diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 936095b11295b4afaad89e52fff50c3acd6ef35e..8e174a4bb077962864dcdfd7238fabbbcc9b5e37 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -219,29 +219,6 @@
"${workspaceFolder}/skyward-boardcore/src/bsps/stm32f429zi_con_rig"
]
},
- {
- "name": "stm32f429zi_skyward_con_rig",
- "cStandard": "c11",
- "cppStandard": "c++14",
- "compilerPath": "/opt/arm-miosix-eabi/bin/arm-miosix-eabi-g++",
- "defines": [
- "{defaultDefines}",
- "_MIOSIX_BOARDNAME=stm32f429zi_skyward_con_rig",
- "_BOARD_STM32F429ZI_SKYWARD_CON_RIG",
- "_ARCH_CORTEXM4_STM32F4",
- "STM32F429xx",
- "HSE_VALUE=8000000",
- "SYSCLK_FREQ_168MHz=168000000",
- "__ENABLE_XRAM",
- "V_DDA_VOLTAGE=3.0f"
- ],
- "includePath": [
- "${defaultIncludePaths}",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_con_rig",
- "${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/config/arch/cortexM4_stm32f4/stm32f429zi_skyward_con_rig"
- ]
- },
{
"name": "stm32f429zi_stm32f4discovery",
"cStandard": "c11",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 12939a6d4daa4963cbc96ad021286d7379b591d6..e653dae887135ee1206bc11368ba96406226e108 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,6 +66,10 @@ add_executable(rig-entry src/entrypoints/RIG/rig-entry.cpp ${RIG_COMPUTER})
target_include_directories(rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(rig-entry stm32f429zi_rig)
+add_executable(rig-v2-entry src/entrypoints/RIGv2/rig-v2-entry.cpp ${RIG_V2_COMPUTER})
+target_include_directories(rig-v2-entry PRIVATE ${OBSW_INCLUDE_DIRS})
+sbs_target(rig-v2-entry stm32f767zi_rig_v2)
+
add_executable(con_rig-entry src/entrypoints/con_RIG/con_rig-entry.cpp ${CON_RIG_COMPUTER})
target_include_directories(con_rig-entry PRIVATE ${OBSW_INCLUDE_DIRS})
sbs_target(con_rig-entry stm32f429zi_stm32f4discovery)
diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index 6fc91baeb13787403ef4652b919668bbbd308569..2c5a04ec90aa89712d96eab6e46cd1f7b84da054 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -62,6 +62,10 @@ set(RIG_COMPUTER
src/boards/RIG/StatesMonitor/StatesMonitor.cpp
)
+set(RIG_V2_COMPUTER
+ src/boards/RIGv2/Sensors/Sensors.cpp
+)
+
set(CON_RIG_COMPUTER
src/boards/con_RIG/Buttons/Buttons.cpp
src/boards/con_RIG/Radio/Radio.cpp
diff --git a/src/boards/RIGv2/Buses.h b/src/boards/RIGv2/Buses.h
new file mode 100644
index 0000000000000000000000000000000000000000..d4fbd3463c000b86123b49c34729b866e9dc2511
--- /dev/null
+++ b/src/boards/RIGv2/Buses.h
@@ -0,0 +1,53 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: 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 <drivers/spi/SPIBus.h>
+
+#include <utils/ModuleManager/ModuleManager.hpp>
+
+namespace RIGv2
+{
+
+class Buses : public Boardcore::Module
+{
+private:
+ Boardcore::SPIBus spi1;
+ Boardcore::SPIBus spi3;
+ Boardcore::SPIBus spi4;
+ Boardcore::SPIBus spi6;
+
+public:
+ Buses() : spi1(SPI1), spi3(SPI3), spi4(SPI4), spi6(SPI6) {}
+
+ Boardcore::SPIBus &getH3LIS331DL() { return spi4; }
+ Boardcore::SPIBus &getLPS22DF() { return spi4; }
+ Boardcore::SPIBus &getLSM6DSRX() { return spi4; }
+ Boardcore::SPIBus &getLIS2MDL() { return spi4; }
+ Boardcore::SPIBus &getADS131M08_1() { return spi1; }
+ Boardcore::SPIBus &getADS131M08_2() { return spi3; }
+ Boardcore::SPIBus &getMAX31856_1() { return spi3; }
+ Boardcore::SPIBus &getMAX31856_2() { return spi1; }
+};
+
+} // namespace RIGv2
\ No newline at end of file
