mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-05 16:46:06 +01:00
684 lines
20 KiB
C++
684 lines
20 KiB
C++
/**
|
|
******************************************************************************
|
|
*
|
|
* @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 <QMutexLocker>
|
|
#include <QDebug>
|
|
#include <QEventLoop>
|
|
#include <QTimer>
|
|
#include <objectpersistence.h>
|
|
#include <firmwareiapobj.h>
|
|
|
|
// ******************************
|
|
// constructor/destructor
|
|
|
|
UAVObjectUtilManager::UAVObjectUtilManager()
|
|
{
|
|
mutex = new QMutex(QMutex::Recursive);
|
|
saveState = IDLE;
|
|
failureTimer.stop();
|
|
failureTimer.setSingleShot(true);
|
|
failureTimer.setInterval(1000);
|
|
connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
|
|
}
|
|
|
|
UAVObjectUtilManager::~UAVObjectUtilManager()
|
|
{
|
|
// while (!queue.isEmpty())
|
|
{
|
|
}
|
|
|
|
disconnect();
|
|
|
|
if (mutex)
|
|
{
|
|
delete mutex;
|
|
mutex = NULL;
|
|
}
|
|
}
|
|
|
|
|
|
UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
|
|
Q_ASSERT(objMngr);
|
|
return objMngr;
|
|
}
|
|
|
|
|
|
// ******************************
|
|
// SD card saving
|
|
//
|
|
|
|
/*
|
|
Add a new object to save in the queue
|
|
*/
|
|
void UAVObjectUtilManager::saveObjectToSD(UAVObject *obj)
|
|
{
|
|
// Add to queue
|
|
queue.enqueue(obj);
|
|
qDebug() << "Enqueue object: " << obj->getName();
|
|
|
|
|
|
// If queue length is one, then start sending (call sendNextObject)
|
|
// Otherwise, do nothing, it's sending anyway
|
|
if (queue.length()==1)
|
|
saveNextObject();
|
|
|
|
|
|
}
|
|
|
|
void UAVObjectUtilManager::saveNextObject()
|
|
{
|
|
if ( queue.isEmpty() )
|
|
{
|
|
return;
|
|
}
|
|
|
|
Q_ASSERT(saveState == IDLE);
|
|
|
|
// Get next object from the queue
|
|
UAVObject* obj = queue.head();
|
|
qDebug() << "Request board to save object " << obj->getName();
|
|
|
|
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
|
|
connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
|
|
connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objectPersistenceUpdated(UAVObject *)));
|
|
saveState = AWAITING_ACK;
|
|
if (obj != NULL)
|
|
{
|
|
ObjectPersistence::DataFields data;
|
|
data.Operation = ObjectPersistence::OPERATION_SAVE;
|
|
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
|
|
data.ObjectID = obj->getObjID();
|
|
data.InstanceID = obj->getInstID();
|
|
objper->setData(data);
|
|
objper->updated();
|
|
}
|
|
// Now: we are going to get two "objectUpdated" messages (one coming from GCS, one coming from Flight, which
|
|
// will confirm the object was properly received by both sides) and then one "transactionCompleted" indicating
|
|
// that the Flight side did not only receive the object but it did receive it without error. Last we will get
|
|
// a last "objectUpdated" message coming from flight side, where we'll get the results of the objectPersistence
|
|
// operation we asked for (saved, other).
|
|
}
|
|
|
|
/**
|
|
* @brief Process the transactionCompleted message from Telemetry indicating request sent successfully
|
|
* @param[in] The object just transsacted. Must be ObjectPersistance
|
|
* @param[in] success Indicates that the transaction did not time out
|
|
*
|
|
* After a failed transaction (usually timeout) resends the save request. After a succesful
|
|
* transaction will then wait for a save completed update from the autopilot.
|
|
*/
|
|
void UAVObjectUtilManager::objectPersistenceTransactionCompleted(UAVObject* obj, bool success)
|
|
{
|
|
if(success) {
|
|
Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
|
|
Q_ASSERT(saveState == AWAITING_ACK);
|
|
// Two things can happen:
|
|
// Either the Object Save Request did actually go through, and then we should get in
|
|
// "AWAITING_COMPLETED" mode, or the Object Save Request did _not_ go through, for example
|
|
// because the object does not exist and then we will never get a subsequent update.
|
|
// For this reason, we will arm a 1 second timer to make provision for this and not block
|
|
// the queue:
|
|
saveState = AWAITING_COMPLETED;
|
|
disconnect(obj, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
|
|
failureTimer.start(2000); // Create a timeout
|
|
} else {
|
|
// Can be caused by timeout errors on sending. Forget it and send next.
