C++ UAVObjGetByID函数代码示例

/**
 * @brief Start the module
 *
 * @return -1 if initialisation failed, 0 on success
 */
static int32_t RadioComBridgeStart(void)
{
	if (data) {
		// Check if this is the coordinator modem
		data->isCoordinator = PIOS_RFM22B_IsCoordinator(PIOS_COM_RFM22B);

		// Parse UAVTalk out of the link
		data->parseUAVTalk = true;

		// Configure our UAVObjects for updates.
		UAVObjConnectQueue(UAVObjGetByID(RFM22BSTATUS_OBJID), data->uavtalkEventQueue,
				   EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
		UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue,
				   EV_UPDATED | EV_UPDATED_MANUAL);
		if (data->isCoordinator) {
			UAVObjConnectQueue(UAVObjGetByID(RFM22BRECEIVER_OBJID), data->radioEventQueue,
					   EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
		} else {
			UAVObjConnectQueue(UAVObjGetByID(RFM22BRECEIVER_OBJID), data->uavtalkEventQueue,
					   EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
		}

		if (data->isCoordinator) {
			registerObject(RadioComBridgeStatsHandle());
		}
		// Configure the UAVObject callbacks
		ObjectPersistenceConnectCallback(&objectPersistenceUpdatedCb);

		// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
		data->telemetryTxTaskHandle = PIOS_Thread_Create(telemetryTxTask, "telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
		data->telemetryRxTaskHandle = PIOS_Thread_Create(telemetryRxTask, "telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
			    
		if (PIOS_PPM_RECEIVER != 0) {
			data->PPMInputTaskHandle = PIOS_Thread_Create(PPMInputTask, "PPMInputTask",STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
#ifdef PIOS_INCLUDE_WDG
			PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif
		}
		if (!data->parseUAVTalk) {
			// If the user wants raw serial communication, we need to spawn another thread to handle it.
			data->serialRxTaskHandle = PIOS_Thread_Create(serialRxTask, "serialRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
#ifdef PIOS_INCLUDE_WDG
			PIOS_WDG_RegisterFlag(PIOS_WDG_SERIALRX);
#endif
		}
		data->radioTxTaskHandle = PIOS_Thread_Create(radioTxTask, "radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);
		data->radioRxTaskHandle = PIOS_Thread_Create(radioRxTask, "radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY);

		// Register the watchdog timers.
#ifdef PIOS_INCLUDE_WDG
		PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX);
		PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX);
		PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
		PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
#endif
		return 0;
	}

	return -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t VtolSelfTuningStatsInitialize(void)
{
    // Compile time assertion that the VtolSelfTuningStatsDataPacked and VtolSelfTuningStatsData structs
    // have the same size (though instances of VtolSelfTuningStatsData
    // should be placed in memory by the linker/compiler on a 4 byte alignment).
    PIOS_STATIC_ASSERT(sizeof(VtolSelfTuningStatsDataPacked) == sizeof(VtolSelfTuningStatsData));

    // Don't set the handle to null if already registered
    if (UAVObjGetByID(VTOLSELFTUNINGSTATS_OBJID)) {
        return -2;
    }

    // Register object with the object manager
    handle = UAVObjRegister(VTOLSELFTUNINGSTATS_OBJID,
                            VTOLSELFTUNINGSTATS_ISSINGLEINST, VTOLSELFTUNINGSTATS_ISSETTINGS, VTOLSELFTUNINGSTATS_ISPRIORITY, VTOLSELFTUNINGSTATS_NUMBYTES, &VtolSelfTuningStatsSetDefaults);

    // Done
    return handle ? 0 : -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t FlightTelemetryStatsInitialize(void)
{
    // Compile time assertion that the FlightTelemetryStatsDataPacked and FlightTelemetryStatsData structs
    // have the same size (though instances of FlightTelemetryStatsData
    // should be placed in memory by the linker/compiler on a 4 byte alignment).
    PIOS_STATIC_ASSERT(sizeof(FlightTelemetryStatsDataPacked) == sizeof(FlightTelemetryStatsData));
    
    // Don't set the handle to null if already registered
    if (UAVObjGetByID(FLIGHTTELEMETRYSTATS_OBJID)) {
        return -2;
    }

    // Register object with the object manager
    handle = UAVObjRegister(FLIGHTTELEMETRYSTATS_OBJID,
        FLIGHTTELEMETRYSTATS_ISSINGLEINST, FLIGHTTELEMETRYSTATS_ISSETTINGS, FLIGHTTELEMETRYSTATS_ISPRIORITY, FLIGHTTELEMETRYSTATS_NUMBYTES, &FlightTelemetryStatsSetDefaults);

    // Done
    return handle ? 0 : -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t EKFConfigurationInitialize(void)
{
    // Compile time assertion that the EKFConfigurationDataPacked and EKFConfigurationData structs
    // have the same size (though instances of EKFConfigurationData
    // should be placed in memory by the linker/compiler on a 4 byte alignment).
    PIOS_STATIC_ASSERT(sizeof(EKFConfigurationDataPacked) == sizeof(EKFConfigurationData));
    
    // Don't set the handle to null if already registered
    if (UAVObjGetByID(EKFCONFIGURATION_OBJID)) {
        return -2;
    }

    // Register object with the object manager
    handle = UAVObjRegister(EKFCONFIGURATION_OBJID,
        EKFCONFIGURATION_ISSINGLEINST, EKFCONFIGURATION_ISSETTINGS, EKFCONFIGURATION_ISPRIORITY, EKFCONFIGURATION_NUMBYTES, &EKFConfigurationSetDefaults);

