ground/gcs/src/plugins/uavobjects/uavobject.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       uavobject.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @see        The GNU Public License (GPL) Version 3
   7  * @addtogroup GCSPlugins GCS Plugins
   8  * @{
   9  * @addtogroup UAVObjectsPlugin UAVObjects Plugin
  10  * @{
  11  * @brief      The UAVUObjects GCS plugin
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28 #ifndef UAVOBJECT_H
  29 #define UAVOBJECT_H
  30
  31 #include "uavobjects_global.h"
  32 #include <QtGlobal>
  33 #include <QObject>
  34 #include <QMutex>
  35 #include <QMutexLocker>
  36 #include <QString>
  37 #include <QList>
  38 #include <QFile>
  39 #include <stdint.h>
  40
  41 #include "uavobjectfield.h"
  42
  43 #define UAVOBJ_ACCESS_SHIFT                    0
  44 #define UAVOBJ_GCS_ACCESS_SHIFT                1
  45 #define UAVOBJ_TELEMETRY_ACKED_SHIFT           2
  46 #define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT       3
  47 #define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT     4
  48 #define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
  49 #define UAVOBJ_LOGGING_UPDATE_MODE_SHIFT       8
  50 #define UAVOBJ_UPDATE_MODE_MASK                0x3
  51
  52 class UAVObjectField;
  53 class QXmlStreamWriter;
  54 class QXmlStreamReader;
  55 class QJsonObject;
  56
  57 class UAVOBJECTS_EXPORT UAVObject : public QObject {
  58     Q_OBJECT
  59
  60 public:
  61     Q_PROPERTY(QString Name READ getName)
  62
  63     /**
  64      * Object update mode
  65      */
  66     typedef enum {
  67         UPDATEMODE_MANUAL    = 0,  /** Manually update object, by calling the updated() function */
  68         UPDATEMODE_PERIODIC  = 1, /** Automatically update object at periodic intervals */
  69         UPDATEMODE_ONCHANGE  = 2, /** Only update object when its data changes */
  70         UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
  71     } UpdateMode;
  72
  73     /**
  74      * Access mode
  75      */
  76     typedef enum {
  77         ACCESS_READWRITE = 0,
  78         ACCESS_READONLY  = 1
  79     } AccessMode;
  80
  81     /**
  82      * Object metadata, each object has a meta object that holds its metadata. The metadata define
  83      * properties for each object and can be used by multiple modules (e.g. telemetry and logger)
  84      *
  85      * The object metadata flags are packed into a single 16 bit integer.
  86      * The bits in the flag field are defined as:
  87      *
  88      *   Bit(s)  Name                       Meaning
  89      *   ------  ----                       -------
  90      *      0    access                     Defines the access level for the local transactions (readonly=0 and readwrite=1)
  91      *      1    gcsAccess                  Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
  92      *      2    telemetryAcked             Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
  93      *      3    gcsTelemetryAcked          Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
  94      *    4-5    telemetryUpdateMode        Update mode used by the telemetry module (UAVObjUpdateMode)
  95      *    6-7    gcsTelemetryUpdateMode     Update mode used by the GCS (UAVObjUpdateMode)
  96      *    8-9    loggingUpdateMode          Update mode used by the logging module (UAVObjUpdateMode)
  97      */
  98     typedef struct {
  99         quint16 flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
 100         quint16 flightTelemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
 101         quint16 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 102         quint16 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
 103     } __attribute__((packed)) Metadata;
 104
 105
 106     UAVObject(quint32 objID, bool isSingleInst, const QString & name);
 107     void initialize(quint32 instID);
