@
#include "uavobjectfield.h"
#include <QtEndian>
UAVObjectField::UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements)
UAVObjectField::UAVObjectField(const QString& name, const QString& units, quint32 numElements)
{
// Copy params
this->name = name;
this->units = units;
this->type = type;
this->numElements = numElements;
this->offset = 0;
this->data = NULL;
this->obj = NULL;
// Calculate the number of bytes per element based on the type
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
this->numBytesPerElement = 1;
break;
case FIELDTYPE_INT16:
this->numBytesPerElement = 2;
break;
case FIELDTYPE_INT32:
case FIELDTYPE_FLOAT32:
this->numBytesPerElement = 4;
break;
default:
this->numBytesPerElement = 0;
}
}
void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)
@ -62,6 +45,7 @@ void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj
this->offset = dataOffset;
this->obj = obj;
clear();
initializeValues();
}
UAVObject* UAVObjectField::getObject()
@ -74,7 +58,7 @@ void UAVObjectField::clear()
if (data != NULL)
{
QMutexLocker locker(obj->getMutex());
for (unsigned int n = 0; n < numBytesPerElement*numElements; ++n)
for (unsigned int n = 0; n < getNumBytesElement()*numElements; ++n)
{
data[offset + n] = 0;
}
@ -91,188 +75,11 @@ QString UAVObjectField::getUnits()
return units;
}
UAVObjectField::FieldType UAVObjectField::getType()
{
return type;
}
quint32 UAVObjectField::getNumElements()
{
return numElements;
}
qint32 UAVObjectField::pack(quint8* dataOut)
{
QMutexLocker locker(obj->getMutex());
// Pack each element in output buffer
for (quint32 index = 0; index < numElements; ++index)
{
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
dataOut[numBytesPerElement*index] = data[offset + numBytesPerElement*index];
break;
case FIELDTYPE_INT16:
qint16 value16;
memcpy(&value16, &data[offset + numBytesPerElement*index], 2);
qToBigEndian<qint16>(value16, &dataOut[numBytesPerElement*index]);
break;
case FIELDTYPE_INT32:
case FIELDTYPE_FLOAT32:
qint32 value32;
memcpy(&value32, &data[offset + numBytesPerElement*index], 4);
qToBigEndian<qint32>(value32, &dataOut[numBytesPerElement*index]);
break;
default:
return 0;
}
}
// Done
return getNumBytes();
}
qint32 UAVObjectField::unpack(const quint8* dataIn)
{
QMutexLocker locker(obj->getMutex());
// Pack each element in output buffer
for (quint32 index = 0; index < numElements; ++index)
{
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
data[offset + numBytesPerElement*index] = dataIn[numBytesPerElement*index];
break;
case FIELDTYPE_INT16:
qint16 value16;
value16 = qFromBigEndian<qint16>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value16, 2);
break;
case FIELDTYPE_INT32:
case FIELDTYPE_FLOAT32:
qint32 value32;
value32 = qFromBigEndian<qint32>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value32, 4);
break;
default:
return 0;
}
}
// Done
return getNumBytes();
}
double UAVObjectField::getValue(quint32 index)
{
double ret = 0.0;
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
// Get value from data
QMutexLocker locker(obj->getMutex());
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
qint8 value8;
value8 = data[offset + numBytesPerElement*index];
ret = (double)value8;
break;
case FIELDTYPE_INT16:
qint16 value16;
memcpy(&value16, &data[offset + numBytesPerElement*index], 2);
ret = (double)value16;
break;
case FIELDTYPE_INT32:
qint32 value32;
memcpy(&value32, &data[offset + numBytesPerElement*index], 4);
ret = (double)value32;
break;
case FIELDTYPE_FLOAT32:
float valuef;
memcpy(&valuef, &data[offset + numBytesPerElement*index], 4);
ret = (double)valuef;
break;
default:
ret = 0.0;
}
}
return ret;
}
void UAVObjectField::setValue(double value, quint32 index)
{
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
// Set value
QMutexLocker locker(obj->getMutex());
switch (type) {
case FIELDTYPE_CHAR:
case FIELDTYPE_INT8:
data[offset + numBytesPerElement*index] = (qint8)value;
break;
case FIELDTYPE_INT16:
qint16 value16;
value16 = (qint16)value;
memcpy(&data[offset + numBytesPerElement*index], &value16, 2);
break;
case FIELDTYPE_INT32:
qint32 value32;
value32 = (qint32)value;
memcpy(&data[offset + numBytesPerElement*index], &value32, 4);
break;
case FIELDTYPE_FLOAT32:
float valuef;
valuef = (float)value;
memcpy(&data[offset + numBytesPerElement*index], &valuef, 4);
break;
}
}
// Emit updated event
emit fieldUpdated(this);
}
double UAVObjectField::getValue()
{
return getValue(0);
}
void UAVObjectField::setValue(double value)
{
setValue(value, 0);
}
QString UAVObjectField::getString()
{
QString str;
if (data != NULL)
{
QMutexLocker locker(obj->getMutex());
data[offset + numElements - 1] = '\0'; // null terminate
if (type == FIELDTYPE_CHAR)
{
str.append((char*)&data[offset]);
}
}
return str;
}
void UAVObjectField::setString(QString& str)
{
QByteArray barray = str.toAscii();
if (data != NULL)
{
QMutexLocker locker(obj->getMutex());
for (int n = 0; n < barray.length() && n < (int)numElements; ++n)
{
data[offset+n] = barray[n];
}
data[offset + numElements - 1] = '\0'; // null terminate
}
}
quint32 UAVObjectField::getDataOffset()
{
return offset;
@ -280,12 +87,7 @@ quint32 UAVObjectField::getDataOffset()
quint32 UAVObjectField::getNumBytes()
{
return numBytesPerElement * numElements;
}
quint32 UAVObjectField::getNumBytesElement()
{
return numBytesPerElement;
return getNumBytesElement() * numElements;
}
QString UAVObjectField::toString()
@ -294,7 +96,7 @@ QString UAVObjectField::toString()
sout.append ( QString("%1: [ ").arg(name) );
for (unsigned int n = 0; n < numElements; ++n)
{
sout.append( QString("%1 ").arg(getValue(n)) );
sout.append( QString("%1 ").arg(getDouble(n)) );
}
sout.append( QString("] %1\n").arg(units) );
return sout;

