uavobject.h

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/*
 * 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, see <http://www.gnu.org/licenses/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

#ifndef UAVOBJECT_H
#define UAVOBJECT_H

#include "uavobjects/uavobjects_global.h"
#include <QtGlobal>
#include <QJsonObject>
#include <QObject>
#include <QString>
#include <QList>
#include <QFile>
#include <qglobal.h>
#include "uavobjects/uavobjectfield.h"

#ifdef _MSC_VER
#define PACK(__Declaration__) __pragma(pack(push, 1)) __Declaration__ __pragma(pack(pop))
#else
#define PACK(__Declaration__) __Declaration__ __attribute__((__packed__))
#endif

#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_UPDATE_MODE_MASK 0x3

class UAVObjectField;

class UAVOBJECTS_EXPORT UAVObject : public QObject
{
    Q_OBJECT

public:
    typedef enum {
        UPDATEMODE_MANUAL = 0, 
        UPDATEMODE_PERIODIC = 1, 
        UPDATEMODE_ONCHANGE = 2, 
        UPDATEMODE_THROTTLED =
            3 
    } UpdateMode;

    typedef enum { ACCESS_READWRITE = 0, ACCESS_READONLY = 1 } AccessMode;

    PACK(
        typedef struct {
            quint8 flags; 
            quint16 flightTelemetryUpdatePeriod; 
            quint16 gcsTelemetryUpdatePeriod; 
            quint16 loggingUpdatePeriod; 
        })
    Metadata;

    UAVObject(quint32 objID, bool isSingleInst, const QString &name);
    void initialize(quint32 instID);
    quint32 getObjID();
    quint32 getInstID();
    bool isSingleInstance();
    QString getName();
    QString getDescription();
    quint32 getNumBytes();
    qint32 pack(quint8 *dataOut);
    qint32 unpack(const quint8 *dataIn);
    virtual void setMetadata(const Metadata &mdata) = 0;
    virtual Metadata getMetadata() = 0;
    virtual Metadata getDefaultMetadata() = 0;
    qint32 getNumFields();
    QList<UAVObjectField *> getFields();
    UAVObjectField *getField(const QString &name);
    QString toString();
    QString toStringBrief();
    QString toStringData();
    QJsonObject getJsonRepresentation();
    void emitTransactionCompleted(bool success);
    void emitTransactionCompleted(bool success, bool nacked);
    void emitNewInstance(UAVObject *);
    void emitInstanceRemoved(UAVObject *);

    // 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);

public slots:
    void requestUpdate();
    void requestUpdateAllInstances();
    void updated();

signals:
    void objectUpdated(UAVObject *obj);

    void objectUpdatedAuto(UAVObject *obj);

    void objectUpdatedManual(UAVObject *obj);

    void objectUpdatedPeriodic(UAVObject *obj);

    void objectUnpacked(UAVObject *obj);

    void updateRequested(UAVObject *obj);

    void updateAllInstancesRequested(UAVObject *obj);
    void transactionCompleted(UAVObject *obj, bool success);
    void transactionCompleted(UAVObject *obj, bool success, bool nack);
    void newInstance(UAVObject *obj);

    void instanceRemoved(UAVObject *obj);

private slots:
    void fieldUpdated(UAVObjectField *field);

protected:
    quint32 objID;
    quint32 instID;
    bool isSingleInst;
    QString name;
    QString description;
    QString category;
    quint32 numBytes;
    quint8 *data;
    QList<UAVObjectField *> fields;
    void initializeFields(QList<UAVObjectField *> &fields, quint8 *data, quint32 numBytes);
    void setDescription(const QString &description);
};

#endif // UAVOBJECT_H