void UAVObjectUtilManager::saveNextObject()
{
if (queue.isEmpty()) {
return;
}
Q_ASSERT(saveState == IDLE);
// Get next object from the queue
UAVObject *obj = queue.head();
qDebug() << "Send save object request to board " << obj->getName();
ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(getObjectManager()->getObject(ObjectPersistence::NAME));
connect(objper, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject *, bool)));
connect(objper, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objectPersistenceUpdated(UAVObject *)));
saveState = AWAITING_ACK;
if (obj != NULL) {
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_SAVE;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objper->setData(data);
objper->updated();
}
// Now: we are going to get two "objectUpdated" messages (one coming from GCS, one coming from Flight, which
// will confirm the object was properly received by both sides) and then one "transactionCompleted" indicating
// that the Flight side did not only receive the object but it did receive it without error. Last we will get
// a last "objectUpdated" message coming from flight side, where we'll get the results of the objectPersistence
// operation we asked for (saved, other).
}
void UAVObjectBrowserWidget::onTreeItemExpanded(QModelIndex currentProxyIndex)
{
QModelIndex currentIndex = proxyModel->mapToSource(currentProxyIndex);
TreeItem *item = static_cast<TreeItem*>(currentIndex.internalPointer());
TopTreeItem *top = dynamic_cast<TopTreeItem*>(item->parent());
//Check if current tree index is the child of the top tree item
if (top)
{
ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(item);
//If the cast succeeds, then this is a UAVO
if (objItem)
{
UAVObject *obj = objItem->object();
// Check for multiple instance UAVO
if(!obj){
objItem = dynamic_cast<ObjectTreeItem*>(item->getChild(0));
obj = objItem->object();
}
Q_ASSERT(obj);
UAVObject::Metadata mdata = obj->getMetadata();
// Determine fastest update
quint16 tmpUpdatePeriod = MAXIMUM_UPDATE_PERIOD;
int accessType = UAVObject::GetGcsTelemetryUpdateMode(mdata);
if (accessType != UAVObject::UPDATEMODE_MANUAL){
switch(accessType){
case UAVObject::UPDATEMODE_ONCHANGE:
tmpUpdatePeriod = 0;
break;
case UAVObject::UPDATEMODE_PERIODIC:
case UAVObject::UPDATEMODE_THROTTLED:
tmpUpdatePeriod = std::min(mdata.gcsTelemetryUpdatePeriod, tmpUpdatePeriod);
break;
}
}
accessType = UAVObject::GetFlightTelemetryUpdateMode(mdata);
if (accessType != UAVObject::UPDATEMODE_MANUAL){
switch(accessType){
case UAVObject::UPDATEMODE_ONCHANGE:
tmpUpdatePeriod = 0;
break;
case UAVObject::UPDATEMODE_PERIODIC:
case UAVObject::UPDATEMODE_THROTTLED:
tmpUpdatePeriod = std::min(mdata.flightTelemetryUpdatePeriod, tmpUpdatePeriod);
break;
}
}
expandedUavoItems.insert(obj->getName(), tmpUpdatePeriod);
if (tmpUpdatePeriod < updatePeriod){
updatePeriod = tmpUpdatePeriod;
treeView->updateTimerPeriod(updatePeriod);
}
}
}
}
void UAVObjectBrowserWidget::onTreeItemCollapsed(QModelIndex currentProxyIndex)
{
QModelIndex currentIndex = proxyModel->mapToSource(currentProxyIndex);
TreeItem *item = static_cast<TreeItem*>(currentIndex.internalPointer());
TopTreeItem *top = dynamic_cast<TopTreeItem*>(item->parent());
//Check if current tree index is the child of the top tree item
if (top)
{
ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem*>(item);
//If the cast succeeds, then this is a UAVO
if (objItem)
{
UAVObject *obj = objItem->object();
// Check for multiple instance UAVO
if(!obj){
objItem = dynamic_cast<ObjectTreeItem*>(item->getChild(0));
obj = objItem->object();
}
Q_ASSERT(obj);
//Remove the UAVO, getting its stored value first.
quint16 tmpUpdatePeriod = expandedUavoItems.value(obj->getName());
expandedUavoItems.take(obj->getName());
// Check if this was the fastest UAVO
if (tmpUpdatePeriod == updatePeriod){
// If so, search for the new fastest UAVO
updatePeriod = MAXIMUM_UPDATE_PERIOD;
foreach(tmpUpdatePeriod, expandedUavoItems)
{
if (tmpUpdatePeriod < updatePeriod)
updatePeriod = tmpUpdatePeriod;
}
treeView->updateTimerPeriod(updatePeriod);
}
}
}
/**
* @brief UAVObjectUtilManager::saveNextObject
*
* Processes the save queue.
*/
void UAVObjectUtilManager::saveNextObject()
{
if ( queue.isEmpty() ) {
return;
}
Q_ASSERT(saveState == IDLE);
// Get next object from the queue (don't dequeue yet)
UAVObject* obj = queue.head();
Q_ASSERT(obj);
qDebug() << "Send save object request to board " << obj->getName();
ObjectPersistence * objectPersistence = ObjectPersistence::GetInstance(getObjectManager());
Q_ASSERT(objectPersistence);
// "transactionCompleted" is emitted once the objectPersistence object is sent over the telemetry link.
// Since its metadata state that it should be ACK'ed on flight telemetry, the transactionCompleted signal
// will be triggered once the GCS telemetry manager receives an ACK from the flight controller, or times
// out. the success value will reflect success or failure.
connect(objectPersistence, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
// After we update the objectPersistence UAVO, we need to listen to its "objectUpdated" event, which will occur
// once the flight controller sends this object back to the GCS, with the "Operation" field set to "Completed"
// or "Error".
connect(objectPersistence, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(objectPersistenceUpdated(UAVObject *)));
saveState = AWAITING_ACK;
qDebug() << "[saveObjectToFlash] Moving on to AWAITING_ACK";
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_SAVE;
data.Selection = ObjectPersistence::SELECTION_SINGLEOBJECT;
data.ObjectID = obj->getObjID();
data.InstanceID = obj->getInstID();
objectPersistence->setData(data);
objectPersistence->updated();
// Now: we are going to get the following:
// - two "objectUpdated" messages (one coming from GCS, one coming from Flight, which will confirm the object
// was properly received by both sides). This is because the metadata of objectPersistence has "FlightUpdateOnChange"
// set to true.
// - then one "transactionCompleted" indicating that the Flight side did not only receive the object but it did
// receive it without error (that message will be triggered by reception of the ACK).
// - Last we will get one last "objectUpdated" message coming from flight side, where we'll get the results of
// the objectPersistence operation we asked for (saved, other).
}
foreach (QString objStr, strList) {
// Add defaults
UAVObject *obj = objManager->getObject(objStr);
Q_ASSERT(obj);
UAVObject::Metadata mdataDefault = obj->getDefaultMetadata();
QModelIndex index = schedulerModel->index(rowIndex,0, QModelIndex());
schedulerModel->setData(index, QString("%1ms").arg(mdataDefault.flightTelemetryUpdatePeriod));
// Save default metadata for later use
defaultMdata.insert(obj->getName().append("Meta"), mdataDefault);
// Connect live values to the "Current" column
UAVDataObject *dobj = dynamic_cast<UAVDataObject*>(obj);
Q_ASSERT(dobj);
UAVMetaObject *mobj = dobj->getMetaObject();
connect(mobj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateCurrentColumn(UAVObject*)));
// Updates the "Current" column with the live value
updateCurrentColumn(mobj);
rowIndex++;
}