33
ground/src/plugins/uavobjects/uavobjectfield.h
View File

@ -38,46 +38,29 @@ class UAVOBJECTS_EXPORT UAVObjectField: public QObject
Q_OBJECT
public:
/**
* Recognized field types
*/
typedef enum {
FIELDTYPE_INT8 = 0,
FIELDTYPE_INT16,
FIELDTYPE_INT32,
FIELDTYPE_FLOAT32,
FIELDTYPE_CHAR
} FieldType;
UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements);
UAVObjectField(const QString& name, const QString& units, quint32 numElements);
void initialize(quint8* data, quint32 dataOffset, UAVObject* obj);
virtual void initializeValues() = 0;
UAVObject* getObject();
QString getName();
QString getUnits();
FieldType getType();
quint32 getNumElements();
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
double getValue();
void setValue(double value);
double getValue(quint32 index);
void setValue(double value, quint32 index);
QString getString();
void setString(QString& str);
virtual qint32 pack(quint8* dataOut) = 0;
virtual qint32 unpack(const quint8* dataIn) = 0;
virtual double getDouble(quint32 index = 0) = 0;
virtual void setDouble(double value, quint32 index = 0) = 0;
quint32 getDataOffset();
quint32 getNumBytes();
quint32 getNumBytesElement();
virtual quint32 getNumBytesElement() = 0;
QString toString();
signals:
void fieldUpdated(UAVObjectField* field);
private:
protected:
QString name;
QString units;
FieldType type;
quint32 numElements;
quint32 numBytesPerElement;
quint32 offset;
quint8* data;
UAVObject* obj;

