diff --git a/src/Groundstation/Common/Ports/EthernetBase.cpp b/src/Groundstation/Common/Ports/EthernetBase.cpp
index 34ce2d8e658efefb2c7b0a1a896126d67fed2f08..52b2e982ab9f8b42fab1a529408c447377785fb6 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.cpp
+++ b/src/Groundstation/Common/Ports/EthernetBase.cpp
@@ -137,8 +137,6 @@ ssize_t EthernetBase::receive(uint8_t* pkt, size_t max_len)
ssize_t size = 0;
WizIp dst_ip;
uint16_t dst_port;
- TRACE("Haloo\n");
-
if (!sniffOtherGs)
size = wiz5500->recvfrom(0, pkt, max_len, dst_ip, dst_port);
else
@@ -148,7 +146,6 @@ ssize_t EthernetBase::receive(uint8_t* pkt, size_t max_len)
RECEIVE_PORT_TIMEOUT_MS);
if (size <= 0 && sniffOtherGs)
{
- TRACE("Second sniff\n");
size = wiz5500->recvfrom(1, pkt, max_len, dst_ip, dst_port,
RECEIVE_PORT_TIMEOUT_MS);
}
diff --git a/src/Groundstation/Common/Ports/EthernetBase.h b/src/Groundstation/Common/Ports/EthernetBase.h
index e2c1a830a628ed5a7e4d7965ac215b341ce03518..82adc3c1a059cb1f629c8f531f7bad927f766dba 100644
--- a/src/Groundstation/Common/Ports/EthernetBase.h
+++ b/src/Groundstation/Common/Ports/EthernetBase.h
@@ -35,7 +35,7 @@ namespace Groundstation
{
// Timeout for the port receive
-static constexpr uint16_t RECEIVE_PORT_TIMEOUT_MS = 200;
+static constexpr uint16_t RECEIVE_PORT_TIMEOUT_MS = 500;
Boardcore::WizIp genNewRandomIp();
Boardcore::WizMac genNewRandomMac();
diff --git a/src/Groundstation/RotatingPlatform/BoardStatus.cpp b/src/Groundstation/RotatingPlatform/BoardStatus.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..db4551f4361207a9683b9024887611c5fef00e92
--- /dev/null
+++ b/src/Groundstation/RotatingPlatform/BoardStatus.cpp
@@ -0,0 +1,122 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "BoardStatus.h"
+
+using namespace Boardcore;
+using namespace Groundstation;
+using namespace RotatingPlatform;
+
+bool BoardStatus::isMainRadioPresent() { return main_radio_present; }
+bool BoardStatus::isPayloadRadioPresent() { return payload_radio_present; }
+bool BoardStatus::isEthernetPresent() { return ethernet_present; }
+
+bool BoardStatus::start()
+{
+ if (!ActiveObject::start())
+ return false;
+
+ return true;
+}
+
+void BoardStatus::setMainRadioPresent(bool present)
+{
+ main_radio_present = present;
+}
+
+void BoardStatus::setPayloadRadioPresent(bool present)
+{
+ payload_radio_present = present;
+}
+
+void BoardStatus::setEthernetPresent(bool present)
+{
+ ethernet_present = present;
+}
+
+void BoardStatus::run()
+{
+ while (!shouldStop())
+ {
+ miosix::Thread::sleep(Groundstation::RADIO_STATUS_PERIOD);
+
+ Actuators* actuators = getModule<Actuators>();
+
+ mavlink_arp_tm_t tm = {0};
+ tm.timestamp = TimestampTimer::getTimestamp(); /*< [us] Timestamp*/
+ tm.pitch = 6969; /*< [deg] Current Pitch*/
+ tm.roll = 666; /*< [deg] Current Roll*/
+ tm.target_pitch = 3333; /*< [deg] Target Pitch*/
+ tm.stepperX_pos = actuators->getCurrentDegPosition(
+ StepperList::STEPPER_X); /*< [deg] StepperX target pos*/
+ tm.stepperX_delta = actuators->getDeltaAngleDeg(
+ StepperList::STEPPER_X); /*< [deg] StepperX target delta deg*/
+ tm.stepperX_speed = actuators->getSpeed(
+ StepperList::STEPPER_X); /*< [rps] StepperX Speed*/
+ tm.stepperY_pos = -1; /*< [deg] StepperY target pos*/
+ tm.stepperY_delta = -1; /*< [deg] StepperY target delta deg*/