|
|
qDebug() << "objectPersistenceTranscationCompleted (error)";
|
|
UAVObject *obj = getObjectManager()->getObject(ObjectPersistence::NAME);
|
|
obj->disconnect(this);
|
|
queue.dequeue(); // We can now remove the object, it failed anyway.
|
|
saveState = IDLE;
|
|
emit saveCompleted(obj->getField("ObjectID")->getValue().toInt(), false);
|
|
saveNextObject();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Object persistence operation failed, i.e. we never got an update
|
|
* from the board saying "completed".
|
|
*/
|
|
void UAVObjectUtilManager::objectPersistenceOperationFailed()
|
|
{
|
|
if(saveState == AWAITING_COMPLETED) {
|
|
//TODO: some warning that this operation failed somehow
|
|
// We have to disconnect the object persistence 'updated' signal
|
|
// and ask to save the next object:
|
|
|
|
ObjectPersistence * objectPersistence = ObjectPersistence::GetInstance(getObjectManager());
|
|
Q_ASSERT(objectPersistence);
|
|
|
|
UAVObject* obj = queue.dequeue(); // We can now remove the object, it failed anyway.
|
|
Q_ASSERT(obj);
|
|
|
|
objectPersistence->disconnect(this);
|
|
|
|
saveState = IDLE;
|
|
emit saveCompleted(obj->getObjID(), false);
|
|
|
|
saveNextObject();
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
* @brief Process the ObjectPersistence updated message to confirm the right object saved
|
|
* then requests next object be saved.
|
|
* @param[in] The object just received. Must be ObjectPersistance
|
|
*/
|
|
void UAVObjectUtilManager::objectPersistenceUpdated(UAVObject * obj)
|
|
{
|
|
Q_ASSERT(obj);
|
|
Q_ASSERT(obj->getObjID() == ObjectPersistence::OBJID);
|
|
ObjectPersistence::DataFields objectPersistence = ((ObjectPersistence *)obj)->getData();
|
|
|
|
if(saveState == AWAITING_COMPLETED && objectPersistence.Operation == ObjectPersistence::OPERATION_ERROR) {
|
|
failureTimer.stop();
|
|
objectPersistenceOperationFailed();
|
|
} else if (saveState == AWAITING_COMPLETED &&
|
|
objectPersistence.Operation == ObjectPersistence::OPERATION_COMPLETED) {
|
|
failureTimer.stop();
|
|
// Check right object saved
|
|
UAVObject* savingObj = queue.head();
|
|
if(objectPersistence.ObjectID != savingObj->getObjID() ) {
|
|
objectPersistenceOperationFailed();
|
|
return;
|
|
}
|
|
|
|
obj->disconnect(this);
|
|
queue.dequeue(); // We can now remove the object, it's done.
|
|
saveState = IDLE;
|
|
|
|
emit saveCompleted(objectPersistence.ObjectID, true);
|
|
saveNextObject();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Helper function that makes sure FirmwareIAP is updated and then returns the data
|
|
*/
|
|
FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
|
|
{
|
|
FirmwareIAPObj::DataFields dummy;
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
Q_ASSERT(pm);
|
|
if (!pm)
|
|
return dummy;
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
Q_ASSERT(om);
|
|
if (!om)
|
|
return dummy;
|
|
|
|
FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
|
|
Q_ASSERT(firmwareIap);
|
|
if (!firmwareIap)
|
|
return dummy;
|
|
|
|
// The code below will ask for the object update and wait for the updated to be received,
|
|
// or the timeout of the timer, set to 1 second.
|
|
QEventLoop loop;
|
|
connect(firmwareIap, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
|
|
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
|
|
firmwareIap->requestUpdate();
|
|
loop.exec();
|
|
|
|
return firmwareIap->getData();
|
|
}
|
|
|
|
/**
|
|
* Get the UAV Board model, for anyone interested. Return format is:
|
|
* (Board Type << 8) + BoardRevision.
|
|
*/
|
|
int UAVObjectUtilManager::getBoardModel()
|
|
{
|
|
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
|
|
return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
|
|
}
|
|
|
|
/**
|
|
* Get the UAV Board CPU Serial Number, for anyone interested. Return format is a byte array
|
|
*/
|
|
QByteArray UAVObjectUtilManager::getBoardCPUSerial()
|
|
{
|
|
QByteArray cpuSerial;
|
|
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
|
|
|
|
for (int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
|
|
cpuSerial.append(firmwareIapData.CPUSerial[i]);
|
|
|
|
return cpuSerial;
|
|
}
|
|
|
|
quint32 UAVObjectUtilManager::getFirmwareCRC()
|
|
{
|
|
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
|
|
return firmwareIapData.crc;
|
|
}
|
|
|
|
/**
|
|
* Get the UAV Board Description, for anyone interested.