diff --git a/src/boards/RIGv2/Configs/SensorsConfig.h b/src/boards/RIGv2/Configs/SensorsConfig.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f12a6710ae4fefbf0565566eeb55fd583d6b48e
--- /dev/null
+++ b/src/boards/RIGv2/Configs/SensorsConfig.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: 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 <cstdint>
+
+namespace RIGv2
+{
+
+namespace Config
+{
+
+namespace Sensors
+{
+
+static constexpr uint32_t ADC_SAMPLE_PERIOD = 10;
+
+}
+
+} // namespace Config
+
+} // namespace RIGv2
\ No newline at end of file
diff --git a/src/boards/RIGv2/Sensors/Sensors.cpp b/src/boards/RIGv2/Sensors/Sensors.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..07afb8e04f36fc8fc4097fea23dc29706bf8d87c
--- /dev/null
+++ b/src/boards/RIGv2/Sensors/Sensors.cpp
@@ -0,0 +1,87 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: 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 "Sensors.h"
+
+#include <RIGv2/Buses.h>
+#include <RIGv2/Configs/SensorsConfig.h>
+#include <RIGv2/Sensors/SensorsData.h>
+#include <interfaces-impl/hwmapping.h>
+
+using namespace Boardcore;
+using namespace miosix;
+using namespace RIGv2;
+
+bool Sensors::start()
+{
+ SensorManager::SensorMap_t map;
+ adc1Init(map);
+
+ manager.reset(new SensorManager(map, &scheduler));
+ return manager->start();
+}
+
+void Sensors::stop() {
+ manager->stop();
+}
+
+ADS131M08Data Sensors::getADC1LastSample()
+{
+ PauseKernelLock l;
+ return adc1->getLastSample();
+}
+
+void Sensors::adc1Init(SensorManager::SensorMap_t &map)
+{
+ ModuleManager &modules = ModuleManager::getInstance();
+
+ SPIBusConfig spiConfig = {};
+ spiConfig.mode = SPI::Mode::MODE_0;
+ spiConfig.clockDivider = SPI::ClockDivider::DIV_32;
+
+ ADS131M08::Config config = {};
+ config.oversamplingRatio = ADS131M08Defs::OversamplingRatio::OSR_8192;
+ config.globalChopModeEnabled = true;
+
+ adc1.reset(new ADS131M08(modules.get<Buses>()->getADS131M08_1(),
+ sensors::ADS131_1::cs::getPin(), spiConfig,
+ config));
+
+ SensorInfo info("ADS131M08_1", Config::Sensors::ADC_SAMPLE_PERIOD,
+ [this]() { adc1Callback(); });
+ map.emplace(std::make_pair(adc1.get(), info));
+}
+
+void Sensors::adc1Callback()
+{
+ ADS131M08Data sample = adc1->getLastSample();
+
+ ADCsData data{sample.timestamp, 1,
+ sample.voltage[0], sample.voltage[1],
+ sample.voltage[2], sample.voltage[3],
+ sample.voltage[4], sample.voltage[5],
+ sample.voltage[6], sample.voltage[7]};
+
+ LOG_INFO(logger, "{}\t{}", sample.voltage[6], sample.voltage[7]);
+
+ sdLogger.log(data);
+}
\ No newline at end of file
diff --git a/src/boards/RIGv2/Sensors/Sensors.h b/src/boards/RIGv2/Sensors/Sensors.h
new file mode 100644
index 0000000000000000000000000000000000000000..ec32a4674ae72d9c391a8b996afadf3431d2e494
--- /dev/null
+++ b/src/boards/RIGv2/Sensors/Sensors.h
@@ -0,0 +1,57 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: 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 <sensors/ADS131M08/ADS131M08.h>
+#include <sensors/SensorManager.h>
+
+#include <memory>
+#include <utils/ModuleManager/ModuleManager.hpp>
+
+namespace RIGv2
+{
+
+class Sensors : public Boardcore::Module
+{
+public:
+ explicit Sensors(Boardcore::TaskScheduler &scheduler) : scheduler{scheduler} {}
+
+ [[nodiscard]] bool start();
+
+ void stop();
+
+ Boardcore::ADS131M08Data getADC1LastSample();
+
+private:
+ void adc1Init(Boardcore::SensorManager::SensorMap_t &map);