+ tm.stepperY_speed = -1; /*< [rps] StepperY Speed*/
+ tm.gps_latitude = -1; /*< [deg] Latitude*/
+ tm.gps_longitude = -1; /*< [deg] Longitude*/
+ tm.gps_height = -1; /*< [m] Altitude*/
+ tm.log_number =
+ Logger::getInstance().getCurrentLogNumber(); /*< Log number*/
+
+ tm.battery_voltage = -420.0;
+
+ if (main_radio_present)
+ {
+ tm.main_radio_present = 1;
+
+ auto stats = getModule<LyraGS::RadioMain>()->getStats();
+ tm.main_packet_tx_error_count = stats.send_errors;
+ tm.main_tx_bitrate = main_tx_bitrate.update(stats.bits_tx_count);
+ tm.main_packet_rx_success_count = stats.packet_rx_success_count;
+ tm.main_packet_rx_drop_count = stats.packet_rx_drop_count;
+ tm.main_rx_bitrate = main_rx_bitrate.update(stats.bits_rx_count);
+ tm.main_rx_rssi = stats.rx_rssi;
+
+ last_main_stats = stats;
+
+ Logger::getInstance().log(LyraGS::MainRadioLog{
+ tm.timestamp, tm.main_packet_tx_error_count, tm.main_tx_bitrate,
+ tm.main_packet_rx_success_count, tm.main_packet_rx_drop_count,
+ tm.main_rx_bitrate, tm.main_rx_rssi});
+ }
+
+ if (ethernet_present)
+ {
+ auto stats = getModule<LyraGS::EthernetGS>()->getState();
+
+ tm.ethernet_present = 1;
+ tm.ethernet_status = (stats.link_up ? 1 : 0) |
+ (stats.full_duplex ? 2 : 0) |
+ (stats.based_100mbps ? 4 : 0);
+ }
+
+ mavlink_message_t msg;
+ mavlink_msg_arp_tm_encode(Groundstation::ARP_SYSTEM_ID,
+ Groundstation::ARP_COMPONENT_ID, &msg, &tm);
+
+ getModule<HubBase>()->dispatchIncomingMsg(msg);
+ }
+}
diff --git a/src/Groundstation/RotatingPlatform/BoardStatus.h b/src/Groundstation/RotatingPlatform/BoardStatus.h
new file mode 100644
index 0000000000000000000000000000000000000000..e6e0d2aa2b42b129a6afae88909c7650c9271f5c
--- /dev/null
+++ b/src/Groundstation/RotatingPlatform/BoardStatus.h
@@ -0,0 +1,139 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ActiveObject.h>
+#include <Groundstation/Common/Config/GeneralConfig.h>
+#include <Groundstation/Common/Config/RadioConfig.h>
+#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Radio/RadioBase.h>
+#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Radio/Radio.h>
+#include <Groundstation/LyraGS/Radio/RadioData.h>
+#include <Groundstation/RotatingPlatform/Actuators/Actuators.h>
+#include <common/MavlinkLyra.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <utils/DependencyManager/DependencyManager.h>
+#include <utils/collections/CircularBuffer.h>
+
+namespace LyraGS
+{
+class RadioMain;
+class RadioPayload;
+class EthernetGS;
+} // namespace LyraGS
+
+namespace RotatingPlatform
+{
+
+/**
+ * @brief Utility to calculate the bitrate
+ */
+template <unsigned int WINDOW_SIZE, unsigned int PERIOD>
+class BitrateCalculator
+{
+public:
+ BitrateCalculator() {}
+
+ /**
+ * @brief Update the calculator, should be called every PERIOD ms
+ */
+ uint16_t update(uint32_t sample)
+ {
+ if (window.isFull())
+ {
+ uint32_t last = window.pop();
+ window.put(sample);
+
+ uint16_t delta = sample - last;
+
+ // window size is in ms, we want the result in s
+ return delta * 1000 / WINDOW_SIZE;
+ }
+ else
+ {
+ window.put(sample);
+ return 0;
+ }
+ }
+
+private:
+ Boardcore::CircularBuffer<uint32_t, WINDOW_SIZE / PERIOD> window;
+};
+
+/**
+ * @brief Class responsible for keeping track of radio status and metrics.