69
ground/src/plugins/uavobjects/uavobjectfieldenum.cpp Normal file
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@ -0,0 +1,69 @@
/**
******************************************************************************
*
* @file uavobjectfieldenum.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_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 "uavobjectfieldenum.h"
UAVObjectFieldEnum::UAVObjectFieldEnum(const QString& name, const QString& units, quint32 numElements, QStringList& options):
UAVObjectFieldPrimitives<quint8>(name, units, numElements)
{
this->options = options;
}
QStringList UAVObjectFieldEnum::getOptions()
{
return options;
}
QString UAVObjectFieldEnum::getSelected()
{
return options[getValue()];
}
void UAVObjectFieldEnum::setSelected(QString& val)
{
// Find index of selected value
int index = options.indexOf(val);
if (index >= 0)
{
setValue(index);
}
}
quint8 UAVObjectFieldEnum::getSelectedIndex()
{
return getValue();
}
void UAVObjectFieldEnum::setSelectedIndex(quint8 index)
{
// Check that the index is valid
if (index < options.length())
{
setValue(index);
}
}

49
ground/src/plugins/uavobjects/uavobjectfieldenum.h Normal file
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@ -0,0 +1,49 @@
/**
******************************************************************************
*
* @file uavobjectfieldenum.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_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 UAVOBJECTFIELDENUM_H
#define UAVOBJECTFIELDENUM_H
#include "uavobjects_global.h"
#include "uavobjectfieldprimitives.h"
#include <QStringList>
class UAVOBJECTS_EXPORT UAVObjectFieldEnum: public UAVObjectFieldPrimitives<quint8>
{
public:
UAVObjectFieldEnum(const QString& name, const QString& units, quint32 numElements, QStringList& options);
QStringList getOptions();
QString getSelected();
void setSelected(QString& val);
quint8 getSelectedIndex();
void setSelectedIndex(quint8 index);
private:
QStringList options;
};
#endif // UAVOBJECTFIELDENUM_H

181
ground/src/plugins/uavobjects/uavobjectfieldprimitives.cpp Normal file
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@ -0,0 +1,181 @@
/**
******************************************************************************
*
* @file uavobjectfield.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_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 "uavobjectfieldprimitives.h"
/**
* Constructor
*/
template <typename FType>
UAVObjectFieldPrimitives<FType>::UAVObjectFieldPrimitives(const QString& name, const QString& units, quint32 numElements):
UAVObjectField(name, units, numElements)
{
numBytesPerElement = sizeof(FType);
}
template <typename FType>
void UAVObjectFieldPrimitives<FType>::initializeValues()
{
for (quint32 n = 0; n < numElements; ++n)
{
setValue(0, n);
}
}
/**
* Pack the field in to an array of bytes.
*/
template <typename FType>
qint32 UAVObjectFieldPrimitives<FType>::pack(quint8* dataOut)
{
QMutexLocker locker(obj->getMutex());
// Pack each element in output buffer
for (quint32 index = 0; index < numElements; ++index)
{
FType value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
qToBigEndian<FType>(value, &dataOut[numBytesPerElement*index]);
}
// Done
return getNumBytes();
}
/**
* Unpack the field from an array of bytes.
*/
template <typename FType>
qint32 UAVObjectFieldPrimitives<FType>::unpack(const quint8* dataIn)
{
QMutexLocker locker(obj->getMutex());
// Pack each element in output buffer
for (quint32 index = 0; index < numElements; ++index)
{
FType value;
value = qFromBigEndian<FType>(&dataIn[numBytesPerElement*index]);
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
// Done
return getNumBytes();
}
/**
* Get the field value as a double.
*/
template <typename FType>
double UAVObjectFieldPrimitives<FType>::getDouble(quint32 index)
{
QMutexLocker locker(obj->getMutex());
double ret = 0.0;
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
FType value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
ret = (double)value;
}
// Done
return ret;
}
/**
* Set the field value from a double.
*/
template <typename FType>
void UAVObjectFieldPrimitives<FType>::setDouble(double value, quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
FType tmpValue;
tmpValue = (FType)value;
memcpy(&data[offset + numBytesPerElement*index], &tmpValue, numBytesPerElement);
}
// Emit updated event
emit fieldUpdated(this);
}
/**
* Get the number of bytes per field element.
*/
template <typename FType>
quint32 UAVObjectFieldPrimitives<FType>::getNumBytesElement()
{
return numBytesPerElement;
}
/**
* Get the field value.
*/
template <typename FType>
FType UAVObjectFieldPrimitives<FType>::getValue(quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
FType value;
memcpy(&value, &data[offset + numBytesPerElement*index], numBytesPerElement);
return value;
}
else
{
return 0;
}
}
/**
* Set the field value.
*/
template <typename FType>
void UAVObjectFieldPrimitives<FType>::setValue(FType value, quint32 index)
{
QMutexLocker locker(obj->getMutex());
// Check if index is out of bounds or no data available
if (index < numElements && data != NULL)
{
memcpy(&data[offset + numBytesPerElement*index], &value, numBytesPerElement);
}
// Emit updated event
emit fieldUpdated(this);
}
/**
* Pre-define valid templates
*/
template class UAVObjectFieldPrimitives<qint8>;
template class UAVObjectFieldPrimitives<qint16>;
template class UAVObjectFieldPrimitives<qint32>;
template class UAVObjectFieldPrimitives<quint8>;
template class UAVObjectFieldPrimitives<quint16>;
template class UAVObjectFieldPrimitives<quint32>;
template class UAVObjectFieldPrimitives<float>;