|
|
*/
|
|
QByteArray UAVObjectUtilManager::getBoardDescription()
|
|
{
|
|
QByteArray ret;
|
|
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
|
|
|
|
for (int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
|
|
ret.append(firmwareIapData.Description[i]);
|
|
|
|
return ret;
|
|
}
|
|
|
|
|
|
|
|
// ******************************
|
|
// HomeLocation
|
|
|
|
int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
|
|
{
|
|
double ECEF[3];
|
|
double RNE[9];
|
|
double Be[3];
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
|
|
return -1; // error
|
|
|
|
// ******************
|
|
// save the new settings
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -2;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -3;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->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;
|
|
|
|
field = obj->getField("Latitude");
|
|
if (!field) return -8;
|
|
field->setDouble(LLA[0] * 10e6);
|
|
|
|
field = obj->getField("Longitude");
|
|
if (!field) return -9;
|
|
field->setDouble(LLA[1] * 10e6);
|
|
|
|
field = obj->getField("Altitude");
|
|
if (!field) return -10;
|
|
field->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);
|
|
|
|
field = obj->getField("Set");
|
|
if (!field) return -11;
|
|
field->setValue("TRUE");
|
|
|
|
obj->updated();
|
|
|
|
// ******************
|
|
// save the new setting 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])
|
|
{
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -1;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -2;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
|
|
if (!obj) return -3;
|
|
|
|
// obj->requestUpdate();
|
|
|
|
field = obj->getField("Set");
|
|
if (!field) return -4;
|
|
set = field->getValue().toBool();
|
|
|
|
field = obj->getField("Latitude");
|
|
if (!field) return -5;
|
|
LLA[0] = field->getDouble() * 1e-7;
|
|
|
|
field = obj->getField("Longitude");
|
|
if (!field) return -6;
|
|
LLA[1] = field->getDouble() * 1e-7;
|
|
|
|
field = obj->getField("Altitude");
|
|
if (!field) return -7;
|
|
LLA[2] = field->getDouble();
|
|
|
|
if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
|
|
else
|
|
if (LLA[0] > 90) LLA[0] = 90;
|
|
else
|
|
if (LLA[0] < -90) LLA[0] = -90;
|
|
|
|
if (LLA[1] != LLA[1]) LLA[1] = 0; // nan detection
|
|
else
|
|
if (LLA[1] > 180) LLA[1] = 180;
|
|
else
|
|
if (LLA[1] < -180) LLA[1] = -180;
|
|
|
|
if (LLA[2] != LLA[2]) LLA[2] = 0; // nan detection
|
|
|
|
return 0; // OK
|
|
}
|
|
|
|
int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
|
|
{
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -1;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -2;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
|
|
if (!obj) return -3;
|
|
|
|
// obj->requestUpdate();
|
|
|
|
field = obj->getField("Set");
|
|
if (!field) return -4;
|
|
set = field->getValue().toBool();
|
|
|
|
field = obj->getField("Latitude");
|
|
if (!field) return -5;
|
|
LLA[0] = field->getDouble() * 1e-7;
|
|
|
|
field = obj->getField("Longitude");
|
|
if (!field) return -6;
|
|
LLA[1] = field->getDouble() * 1e-7;
|
|
|
|
field = obj->getField("Altitude");
|
|
if (!field) return -7;
|
|
LLA[2] = field->getDouble();
|
|
|
|
field = obj->getField(QString("ECEF"));
|
|
if (!field) return -8;
|
|
for (int i = 0; i < 3; i++)
|
|
ECEF[i] = field->getDouble(i);
|
|
|
|
field = obj->getField(QString("RNE"));
|
|
if (!field) return -9;
|
|
for (int i = 0; i < 9; i++)
|
|
RNE[i] = field->getDouble(i);
|
|
|
|
field = obj->getField(QString("Be"));
|
|
if (!field) return -10;
|
|
for (int i = 0; i < 3; i++)
|
|
Be[i] = field->getDouble(i);
|
|
|
|
return 0; // OK
|
|
}
|
|
|
|
// ******************************
|
|
// GPS
|
|
|
|
int UAVObjectUtilManager::getGPSPosition(double LLA[3])
|
|
{
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -1;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -2;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
|
|
if (!obj) return -3;
|
|
|
|
// obj->requestUpdate();
|
|
|
|
field = obj->getField(QString("Latitude"));