+ */
+class BoardStatus
+ : public Boardcore::InjectableWithDeps<
+ RotatingPlatform::Actuators, Groundstation::HubBase,
+ LyraGS::RadioMain, LyraGS::RadioPayload, LyraGS::EthernetGS>,
+ private Boardcore::ActiveObject
+{
+public:
+ bool start();
+
+ /**
+ * @brief Check wether the main radio was found during boot.
+ */
+ bool isMainRadioPresent();
+
+ /**
+ * @brief Check wether the payload radio was found during boot.
+ */
+ bool isPayloadRadioPresent();
+
+ /**
+ * @brief Check wether the ethernet was found d\uring boot.
+ */
+ bool isEthernetPresent();
+
+ void setMainRadioPresent(bool present);
+ void setPayloadRadioPresent(bool present);
+ void setEthernetPresent(bool present);
+
+private:
+ void run() override;
+
+ Groundstation::RadioStats last_main_stats = {0};
+ Groundstation::RadioStats last_payload_stats = {0};
+
+ BitrateCalculator<Groundstation::RADIO_BITRATE_WINDOW_SIZE,
+ Groundstation::RADIO_STATUS_PERIOD>
+ main_tx_bitrate;
+ BitrateCalculator<Groundstation::RADIO_BITRATE_WINDOW_SIZE,
+ Groundstation::RADIO_STATUS_PERIOD>
+ main_rx_bitrate;
+ BitrateCalculator<Groundstation::RADIO_BITRATE_WINDOW_SIZE,
+ Groundstation::RADIO_STATUS_PERIOD>
+ payload_tx_bitrate;
+ BitrateCalculator<Groundstation::RADIO_BITRATE_WINDOW_SIZE,
+ Groundstation::RADIO_STATUS_PERIOD>
+ payload_rx_bitrate;
+
+ bool main_radio_present = false;
+ bool payload_radio_present = false;
+ bool ethernet_present = false;
+};
+
+} // namespace RotatingPlatform
diff --git a/src/Groundstation/RotatingPlatform/Radio/Radio.cpp b/src/Groundstation/RotatingPlatform/Radio/Radio.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b3c06662a6048bc2a68850a69522bd1a0843b3ed
--- /dev/null
+++ b/src/Groundstation/RotatingPlatform/Radio/Radio.cpp
@@ -0,0 +1,170 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Radio.h"
+
+using namespace RotatingPlatform;
+using namespace Boardcore;
+using namespace miosix;
+
+SX1278Fsk* radioMainGlobal{nullptr};
+SX1278Fsk* radioPayloadGlobal{nullptr};
+
+void __attribute__((used)) MIOSIX_RADIO1_DIO0_IRQ()
+{
+ SX1278Fsk* instance = radioMainGlobal;
+ if (instance)
+ instance->handleDioIRQ();
+}
+
+void __attribute__((used)) MIOSIX_RADIO1_DIO1_IRQ()
+{
+ SX1278Fsk* instance = radioMainGlobal;
+ if (instance)
+ instance->handleDioIRQ();
+}
+
+void __attribute__((used)) MIOSIX_RADIO1_DIO3_IRQ()
+{
+ SX1278Fsk* instance = radioMainGlobal;
+ if (instance)
+ instance->handleDioIRQ();
+}
+
+void __attribute__((used)) MIOSIX_RADIO2_DIO0_IRQ()
+{
+ if (radioPayloadGlobal)
+ radioPayloadGlobal->handleDioIRQ();
+}
+