+ void adc1Callback();
+
+ Boardcore::Logger &sdLogger = Boardcore::Logger::getInstance();
+ Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("sensors");
+ Boardcore::TaskScheduler &scheduler;
+
+ std::unique_ptr<Boardcore::ADS131M08> adc1;
+ std::unique_ptr<Boardcore::SensorManager> manager;
+};
+
+} // namespace RIGv2
\ No newline at end of file
diff --git a/src/boards/RIGv2/Sensors/SensorsData.h b/src/boards/RIGv2/Sensors/SensorsData.h
new file mode 100644
index 0000000000000000000000000000000000000000..db59f9eef247763d23289271997f4bf8473fa3fc
--- /dev/null
+++ b/src/boards/RIGv2/Sensors/SensorsData.h
@@ -0,0 +1,57 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: 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 <sensors/ADS131M08/ADS131M08Data.h>
+
+namespace RIGv2
+{
+struct ADCsData : Boardcore::ADS131M08Data
+{
+ uint8_t adcNumber;
+
+ ADCsData() : ADS131M08Data{0, 0, 0, 0, 0, 0, 0, 0, 0}, adcNumber{0} {}
+
+ ADCsData(uint64_t time, uint8_t num, float ch1, float ch2, float ch3,
+ float ch4, float ch5, float ch6, float ch7, float ch8)
+ : ADS131M08Data{time, ch1, ch2, ch3, ch4, ch5, ch6, ch7, ch8},
+ adcNumber{num}
+ {
+ }
+
+ static std::string header()
+ {
+ return "timestamp,adc_number,voltage_channel_1,voltage_channel_2,"
+ "voltage_channel_3,voltage_channel_4,voltage_channel_5,voltage_"
+ "channel_6,voltage_channel_7,voltage_channel_8\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << (int)adcNumber << "," << voltage[0] << ","
+ << voltage[1] << "," << voltage[2] << "," << voltage[3] << ","
+ << voltage[4] << "," << voltage[5] << "," << voltage[6] << ","
+ << voltage[7] << "\n";
+ }
+};
+} // namespace RIG
\ No newline at end of file
diff --git a/src/entrypoints/RIGv2/rig-v2-entry.cpp b/src/entrypoints/RIGv2/rig-v2-entry.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..08a75fcfd01f2b6d626d1e583190aaefe25a4f5b
--- /dev/null
+++ b/src/entrypoints/RIGv2/rig-v2-entry.cpp
@@ -0,0 +1,85 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: 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 <RIGv2/Sensors/Sensors.h>
+#include <RIGv2/Buses.h>
+#include <diagnostic/CpuMeter/CpuMeter.h>
+#include <diagnostic/StackLogger.h>
+
+using namespace Boardcore;
+using namespace RIGv2;
+using namespace miosix;
+
+int main() {
+
+ ModuleManager &modules = ModuleManager::getInstance();
+ PrintLogger logger = Logging::getLogger("main");
+
+ // TODO: Move this to a dedicated board scheduler
+ TaskScheduler *scheduler = new TaskScheduler(3);
+
+ Buses *buses = new Buses();
+ Sensors *sensors = new Sensors(*scheduler);
+
+ Logger &sdLogger = Logger::getInstance();
+
+ bool initResult = true;
+
+ // Insert modules
+ if(!modules.insert<Buses>(buses)) {
+ initResult = false;
+ LOG_ERR(logger, "Error failed to insert Buses");
+ }
+
+ if(!modules.insert<Sensors>(sensors)) {
+ initResult = false;
+ LOG_ERR(logger, "Error failed to insert Sensors");
+ }
+
+ // Start modules
+ if(!sensors->start()) {
+ initResult = false;
+ LOG_ERR(logger, "Error failed to start sensors module");
+ }
+
+ if(!scheduler->start()) {
+ initResult = false;
+ LOG_ERR(logger, "Error failed to start scheduler");
+ }
+
+ LOG_INFO(logger, "All good!");
+
+ // TEMPORARY CODE
+ // Start logger module
+ sdLogger.start();
+
+ // Periodic statistics
+ while(true) {
+ Thread::sleep(1000);
+ sdLogger.log(CpuMeter::getCpuStats());
+ CpuMeter::resetCpuStats();
+ // TODO: What the fuck is this?
