[gs] Improved base gs

cmake/dependencies.cmake

@@ -44,8 +44,8 @@ set(MAIN_COMPUTER
 
 set(GROUNDSTATION_COMMON
     src/boards/Groundstation/Base/Radio/Radio.cpp
-    src/boards/Groundstation/Base/Radio/RadioStatus.cpp
     src/boards/Groundstation/Base/Ports/Ethernet.cpp
+    src/boards/Groundstation/Base/BoardStatus.cpp
     src/boards/Groundstation/Base/Hub.cpp
 )
 

src/boards/Groundstation/Base/Hub.cpp

@@ -24,7 +24,7 @@
 
 #include <Groundstation/Base/Ports/Ethernet.h>
 #include <Groundstation/Base/Radio/Radio.h>
-#include <Groundstation/Base/Radio/RadioStatus.h>
+#include <Groundstation/Base/BoardStatus.h>
 #include <Groundstation/Common/Config/GeneralConfig.h>
 #include <Groundstation/Common/Ports/Serial.h>
 
@@ -34,7 +34,7 @@ using namespace Boardcore;
 
 void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
 {
-    RadioStatus* status = ModuleManager::getInstance().get<RadioStatus>();
+    BoardStatus* status = ModuleManager::getInstance().get<BoardStatus>();
 
     bool send_ok = false;
 
@@ -51,17 +51,22 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
     }
 
     // If both of the sends went wrong, just send a nack
-    if (!send_ok)
-    {
-        sendNack(msg);
-    }
+    // This doesn't work well with multiple GS on the same ethernet network
+    // if (!send_ok)
+    // {
+    //     sendNack(msg);
+    // }
 }
 
 void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
 {
+    BoardStatus* status = ModuleManager::getInstance().get<BoardStatus>();
+
     Serial* serial = ModuleManager::getInstance().get<Serial>();
     serial->sendMsg(msg);
 
+    if (status->isEthernetPresent()) {
         Ethernet* ethernet = ModuleManager::getInstance().get<Ethernet>();
         ethernet->sendMsg(msg);
     }
+}
\ No newline at end of file

src/boards/Groundstation/Base/Ports/Ethernet.cpp

@@ -22,6 +22,7 @@
 
 #include "Ethernet.h"
 
+#include <Groundstation/Base/BoardStatus.h>
 #include <Groundstation/Base/Buses.h>
 #include <interfaces-impl/hwmapping.h>
 
@@ -42,5 +43,17 @@ bool Ethernet::start()
         ethernet::cs::getPin(), ethernet::intr::getPin(),
         SPI::ClockDivider::DIV_64);
 
-    return EthernetBase::start(std::move(wiz5500));
+    // First check if the device is even connected
+    bool present = wiz5500->checkVersion();
+
+    ModuleManager::getInstance().get<BoardStatus>()->setEthernetPresent(
+        present);
+
+    if(present) {
+        if(!EthernetBase::start(std::move(wiz5500))) {
+            return false;
+        }
+    }
+
+    return true;
 }
\ No newline at end of file

src/boards/Groundstation/Base/Radio/Radio.cpp

@@ -24,7 +24,7 @@
 
 #include <Groundstation/Base/Buses.h>
 #include <Groundstation/Base/Hub.h>
-#include <Groundstation/Base/Radio/RadioStatus.h>
+#include <Groundstation/Base/BoardStatus.h>
 #include <Groundstation/Common/Ports/Serial.h>
 #include <radio/SX1278/SX1278Frontends.h>
 
@@ -84,7 +84,7 @@ bool RadioMain::start()
     // First check if the device is even connected
     bool present = sx1278->checkVersion();
 
-    ModuleManager::getInstance().get<RadioStatus>()->setMainRadioPresent(
+    ModuleManager::getInstance().get<BoardStatus>()->setMainRadioPresent(
         present);
 
     if (present)
@@ -127,7 +127,7 @@ bool RadioPayload::start()
     // First check if the device is even connected
     bool present = sx1278->checkVersion();
 
-    ModuleManager::getInstance().get<RadioStatus>()->setPayloadRadioPresent(
+    ModuleManager::getInstance().get<BoardStatus>()->setPayloadRadioPresent(
         present);
 
     if (present)

