/**
* Set the object's metadata
*/
public override void setMetadata(Metadata mdata)
{
if ( mobj != null )
{
mobj.setData(mdata);
}
}
/**
* Create a Metadata object filled with default values for this object
* @return Metadata object with default values
*/
public override Metadata getDefaultMetadata() {
Metadata metadata = new Metadata();
metadata.flags =
(int)AccessMode.ACCESS_READWRITE << Metadata.UAVOBJ_ACCESS_SHIFT |
(int)AccessMode.ACCESS_READWRITE << Metadata.UAVOBJ_GCS_ACCESS_SHIFT |
0 << Metadata.UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << Metadata.UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
(int)UPDATEMODE.UPDATEMODE_ONCHANGE << Metadata.UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
(int)UPDATEMODE.UPDATEMODE_MANUAL << Metadata.UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 1000;
return metadata;
}
public UAVMetaObject(long objID, String name, UAVDataObject parent) : base(objID, true, name) {
this.parent = parent;
ownMetadata = new Metadata();
ownMetadata.flags = 0; // TODO: Fix flags
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdatePeriod = 0;
List<String> modesBitField = new List<String>();
modesBitField.Add("FlightReadOnly");
modesBitField.Add("GCSReadOnly");
modesBitField.Add("FlightTelemetryAcked");
modesBitField.Add("GCSTelemetryAcked");
modesBitField.Add("FlightUpdatePeriodic");
modesBitField.Add("FlightUpdateOnChange");
modesBitField.Add("GCSUpdatePeriodic");
modesBitField.Add("GCSUpdateOnChange");
List<UAVObjectField> fields = new List<UAVObjectField>();
fields.Add( new UAVObjectField<bool>("Modes", "", 1, modesBitField, parent) );
fields.Add(new UAVObjectField<UInt16>("Flight Telemetry Update Period", "ms", 1, null, parent));
fields.Add(new UAVObjectField<UInt16>("GCS Telemetry Update Period", "ms", 1, null, parent));
fields.Add(new UAVObjectField<UInt16>("Logging Update Period", "ms", 1, null, parent));
int numBytes = fields.Sum(j=>j.getNumBytes());
// Initialize object
// Initialize parent
base.initialize(0);
initializeFields(fields, new ByteBuffer(numBytes), numBytes);
// Setup metadata of parent
parentMetadata = parent.getDefaultMetadata();
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] mode The access mode
*/
public void SetGcsAccess(Metadata metadata, AccessMode mode)
{
// Need to convert java enums which have no numeric value to bits
SET_BITS(UAVOBJ_GCS_ACCESS_SHIFT, AccessModeNum(mode), 1);
}
/** * Abstract functions */ public abstract void setMetadata(Metadata mdata);
/**
* Set the metadata held by the metaobject
*/
public void setData(Metadata mdata)
{
//QMutexLocker locker(mutex);
parentMetadata = mdata;
// TODO: Callbacks
// emit objectUpdatedAuto(this); // trigger object updated event
// emit objectUpdated(this);
}
/**
* Set the metadata of the metaobject, this function will
* do nothing since metaobjects have read-only metadata.
*/
public override void setMetadata(Metadata mdata)
{
return; // can not update metaobject's metadata
}