 108     quint32 getObjID();
 109     quint32 getInstID();
 110     bool isSingleInstance();
 111     QString getName();
 112     QString getCategory();
 113     QString getDescription();
 114     quint32 getNumBytes();
 115     qint32 pack(quint8 *dataOut);
 116     qint32 unpack(const quint8 *dataIn);
 117     quint8 updateCRC(quint8 crc = 0);
 118     bool save();
 119     bool save(QFile & file);
 120     bool load();
 121     bool load(QFile & file);
 122     virtual void setMetadata(const Metadata & mdata) = 0;
 123     virtual Metadata getMetadata() = 0;
 124     virtual Metadata getDefaultMetadata() = 0;
 125     void lock();
 126     void lock(int timeoutMs);
 127     void unlock();
 128     QMutex *getMutex();
 129     qint32 getNumFields();
 130     QList<UAVObjectField *> getFields();
 131     UAVObjectField *getField(const QString & name);
 132     QString toString();
 133     QString toStringBrief();
 134     QString toStringData();
 135
 136     void toXML(QXmlStreamWriter *xmlWriter);
 137     void fromXML(QXmlStreamReader *xmlReader);
 138
 139     void toJson(QJsonObject &jsonObject);
 140     void fromJson(const QJsonObject &jsonObject);
 141
 142     void emitTransactionCompleted(bool success);
 143     void emitNewInstance(UAVObject *);
 144
 145     bool isKnown() const;
 146     void setIsKnown(bool isKnown);
 147
 148     virtual bool isSettingsObject();
 149     virtual bool isDataObject();
 150     virtual bool isMetaDataObject();
 151
 152     // Metadata accessors
 153     static void MetadataInitialize(Metadata & meta);
 154     static AccessMode GetFlightAccess(const Metadata & meta);
 155     static void SetFlightAccess(Metadata & meta, AccessMode mode);
 156     static AccessMode GetGcsAccess(const Metadata & meta);
 157     static void SetGcsAccess(Metadata & meta, AccessMode mode);
 158     static quint8 GetFlightTelemetryAcked(const Metadata & meta);
 159     static void SetFlightTelemetryAcked(Metadata & meta, quint8 val);
 160     static quint8 GetGcsTelemetryAcked(const Metadata & meta);
 161     static void SetGcsTelemetryAcked(Metadata & meta, quint8 val);
 162     static UpdateMode GetFlightTelemetryUpdateMode(const Metadata & meta);
 163     static void SetFlightTelemetryUpdateMode(Metadata & meta, UpdateMode val);
 164     static UpdateMode GetGcsTelemetryUpdateMode(const Metadata & meta);
 165     static void SetGcsTelemetryUpdateMode(Metadata & meta, UpdateMode val);
 166     static UpdateMode GetLoggingUpdateMode(const Metadata & meta);
 167     static void SetLoggingUpdateMode(Metadata & meta, UpdateMode val);
 168
 169 public slots:
 170     void requestUpdate();
 171     void requestUpdateAll();
 172     void updated();
 173     void updatedAll();
 174
 175 signals:
 176     void objectUpdated(UAVObject *obj);
 177     void objectUpdatedAuto(UAVObject *obj);
 178     void objectUpdatedManual(UAVObject *obj, bool all = false);
 179     void objectUpdatedPeriodic(UAVObject *obj);
 180     void objectUnpacked(UAVObject *obj);
 181     void updateRequested(UAVObject *obj, bool all = false);
 182     void transactionCompleted(UAVObject *obj, bool success);
 183     void newInstance(UAVObject *obj);
 184     void isKnownChanged(UAVObject *obj);
 185
 186 protected:
 187     quint32 objID;
 188     quint32 instID;
 189     bool isSingleInst;
 190     QString name;
 191     QString description;
 192     QString category;
 193     quint32 numBytes;
 194     QMutex *mutex;
 195     quint8 *data;
 196     QList<UAVObjectField *> fields;
 197
 198     void initializeFields(QList<UAVObjectField *> & fields, quint8 *data, quint32 numBytes);
 199     void setDescription(const QString & description);
 200     void setCategory(const QString & category);
 201
 202 private:
 203     bool m_isKnown;
 204
 205 private slots:
 206     void fieldUpdated(UAVObjectField *field);
 207 };
 208
 209 #endif // UAVOBJECT_H