+void __attribute__((used)) MIOSIX_RADIO2_DIO1_IRQ()
+{
+ if (radioPayloadGlobal)
+ radioPayloadGlobal->handleDioIRQ();
+}
+
+void __attribute__((used)) MIOSIX_RADIO2_DIO3_IRQ()
+{
+ if (radioPayloadGlobal)
+ radioPayloadGlobal->handleDioIRQ();
+}
+
+bool RadioMain::start()
+{
+ std::unique_ptr<SX1278::ISX1278Frontend> frontend;
+
+ if (hasBackup)
+ frontend = std::make_unique<EbyteFrontend>(radio1::txen::getPin(),
+ radio1::rxen::getPin());
+ else
+ frontend = std::make_unique<Skyward433Frontend>();
+
+ std::unique_ptr<Boardcore::SX1278Fsk> sx1278 =
+ std::make_unique<Boardcore::SX1278Fsk>(
+ getModule<LyraGS::Buses>()->radio1_bus, radio1::cs::getPin(),
+ radio1::dio0::getPin(), radio1::dio1::getPin(),
+ radio1::dio3::getPin(), SPI::ClockDivider::DIV_64,
+ std::move(frontend));
+
+ // Set the global radio for IRQ
+ radioMainGlobal = sx1278.get();
+
+ // First check if the device is even connected
+ bool present = sx1278->checkVersion();
+
+ getModule<RotatingPlatform::BoardStatus>()->setMainRadioPresent(present);
+
+ if (present)
+ {
+ // Configure the radio
+ if (sx1278->configure(Common::MAIN_RADIO_CONFIG) !=
+ SX1278Fsk::Error::NONE)
+ return false;
+
+ // Initialize if only if present
+ if (!RadioBase::start(std::move(sx1278)))
+
+ return false;
+ }
+
+ return true;
+}
+
+bool RadioPayload::start()
+{
+ std::unique_ptr<SX1278::ISX1278Frontend> frontend;
+ std::unique_ptr<Boardcore::SX1278Fsk> sx1278;
+ if (hasBackup)
+ frontend = std::make_unique<EbyteFrontend>(radio2::txen::getPin(),
+ radio2::rxen::getPin());
+ else
+ frontend = std::make_unique<Skyward433Frontend>();
+
+ sx1278 = std::make_unique<Boardcore::SX1278Fsk>(
+ getModule<LyraGS::Buses>()->radio2_bus, radio2::cs::getPin(),
+ radio2::dio0::getPin(), radio2::dio1::getPin(), radio2::dio3::getPin(),
+ SPI::ClockDivider::DIV_64, std::move(frontend));
+
+ // Set the global radio for IRQ
+ radioPayloadGlobal = sx1278.get();
+
+ // First check if the device is even connected
+ bool present = sx1278->checkVersion();
+
+ getModule<BoardStatus>()->setPayloadRadioPresent(present);
+
+ if (present)
+ {
+ // Configure the radio
+ if (sx1278->configure(Common::PAYLOAD_RADIO_CONFIG) !=
+ SX1278Fsk::Error::NONE)
+ {
+ return false;
+ }
+
+ // Initialize if only if present
+ if (!RadioBase::start(std::move(sx1278)))
+ return false;
+ }
+
+ return true;
+}
+
+bool RadioMain::sendMsg(const mavlink_message_t& msg)
+{
+ if (txEnable)
+ return RadioBase::sendMsg(msg);
+ return false;
+};
+
+/**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch
+ *
+ * @returns false when the queue is full.