+ // StackLogger::getInstance().log();
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/src/scripts/logdecoder/RIGv2/Makefile b/src/scripts/logdecoder/RIGv2/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..6bbaf34fc2008754ca1425004f33514659c56baf
--- /dev/null
+++ b/src/scripts/logdecoder/RIGv2/Makefile
@@ -0,0 +1,16 @@
+BOARDCORE := ../../../../skyward-boardcore/
+OBSW := ../../../../src/boards/
+
+all:
+ g++ -std=c++17 -O2 -o logdecoder logdecoder.cpp \
+ -DCOMPILE_FOR_X86 \
+ -DCOMPILE_FOR_HOST \
+ $(BOARDCORE)libs/tscpp/tscpp/stream.cpp \
+ -I$(BOARDCORE)libs/miosix-host \
+ -I$(BOARDCORE)libs/mavlink-skyward-lib \
+ -I$(BOARDCORE)libs/eigen \
+ -I$(BOARDCORE)libs/tscpp \
+ -I$(BOARDCORE)src/shared \
+ -I$(OBSW)
+clean:
+ rm logdecoder
diff --git a/src/scripts/logdecoder/RIGv2/logdecoder.cpp b/src/scripts/logdecoder/RIGv2/logdecoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2a8a68ba1a6c1f0d54aa9019aa340f2f0d54de46
--- /dev/null
+++ b/src/scripts/logdecoder/RIGv2/logdecoder.cpp
@@ -0,0 +1,121 @@
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Author: Terrane Federico
+ *
+ * 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 <RIGv2/Sensors/SensorsData.h>
+#include <logger/Deserializer.h>
+#include <logger/LogTypes.h>
+#include <tscpp/stream.h>
+
+#include <fstream>
+#include <iostream>
+#include <stdexcept>
+#include <string>
+
+/**
+ * @brief Binary log files decoder.
+ *
+ * This program is to compile for you computer and decodes binary log files
+ * through the tscpp library.
+ *
+ * In LogTypes.h there should be included all the classes you want to
+ * deserialize.
+ */
+
+using namespace tscpp;
+using namespace Boardcore;
+using namespace RIGv2;
+
+void registerTypes(Deserializer& ds)
+{
+ // Register all Boardcore types
+ LogTypes::registerTypes(ds);
+
+ // Custom types
+ ds.registerType<ADCsData>();
+}
+
+void showUsage(const string& cmdName)
+{
+ std::cerr << "Usage: " << cmdName << " {-a | <log_file_name> | -h}"
+ << "Options:\n"
+ << "\t-h,--help\t\tShow help message\n"
+ << "\t-a,--all Deserialize all logs in the current directory\n"
+ << std::endl;
+}
+
+bool deserialize(string logName)
+{
+ std::cout << "Deserializing " << logName << "...\n";
+ Deserializer d(logName);
+ LogTypes::registerTypes(d);
+ registerTypes(d);
+
+ return d.deserialize();
+}
+
+bool deserializeAll()
+{
+ for (int i = 0; i < 100; i++)
+ {
+ char nextName[11];
+ sprintf(nextName, "log%02d.dat", i);
+ struct stat st;
+ if (stat(nextName, &st) != 0)
+ continue; // File not found
+ // File found
+ if (!deserialize(string(nextName)))
+ return false;
+ }
+ return true;
+}
+
+int main(int argc, char* argv[])
+{
+ if (argc < 2)
+ {
+ showUsage(string(argv[0]));
+ return 1; // Error
+ }
+
+ bool success = false;
+ string arg1 = string(argv[1]);
+
+ // Help message
+ if (arg1 == "-h" || arg1 == "--help")
+ {
+ showUsage(string(argv[0]));
+ return 0;
+ }
+
+ // File deserialization
+ if (arg1 == "-a" || arg1 == "--all")
+ success = deserializeAll();
+ else
+ success = deserialize(arg1);
+
+ // End
+ if (success)
+ std::cout << "Deserialization completed successfully\n";
+ else
+ std::cout << "Deserialization ended with errors\n";
+ return 0;
+}