94
ground/src/plugins/uavobjects/uavobjectfieldprimitives.h Normal file
View File

@ -0,0 +1,94 @@
/**
******************************************************************************
*
* @file uavobjectfieldprimitives.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_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 UAVOBJECTFIELDPRIMITIVES_H
#define UAVOBJECTFIELDPRIMITIVES_H
#include "uavobjects_global.h"
#include "uavobjectfield.h"
#include <QtEndian>
template <typename FType>
class UAVOBJECTS_EXPORT UAVObjectFieldPrimitives: public UAVObjectField
{
public:
UAVObjectFieldPrimitives(const QString& name, const QString& units, quint32 numElements);
void initializeValues();
qint32 pack(quint8* dataOut);
qint32 unpack(const quint8* dataIn);
double getDouble(quint32 index = 0);
void setDouble(double value, quint32 index = 0);
quint32 getNumBytesElement();
FType getValue(quint32 index = 0);
void setValue(FType value, quint32 index = 0);
private:
quint32 numBytesPerElement;
};
/**
* Implementation of missing QtEndian templates
*/
template<> inline qint8 qFromBigEndian<qint8>(const uchar *src)
{
return *src;
}
template <> inline void qToBigEndian<qint8>(qint8 src, uchar *dest)
{
*dest = src;
}
template<> inline quint8 qFromBigEndian<quint8>(const uchar *src)
{
return *src;
}
template <> inline void qToBigEndian<quint8>(quint8 src, uchar *dest)
{
*dest = src;
}
template<> inline float qFromBigEndian<float>(const uchar *src)
{
quint32 tmpint;
float tmpfloat;
tmpint = qFromBigEndian<quint32>(src);
memcpy(&tmpfloat, &tmpint, sizeof(quint32));
return tmpfloat;
}
template <> inline void qToBigEndian<float>(float src, uchar *dest)
{
quint32 tmpint;
memcpy(&tmpint, &src, sizeof(quint32));
qToBigEndian<quint32>(tmpint, dest);
}
#endif // UAVOBJECTFIELDPRIMITIVES_H

75
ground/src/plugins/uavobjects/uavobjectfieldstring.cpp Normal file
View File

@ -0,0 +1,75 @@
/**
******************************************************************************
*
* @file uavobjectfieldenum.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_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 "uavobjectfieldstring.h"
UAVObjectFieldString::UAVObjectFieldString(const QString& name, quint32 maxSize):
UAVObjectFieldPrimitives<quint8>(name, QString(""), maxSize)
{
}
QString UAVObjectFieldString::getString()
{
QMutexLocker locker(obj->getMutex());
// Null terminate last element
setValue('\0', numElements - 1);
// Read characters into string until a null is received
QString str;
quint8 ch;
for (quint32 index = 0; index < numElements; ++index)
{
// Get character and check if end of string is received
ch = getValue(index);
if ( ch != '\0' )
{
str.append(ch);
}
else
{
break;
}
}
// Done
return str;
}
void UAVObjectFieldString::setString(QString& str)
{
QMutexLocker locker(obj->getMutex());
// Copy string to data
QByteArray barray = str.toAscii();
quint32 index;
for (index = 0; index < (quint32)barray.length() && index < (numElements-1); ++index)
{
setValue(barray[index], index);
}
// Null terminate
setValue('\0', index);
}

