mirror of
https://bitbucket.org/librepilot/librepilot.git
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210 lines
7.9 KiB
C++
210 lines
7.9 KiB
C++
/**
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******************************************************************************
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*
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* @file uavobject.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @see The GNU Public License (GPL) Version 3
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup UAVObjectsPlugin UAVObjects Plugin
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* @{
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* @brief The UAVUObjects GCS plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef UAVOBJECT_H
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#define UAVOBJECT_H
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#include "uavobjects_global.h"
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#include <QtGlobal>
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#include <QObject>
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#include <QMutex>
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#include <QMutexLocker>
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#include <QString>
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#include <QList>
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#include <QFile>
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#include <stdint.h>
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#include <QXmlStreamWriter>
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#include <QXmlStreamReader>
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#include <QJsonObject>
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#include "uavobjectfield.h"
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#define UAVOBJ_ACCESS_SHIFT 0
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#define UAVOBJ_GCS_ACCESS_SHIFT 1
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#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
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#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
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#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
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#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
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#define UAVOBJ_LOGGING_UPDATE_MODE_SHIFT 8
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#define UAVOBJ_UPDATE_MODE_MASK 0x3
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class UAVObjectField;
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class UAVOBJECTS_EXPORT UAVObject : public QObject {
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Q_OBJECT
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public:
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Q_PROPERTY(QString Name READ getName)
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/**
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* Object update mode
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*/
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typedef enum {
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UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
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UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
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UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
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UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
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} UpdateMode;
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/**
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* Access mode
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*/
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typedef enum {
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ACCESS_READWRITE = 0,
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ACCESS_READONLY = 1
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} AccessMode;
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/**
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* Object metadata, each object has a meta object that holds its metadata. The metadata define
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* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
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*
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* The object metadata flags are packed into a single 16 bit integer.
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* The bits in the flag field are defined as:
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*
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* Bit(s) Name Meaning
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* ------ ---- -------
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* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
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* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
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* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
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* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
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* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
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* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
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* 8-9 loggingUpdateMode Update mode used by the logging module (UAVObjUpdateMode)
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*/
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typedef struct {
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quint16 flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
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quint16 flightTelemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
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quint16 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
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quint16 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
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} __attribute__((packed)) Metadata;
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UAVObject(quint32 objID, bool isSingleInst, const QString & name);
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void initialize(quint32 instID);
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quint32 getObjID();
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quint32 getInstID();
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bool isSingleInstance();
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QString getName();
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QString getCategory();
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QString getDescription();
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quint32 getNumBytes();
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qint32 pack(quint8 *dataOut);
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qint32 unpack(const quint8 *dataIn);
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quint8 updateCRC(quint8 crc = 0);
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bool save();
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bool save(QFile & file);
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bool load();
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bool load(QFile & file);
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virtual void setMetadata(const Metadata & mdata) = 0;
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virtual Metadata getMetadata() = 0;
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virtual Metadata getDefaultMetadata() = 0;
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void lock();
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void lock(int timeoutMs);
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void unlock();
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QMutex *getMutex();
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qint32 getNumFields();
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QList<UAVObjectField *> getFields();
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UAVObjectField *getField(const QString & name);
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QString toString();
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QString toStringBrief();
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QString toStringData();
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void toXML(QXmlStreamWriter *xmlWriter);
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void fromXML(QXmlStreamReader *xmlReader);
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void toJson(QJsonObject &jsonObject);
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void fromJson(const QJsonObject &jsonObject);
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void emitTransactionCompleted(bool success);
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void emitNewInstance(UAVObject *);
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bool isKnown() const;
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void setIsKnown(bool isKnown);
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virtual bool isSettingsObject();
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virtual bool isDataObject();
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virtual bool isMetaDataObject();
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// Metadata accessors
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static void MetadataInitialize(Metadata & meta);
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static AccessMode GetFlightAccess(const Metadata & meta);
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static void SetFlightAccess(Metadata & meta, AccessMode mode);
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static AccessMode GetGcsAccess(const Metadata & meta);
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static void SetGcsAccess(Metadata & meta, AccessMode mode);
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static quint8 GetFlightTelemetryAcked(const Metadata & meta);
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static void SetFlightTelemetryAcked(Metadata & meta, quint8 val);
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static quint8 GetGcsTelemetryAcked(const Metadata & meta);
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static void SetGcsTelemetryAcked(Metadata & meta, quint8 val);
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static UpdateMode GetFlightTelemetryUpdateMode(const Metadata & meta);
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static void SetFlightTelemetryUpdateMode(Metadata & meta, UpdateMode val);
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static UpdateMode GetGcsTelemetryUpdateMode(const Metadata & meta);
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static void SetGcsTelemetryUpdateMode(Metadata & meta, UpdateMode val);
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static UpdateMode GetLoggingUpdateMode(const Metadata & meta);
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static void SetLoggingUpdateMode(Metadata & meta, UpdateMode val);
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public slots:
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void requestUpdate();
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void requestUpdateAll();
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void updated();
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void updatedAll();
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signals:
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void objectUpdated(UAVObject *obj);
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void objectUpdatedAuto(UAVObject *obj);
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void objectUpdatedManual(UAVObject *obj, bool all = false);
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void objectUpdatedPeriodic(UAVObject *obj);
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void objectUnpacked(UAVObject *obj);
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void updateRequested(UAVObject *obj, bool all = false);
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void transactionCompleted(UAVObject *obj, bool success);
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void newInstance(UAVObject *obj);
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void isKnownChanged(UAVObject *obj, bool isKnown);
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protected:
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quint32 objID;
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quint32 instID;
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bool isSingleInst;
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QString name;
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QString description;
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QString category;
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quint32 numBytes;
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QMutex *mutex;
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quint8 *data;
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QList<UAVObjectField *> fields;
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void initializeFields(QList<UAVObjectField *> & fields, quint8 *data, quint32 numBytes);
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void setDescription(const QString & description);
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void setCategory(const QString & category);
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private:
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bool m_isKnown;
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private slots:
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void fieldUpdated(UAVObjectField *field);
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};
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#endif // UAVOBJECT_H
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