|
|
if (!field) return -4;
|
|
LLA[0] = field->getDouble() * 1e-7;
|
|
|
|
field = obj->getField(QString("Longitude"));
|
|
if (!field) return -5;
|
|
LLA[1] = field->getDouble() * 1e-7;
|
|
|
|
field = obj->getField(QString("Altitude"));
|
|
if (!field) return -6;
|
|
LLA[2] = field->getDouble();
|
|
|
|
if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
|
|
else
|
|
if (LLA[0] > 90) LLA[0] = 90;
|
|
else
|
|
if (LLA[0] < -90) LLA[0] = -90;
|
|
|
|
if (LLA[1] != LLA[1]) LLA[1] = 0; // nan detection
|
|
else
|
|
if (LLA[1] > 180) LLA[1] = 180;
|
|
else
|
|
if (LLA[1] < -180) LLA[1] = -180;
|
|
|
|
if (LLA[2] != LLA[2]) LLA[2] = 0; // nan detection
|
|
|
|
return 0; // OK
|
|
}
|
|
|
|
// ******************************
|
|
// telemetry port
|
|
|
|
int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
|
|
{
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
// ******************
|
|
// save the new settings
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -1;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -2;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
|
|
if (!obj) return -3;
|
|
|
|
field = obj->getField(QString("Speed"));
|
|
if (!field) return -4;
|
|
field->setValue(speed);
|
|
|
|
obj->updated();
|
|
|
|
// ******************
|
|
// save the new setting to SD card
|
|
|
|
if (save_to_sdcard)
|
|
saveObjectToSD(obj);
|
|
|
|
// ******************
|
|
|
|
return 0; // OK
|
|
}
|
|
|
|
int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
|
|
{
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -1;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -2;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
|
if (!obj) return -3;
|
|
|
|
// obj->requestUpdate();
|
|
|
|
field = obj->getField(QString("Speed"));
|
|
if (!field) return -4;
|
|
speed = field->getValue().toString();
|
|
|
|
return 0; // OK
|
|
}
|
|
|
|
int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
|
|
{
|
|
UAVObjectField *field;
|
|
|
|
QMutexLocker locker(mutex);
|
|
|
|
if (!comboBox) return -1;
|
|
|
|
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
if (!pm) return -2;
|
|
|
|
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
|
|
if (!om) return -3;
|
|
|
|
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
|
|
if (!obj) return -4;
|
|
|
|
// obj->requestUpdate();
|
|
|
|
field = obj->getField(QString("Speed"));
|
|
if (!field) return -5;
|
|
comboBox->addItems(field->getOptions());
|
|
|
|
return 0; // OK
|
|
}
|
|
|
|
deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
|
|
{
|
|
deviceDescriptorStruct ret;
|
|
descriptionToStructure(getBoardDescription(),&ret);
|
|
return ret;
|
|
}
|
|
|
|
bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
|
|
{
|
|
if (desc.startsWith("OpFw")) {
|
|
/*
|
|
* This looks like a binary with a description at the end
|
|
* 4 bytes: header: "OpFw"
|
|
* 4 bytes: git commit hash (short version of SHA1)
|
|
* 4 bytes: Unix timestamp of last git commit
|
|
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
|
|
* 26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
|
|
* ---- 40 bytes limit ---
|
|
* 20 bytes: SHA1 sum of the firmware.
|
|
* 40 bytes: free for now.
|
|
*/
|
|
|
|
// Note: the ARM binary is big-endian:
|
|
quint32 gitCommitHash = desc.at(7) & 0xFF;
|
|
for (int i = 1; i < 4; i++) {
|
|
gitCommitHash = gitCommitHash << 8;
|
|
gitCommitHash += desc.at(7-i) & 0xFF;
|
|
}
|
|
struc->gitHash = QString::number(gitCommitHash, 16);
|
|
|
|
quint32 gitDate = desc.at(11) & 0xFF;
|
|
for (int i = 1; i < 4; i++) {
|
|
gitDate = gitDate << 8;
|
|
gitDate += desc.at(11-i) & 0xFF;
|
|
}
|
|
struc->gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
|
|
|
|
QString gitTag = QString(desc.mid(14,26));
|
|
struc->gitTag = gitTag;
|
|
|
|
// TODO: check platform compatibility
|
|
QByteArray targetPlatform = desc.mid(12,2);
|
|
struc->boardType = (int)targetPlatform.at(0);
|
|
struc->boardRevision = (int)targetPlatform.at(1);
|
|
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// ******************************
|