44
ground/src/plugins/uavobjects/uavobjectfieldstring.h Normal file
View File

@ -0,0 +1,44 @@
/**
******************************************************************************
*
* @file uavobjectfieldstring.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
* @brief
* @see The GNU Public License (GPL) Version 3
* @defgroup uavobjects_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 UAVOBJECTFIELDSTRING_H
#define UAVOBJECTFIELDSTRING_H
#include "uavobjects_global.h"
#include "uavobjectfieldprimitives.h"
#include <QStringList>
class UAVOBJECTS_EXPORT UAVObjectFieldString: public UAVObjectFieldPrimitives<quint8>
{
public:
UAVObjectFieldString(const QString& name, quint32 maxSize);
QString getString();
void setString(QString& str);
private:
};
#endif // UAVOBJECTFIELDSTRING_H

10
ground/src/plugins/uavobjects/uavobjects.pro
View File

@ -11,7 +11,10 @@ HEADERS += uavobjects_global.h \
uavobjectsinit.h \
uavobjectsplugin.h \
examplesettings.h \
exampleobject.h
exampleobject.h \
uavobjectfieldprimitives.h \
uavobjectfieldenum.h \
uavobjectfieldstring.h
SOURCES += uavobject.cpp \
uavmetaobject.cpp \
uavobjectmanager.cpp \
@ -20,6 +23,9 @@ SOURCES += uavobject.cpp \
uavobjectsinit.cpp \
uavobjectsplugin.cpp \
examplesettings.cpp \
exampleobject.cpp
exampleobject.cpp \
uavobjectfieldprimitives.cpp \
uavobjectfieldenum.cpp \
uavobjectfieldstring.cpp
DEFINES += UAVOBJECTS_LIBRARY
OTHER_FILES += UAVObjects.pluginspec

2
ground/src/plugins/uavobjects/uavobjecttemplate.cpp
View File

@ -57,7 +57,7 @@ UAVObject::Metadata $(NAME)::getDefaultMetadata()
$(NAME)::DataFields $(NAME)::getData()
{
QMutexLocker locker(mutex);
QMutexLocker locker(mutex);
return data;
}

95
ground/src/plugins/uavobjects/uavobjecttemplate.h
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
*
* @file $(NAMELC).h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the $(NAME) object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: $(XMLFILE).
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*
* @file $(NAMELC).h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the $(NAME) object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: $(XMLFILE).
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -28,34 +28,41 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef $(NAMEUC)_H
#define $(NAMEUC)_H
#include "uavdataobject.h"
class $(NAME): public UAVDataObject
{
public:
typedef struct {
$(DATAFIELDS)
} __attribute__((packed)) DataFields;
static const quint32 OBJID = $(OBJID)U;
static const QString NAME;
static const bool ISSINGLEINST = $(ISSINGLEINST);
static const bool ISSETTINGS = $(ISSETTINGS);
static const quint32 NUMBYTES = sizeof(DataFields);
$(NAME)();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // $(NAMEUC)_H
#ifndef $(NAMEUC)_H
#define $(NAMEUC)_H
#include "uavdataobject.h"
#include "uavobjectfieldprimitives.h"
class $(NAME): public UAVDataObject
{
public:
// Field structure
typedef struct {
$(DATAFIELDS)
} __attribute__((packed)) DataFields;
// Enumeration types
$(DATAENUM)
// Constants
static const quint32 OBJID = $(OBJID)U;
static const QString NAME;
static const bool ISSINGLEINST = $(ISSINGLEINST);
static const bool ISSETTINGS = $(ISSETTINGS);
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
$(NAME)();
DataFields getData();
void setData(DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
private:
DataFields data;
};
#endif // $(NAMEUC)_H