+ */
+bool RadioPayload::sendMsg(const mavlink_message_t& msg)
+{
+ if (txEnable)
+ return Groundstation::RadioBase::sendMsg(msg);
+ return false;
+};
diff --git a/src/Groundstation/RotatingPlatform/Radio/Radio.h b/src/Groundstation/RotatingPlatform/Radio/Radio.h
new file mode 100644
index 0000000000000000000000000000000000000000..b2a732dc61e3320dc5c8f7fe8699783048f594ab
--- /dev/null
+++ b/src/Groundstation/RotatingPlatform/Radio/Radio.h
@@ -0,0 +1,92 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Davide Mor
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <Groundstation/Common/Radio/RadioBase.h>
+#include <Groundstation/LyraGS/Buses.h>
+#include <Groundstation/RotatingPlatform/BoardStatus.h>
+#include <interfaces-impl/hwmapping.h>
+#include <radio/SX1278/SX1278Frontends.h>
+#include <utils/DependencyManager/DependencyManager.h>
+
+namespace RotatingPlatform
+{
+
+class BoardStatus;
+
+class RadioMain : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::RadioBase>,
+ LyraGS::Buses, BoardStatus>
+{
+public:
+ [[nodiscard]] bool start();
+
+ explicit RadioMain(bool hasBackup) : hasBackup{hasBackup} {};
+
+ RadioMain() : hasBackup{false} {};
+
+ RadioMain(bool hasBackup, bool txEnable)
+ : hasBackup{hasBackup}, txEnable{txEnable} {};
+
+ /**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch for transmission
+ *
+ * @returns false when the queue is full or if tx is not enabled.
+ */
+ bool sendMsg(const mavlink_message_t& msg);
+
+private:
+ bool hasBackup = false;
+ bool txEnable = true;
+};
+class RadioPayload : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::RadioBase>,
+ LyraGS::Buses, BoardStatus>
+{
+public:
+ [[nodiscard]] bool start();
+
+ explicit RadioPayload(bool hasBackup) : hasBackup{hasBackup} {};
+
+ RadioPayload() : hasBackup{false} {};
+
+ RadioPayload(bool hasBackup, bool txEnable)
+ : hasBackup{hasBackup}, txEnable{txEnable} {};
+
+ /**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch for transmission
+ *
+ * @returns false when the queue is full or if tx is not enabled.
+ */
+ bool sendMsg(const mavlink_message_t& msg);
+
+private:
+ bool hasBackup = false;
+ bool txEnable = true;
+};
+
+} // namespace RotatingPlatform
diff --git a/src/Groundstation/RotatingPlatform/Radio/RadioData.h b/src/Groundstation/RotatingPlatform/Radio/RadioData.h
new file mode 100644
index 0000000000000000000000000000000000000000..fa497e080f709132b29525a259e7ceb37bca1b6a
--- /dev/null
+++ b/src/Groundstation/RotatingPlatform/Radio/RadioData.h
@@ -0,0 +1,62 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Nicolò Caruso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#include <iostream>
+#include <string>
+
+/**
+ * @brief Logging struct for the main radio informations
+ *
+ */
+
+namespace RotatingPlatform
+{
+struct MainRadioLog
+{
+ uint64_t timestamp = 0;
+ uint16_t main_packet_tx_error_count = 0;
+ uint32_t main_tx_bitrate = 0;
+ uint16_t main_packet_rx_success_count = 0;
+ uint16_t main_packet_rx_drop_count = 0;
+ uint32_t main_rx_bitrate = 0;
+ float main_rx_rssi = 0;
+
+ static std::string header()
+ {
+ return "timestamp,main_packet_tx_error_count,main_tx_bitrate,main_"
+ "packet_rx_success_count,main_packet_rx_drop_count,main_rx_"
+ "bitrate,main_rx_rssi\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << main_packet_tx_error_count << ","
+ << main_tx_bitrate << "," << main_tx_bitrate << ","
+ << main_packet_rx_success_count << "," << main_packet_rx_drop_count
+ << "," << main_rx_bitrate << "," << main_rx_rssi << "\n";
+ }
+};
+} // namespace RotatingPlatform