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

   1 __all__ = ("UAVObject")
   2
   3 ##
   4 ##############################################################################
   5 #
   6 # @file       uavobject.py
   7 # @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   8 # @brief      Base classes for python UAVObject
   9 #
  10 # @see        The GNU Public License (GPL) Version 3
  11 #
  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
  29 import struct
  30 from collections import namedtuple
  31
  32 class UAVMetaData(object):
  33     def __init__(self):
  34         self.telemetryAcked = false
  35         self.telemetryUpdateMode = 0
  36         self.telemetryUpdatePeriod = 0
  37         self.gcsTelemetryAcked = false
  38         self.gcsTelemetryUpdateMode = 0
  39         self.gcsTelemetryUpdatePeriod = 0
  40         self.loggingUpdateMode = 0
  41         self.loggingUpdatePeriod = 0
  42
  43 class UAVObject(object):
  44     def __init__(self, objid, name, metaname, instanceid, issingle):
  45         self.objid      = objid
  46         self.name       = name
  47         self.metaname   = metaname
  48         self.instanceid = instanceid
  49         self.issingle   = issingle
  50
  51         self.fields     = []
  52
  53         uavobjects[objid] = self
  54
  55     def add_field(self, field):
  56         self.fields.append(field)
  57
  58     def get_struct(self):
  59         fmt = "<"
  60         for f in self.fields:
  61             fmt += f.get_struct()
  62         return struct.Struct(fmt)
  63
  64     def get_tuple(self):
  65         fieldnames = ' '.join([f.name for f in self.fields])
  66         return namedtuple (self.name, fieldnames)
  67
  68     def get_size(self):
  69         return self.get_struct().size
  70
  71 class UAVObjectField(object):
  72     def __init__(self, fieldname, type, nelements, elemnames, values):
  73         self.name      = fieldname
  74         self.type      = type
  75         self.nelements = nelements
  76         self.elemnames = elemnames
  77         self.values    = values
  78
  79     def get_struct(self):
  80         fmt = ""
  81         if self.nelements > 1:
  82             fmt += "%u" % self.nelements
  83         fmt += "%s" % (self.type)
  84         return fmt
  85
  86 # List of registered uavobject instances
  87 uavobjects = {}
  88
  89 def main():
  90     pass
  91
  92 if __name__ == "__main__":
  93     #import pdb ; pdb.run('main()')
  94     main()