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LibrePilot/ground/openpilotgcs/src/plugins/uavobjects/uavobject.h

210 lines
7.9 KiB
C++

/**
******************************************************************************
*
* @file uavobject.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 UAVOBJECT_H
#define UAVOBJECT_H
#include "uavobjects_global.h"
#include <QtGlobal>
#include <QObject>
#include <QMutex>
#include <QMutexLocker>
#include <QString>
#include <QList>
#include <QFile>
#include <stdint.h>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
#include "uavobjectfield.h"
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_LOGGING_UPDATE_MODE_SHIFT 8
#define UAVOBJ_UPDATE_MODE_MASK 0x3
class UAVObjectField;
class UAVOBJECTS_EXPORT UAVObject : public QObject {
Q_OBJECT
public:
Q_PROPERTY(QString Name READ getName)
/**
* Object update mode
*/
typedef enum {
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} UpdateMode;
/**
* Access mode
*/
typedef enum {
ACCESS_READWRITE = 0,
ACCESS_READONLY = 1
} AccessMode;
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
* 8-9 loggingUpdateMode Update mode used by the logging module (UAVObjUpdateMode)
*/
typedef struct {
quint16 flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
quint16 flightTelemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
quint16 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
quint16 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
UAVObject(quint32 objID, bool isSingleInst, const QString & name);
void initialize(quint32 instID);
quint32 getObjID();
quint32 getInstID();
bool isSingleInstance();
QString getName();
QString getCategory();
QString getDescription();
quint32 getNumBytes();
qint32 pack(quint8 *dataOut);
qint32 unpack(const quint8 *dataIn);
quint8 updateCRC(quint8 crc = 0);
bool save();
bool save(QFile & file);
bool load();
bool load(QFile & file);
virtual void setMetadata(const Metadata & mdata) = 0;
virtual Metadata getMetadata() = 0;
virtual Metadata getDefaultMetadata() = 0;
void lock();
void lock(int timeoutMs);
void unlock();
QMutex *getMutex();
qint32 getNumFields();
QList<UAVObjectField *> getFields();
UAVObjectField *getField(const QString & name);
QString toString();
QString toStringBrief();
QString toStringData();
void toXML(QXmlStreamWriter *xmlWriter);
void fromXML(QXmlStreamReader *xmlReader);
void toJson(QJsonObject &jsonObject);
void fromJson(const QJsonObject &jsonObject);
void emitTransactionCompleted(bool success);
void emitNewInstance(UAVObject *);
bool isKnown() const;
void setIsKnown(bool isKnown);
virtual bool isSettingsObject();
virtual bool isDataObject();
virtual bool isMetaDataObject();
// Metadata accessors
static void MetadataInitialize(Metadata & meta);
static AccessMode GetFlightAccess(const Metadata & meta);
static void SetFlightAccess(Metadata & meta, AccessMode mode);
static AccessMode GetGcsAccess(const Metadata & meta);
static void SetGcsAccess(Metadata & meta, AccessMode mode);
static quint8 GetFlightTelemetryAcked(const Metadata & meta);
static void SetFlightTelemetryAcked(Metadata & meta, quint8 val);
static quint8 GetGcsTelemetryAcked(const Metadata & meta);
static void SetGcsTelemetryAcked(Metadata & meta, quint8 val);
static UpdateMode GetFlightTelemetryUpdateMode(const Metadata & meta);
static void SetFlightTelemetryUpdateMode(Metadata & meta, UpdateMode val);
static UpdateMode GetGcsTelemetryUpdateMode(const Metadata & meta);
static void SetGcsTelemetryUpdateMode(Metadata & meta, UpdateMode val);
static UpdateMode GetLoggingUpdateMode(const Metadata & meta);
static void SetLoggingUpdateMode(Metadata & meta, UpdateMode val);
public slots:
void requestUpdate();
void requestUpdateAll();
void updated();
void updatedAll();
signals:
void objectUpdated(UAVObject *obj);
void objectUpdatedAuto(UAVObject *obj);
void objectUpdatedManual(UAVObject *obj, bool all = false);
void objectUpdatedPeriodic(UAVObject *obj);
void objectUnpacked(UAVObject *obj);
void updateRequested(UAVObject *obj, bool all = false);
void transactionCompleted(UAVObject *obj, bool success);
void newInstance(UAVObject *obj);
void isKnownChanged(UAVObject *obj, bool isKnown);
protected:
quint32 objID;
quint32 instID;
bool isSingleInst;
QString name;
QString description;
QString category;
quint32 numBytes;
QMutex *mutex;
quint8 *data;
QList<UAVObjectField *> fields;
void initializeFields(QList<UAVObjectField *> & fields, quint8 *data, quint32 numBytes);
void setDescription(const QString & description);
void setCategory(const QString & category);
private:
bool m_isKnown;
private slots:
void fieldUpdated(UAVObjectField *field);
};
#endif // UAVOBJECT_H