    // Done
    return handle ? 0 : -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t PositionStateInitialize(void)
{
    // Compile time assertion that the PositionStateDataPacked and PositionStateData structs
    // have the same size (though instances of PositionStateData
    // should be placed in memory by the linker/compiler on a 4 byte alignment).
    PIOS_STATIC_ASSERT(sizeof(PositionStateDataPacked) == sizeof(PositionStateData));
    
    // Don't set the handle to null if already registered
    if (UAVObjGetByID(POSITIONSTATE_OBJID)) {
        return -2;
    }

    // Register object with the object manager
    handle = UAVObjRegister(POSITIONSTATE_OBJID,
        POSITIONSTATE_ISSINGLEINST, POSITIONSTATE_ISSETTINGS, POSITIONSTATE_ISPRIORITY, POSITIONSTATE_NUMBYTES, &PositionStateSetDefaults);

    // Done
    return handle ? 0 : -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t SystemSettingsInitialize(void)
{
    // Compile time assertion that the SystemSettingsDataPacked and SystemSettingsData structs
    // have the same size (though instances of SystemSettingsData
    // should be placed in memory by the linker/compiler on a 4 byte alignment).
    PIOS_STATIC_ASSERT(sizeof(SystemSettingsDataPacked) == sizeof(SystemSettingsData));
    
    // Don't set the handle to null if already registered
    if (UAVObjGetByID(SYSTEMSETTINGS_OBJID)) {
        return -2;
    }

    // Register object with the object manager
    handle = UAVObjRegister(SYSTEMSETTINGS_OBJID,
        SYSTEMSETTINGS_ISSINGLEINST, SYSTEMSETTINGS_ISSETTINGS, SYSTEMSETTINGS_ISPRIORITY, SYSTEMSETTINGS_NUMBYTES, &SystemSettingsSetDefaults);

    // Done
    return handle ? 0 : -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t AccelSensorInitialize(void)
{
    // Compile time assertion that the AccelSensorDataPacked and AccelSensorData structs
    // have the same size (though instances of AccelSensorData
    // should be placed in memory by the linker/compiler on a 4 byte alignment).
    PIOS_STATIC_ASSERT(sizeof(AccelSensorDataPacked) == sizeof(AccelSensorData));
    
    // Don't set the handle to null if already registered
    if (UAVObjGetByID(ACCELSENSOR_OBJID)) {
        return -2;
    }

    // Register object with the object manager
    handle = UAVObjRegister(ACCELSENSOR_OBJID,
        ACCELSENSOR_ISSINGLEINST, ACCELSENSOR_ISSETTINGS, ACCELSENSOR_ISPRIORITY, ACCELSENSOR_NUMBYTES, &AccelSensorSetDefaults);

    // Done
    return handle ? 0 : -1;
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t HwFlyingF3Initialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID(HWFLYINGF3_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister(HWFLYINGF3_OBJID,
			HWFLYINGF3_ISSINGLEINST, HWFLYINGF3_ISSETTINGS, HWFLYINGF3_NUMBYTES, &HwFlyingF3SetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t WaypointInitialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID(WAYPOINT_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister(WAYPOINT_OBJID,
			WAYPOINT_ISSINGLEINST, WAYPOINT_ISSETTINGS, WAYPOINT_NUMBYTES, &WaypointSetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t $(NAME)Initialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID($(NAMEUC)_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister($(NAMEUC)_OBJID,
			$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &$(NAME)SetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t BaroAltitudeInitialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID(BAROALTITUDE_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister(BAROALTITUDE_OBJID,
			BAROALTITUDE_ISSINGLEINST, BAROALTITUDE_ISSETTINGS, BAROALTITUDE_NUMBYTES, &BaroAltitudeSetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t HomeLocationInitialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID(HOMELOCATION_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister(HOMELOCATION_OBJID,
			HOMELOCATION_ISSINGLEINST, HOMELOCATION_ISSETTINGS, HOMELOCATION_NUMBYTES, &HomeLocationSetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t OPLinkReceiverInitialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID(OPLINKRECEIVER_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister(OPLINKRECEIVER_OBJID,
			OPLINKRECEIVER_ISSINGLEINST, OPLINKRECEIVER_ISSETTINGS, OPLINKRECEIVER_NUMBYTES, &OPLinkReceiverSetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t GCSTelemetryStatsInitialize(void)
{
	// Don't set the handle to null if already registered
	if(UAVObjGetByID(GCSTELEMETRYSTATS_OBJID) != NULL)
		return -2;
	
	// Register object with the object manager
	handle = UAVObjRegister(GCSTELEMETRYSTATS_OBJID,
			GCSTELEMETRYSTATS_ISSINGLEINST, GCSTELEMETRYSTATS_ISSETTINGS, GCSTELEMETRYSTATS_NUMBYTES, &GCSTelemetryStatsSetDefaults);

	// Done
	if (handle != 0)
	{
		return 0;
	}
	else
	{
		return -1;
	}
}

/**
 * Initialize object.
 * \return 0 Success
 * \return -1 Failure to initialize or -2 for already initialized
 */
int32_t AttitudeSimulatedInitialize(void)
{
    // Don't set the handle to null if already registered
    if(UAVObjGetByID(ATTITUDESIMULATED_OBJID) != NULL)
        return -2;

    // Register object with the object manager
    handle = UAVObjRegister(ATTITUDESIMULATED_OBJID,
                            ATTITUDESIMULATED_ISSINGLEINST, ATTITUDESIMULATED_ISSETTINGS, ATTITUDESIMULATED_NUMBYTES, &AttitudeSimulatedSetDefaults);

    // Done
    if (handle != 0)
    {
        return 0;
    }
    else
    {
        return -1;
    }
}