src/boards/Groundstation/Base/Radio/RadioStatus.cpp

-/* 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 "RadioStatus.h"
-
-#include <Groundstation/Base/Radio/Radio.h>
-#include <Groundstation/Common/Config/GeneralConfig.h>
-#include <Groundstation/Common/HubBase.h>
-#include <common/Mavlink.h>
-#include <drivers/timer/TimestampTimer.h>
-
-using namespace Boardcore;
-using namespace Groundstation;
-using namespace GroundstationBase;
-
-bool RadioStatus::isMainRadioPresent() { return main_radio_present; }
-bool RadioStatus::isPayloadRadioPresent() { return payload_radio_present; }
-
-bool RadioStatus::start()
-{
-    if (!ActiveObject::start())
-    {
-        return false;
-    }
-
-    return true;
-}
-
-void RadioStatus::setMainRadioPresent(bool present)
-{
-    main_radio_present = present;
-}
-
-void RadioStatus::setPayloadRadioPresent(bool present)
-{
-    payload_radio_present = present;
-}
-
-void RadioStatus::run()
-{
-    while (!shouldStop())
-    {
-        miosix::Thread::sleep(RADIO_STATUS_PERIOD);
-
-        mavlink_receiver_tm_t tm = {0};
-        tm.timestamp             = TimestampTimer::getTimestamp();
-
-        if (main_radio_present)
-        {
-            tm.main_radio_present = 1;
-
-            auto stats =
-                ModuleManager::getInstance().get<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;
-            tm.main_rx_fei     = stats.rx_fei;
-
-            last_main_stats = stats;
-        }
-
-        if (payload_radio_present)
-        {
-            tm.payload_radio_present = 1;
-
-            auto stats =
-                ModuleManager::getInstance().get<RadioPayload>()->getStats();
-            tm.payload_packet_tx_error_count = stats.send_errors;
-            tm.payload_tx_bitrate =
-                payload_tx_bitrate.update(stats.bits_tx_count);
-            tm.payload_packet_rx_success_count = stats.packet_rx_success_count;
-            tm.payload_packet_rx_drop_count    = stats.packet_rx_drop_count;
-            tm.payload_rx_bitrate =
-                payload_rx_bitrate.update(stats.bits_rx_count);
-            tm.payload_rx_rssi = stats.rx_rssi;
-            tm.payload_rx_fei  = stats.rx_fei;
-
-            last_payload_stats = stats;
-        }
-
-        mavlink_message_t msg;
-        mavlink_msg_receiver_tm_encode(GS_SYSTEM_ID, GS_COMPONENT_ID, &msg,
-                                       &tm);
-
-        ModuleManager::getInstance().get<HubBase>()->dispatchIncomingMsg(msg);
-    }
-}
\ No newline at end of file

src/boards/Groundstation/Base/Radio/RadioStatus.h

-/* 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 <ActiveObject.h>
-#include <Groundstation/Common/Config/RadioConfig.h>
-#include <Groundstation/Common/Radio/RadioBase.h>
-#include <utils/collections/CircularBuffer.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
-
-namespace GroundstationBase
-{
-
-/**
- * @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 RadioStatus : public Boardcore::Module, private Boardcore::ActiveObject
-{
-public:
-    RadioStatus() {}
-
-    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();
-
-    void setMainRadioPresent(bool present);
-    void setPayloadRadioPresent(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;
-};
-
-}  // namespace GroundstationBase
\ No newline at end of file

src/boards/Groundstation/Common/Ports/EthernetBase.cpp

@@ -64,15 +64,17 @@ void EthernetBase::sendMsg(const mavlink_message_t& msg)
     }
 }
 
+Boardcore::Wiz5500::PhyState EthernetBase::getState()
+{
+    return wiz5500->getPhyState();
+}
+
 bool EthernetBase::start(std::unique_ptr<Boardcore::Wiz5500> wiz5500)
 {
     this->wiz5500 = std::move(wiz5500);
 
     // Reset the device
-    if (!this->wiz5500->reset())
-    {
-        return false;
-    }
+    this->wiz5500->reset();
 
     // Setup ip and other stuff
     this->wiz5500->setSubnetMask(SUBNET);
@@ -111,7 +113,9 @@ void EthernetBase::handleMsg(const mavlink_message_t& msg)
 
 ssize_t EthernetBase::receive(uint8_t* pkt, size_t max_len)
 {
-    return wiz5500->recv(0, pkt, max_len);
+    WizIp dst_ip;
+    uint16_t dst_port;
+    return wiz5500->recvfrom(0, pkt, max_len, dst_ip, dst_port);
 }
 
 bool EthernetBase::send(uint8_t* pkt, size_t len)

src/entrypoints/Groundstation/base-groundstation-entry.cpp

@@ -24,7 +24,7 @@
 #include <Groundstation/Base/Hub.h>
 #include <Groundstation/Base/Ports/Ethernet.h>
 #include <Groundstation/Base/Radio/Radio.h>
-#include <Groundstation/Base/Radio/RadioStatus.h>
+#include <Groundstation/Base/BoardStatus.h>
 #include <Groundstation/Common/Ports/Serial.h>
 #include <miosix.h>
 
@@ -62,7 +62,7 @@ int main()
     Ethernet *ethernet          = new Ethernet();
     RadioMain *radio_main       = new RadioMain();
     RadioPayload *radio_payload = new RadioPayload();
-    RadioStatus *radio_status   = new RadioStatus();
+    BoardStatus *board_status   = new BoardStatus();
 
     ModuleManager &modules = ModuleManager::getInstance();
 
@@ -74,7 +74,7 @@ int main()
     ok &= modules.insert(ethernet);
     ok &= modules.insert(radio_main);
     ok &= modules.insert(radio_payload);
-    ok &= modules.insert(radio_status);
+    ok &= modules.insert(board_status);
 
     // If insertion failed, stop right here
     if (!ok)
@@ -109,22 +109,29 @@ int main()
         printf("[error] Failed to start payload radio!\n");
     }
 
-    ok &= radio_status->start();
+    ok &= board_status->start();
     if (!ok)
     {
-        printf("[error] Failed to start radio status!\n");
+        printf("[error] Failed to start board status!\n");
     }
 
-    if (radio_status->isMainRadioPresent())
+    if (board_status->isMainRadioPresent())
     {
+        printf("Main radio detected!\n");
         led2On();
     }
 
-    if (radio_status->isPayloadRadioPresent())
+    if (board_status->isPayloadRadioPresent())
     {
+        printf("Payload radio detected!\n");
         led3On();
     }
 
+    if (board_status->isEthernetPresent())
+    {
+        printf("Ethernet detected!\n");
+    }
+
     if (!ok)
     {
         errorLoop();