From 54cb353b4797f790790537d8b5792719d6bc9b85 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Wed, 27 Jul 2022 16:18:26 +0000
Subject: [PATCH] [CanHandler] Updated implementation of can protocol
---
skyward-boardcore | 2 +-
.../Auxiliary/CanHandler/CanHandler.cpp | 20 ++-
src/boards/Main/CanHandler/CanHandler.cpp | 29 +++-
src/boards/Main/CanHandler/CanHandler.h | 8 +-
src/boards/Main/Radio/Radio.cpp | 23 +--
src/boards/Main/Radio/Radio.h | 4 +-
src/boards/Payload/Actuators/Actuators.cpp | 13 +-
src/boards/Payload/Actuators/Actuators.h | 8 +
src/boards/Payload/CanHandler/CanHandler.cpp | 52 +++++-
src/boards/Payload/CanHandler/CanHandler.h | 8 +
src/boards/Payload/PinHandler/PinHandler.cpp | 31 +---
src/boards/Payload/PinHandler/PinHandler.h | 12 +-
src/boards/Payload/Radio/Radio.cpp | 15 +-
src/entrypoints/Auxiliary/auxiliary-entry.cpp | 4 +-
{scripts => src/scripts}/eventgen.sh | 0
{scripts => src/scripts}/fsmgen.sh | 0
{scripts => src/scripts}/logdecoder/Makefile | 0
.../scripts}/logdecoder/logdecoder.cpp | 0
src/tests/Main/test-can-handler.cpp | 6 +-
src/tests/common/test-can-event-handler.h | 70 ---------
.../test-auxiliary-can.cpp | 83 ----------
.../test-flight-event-handler.h | 103 ------------
.../test-can-flight-sim/test-main-can.cpp | 148 ------------------
.../test-can-flight-sim/test-payload-can.cpp | 112 -------------
src/tests/common/test-can-handler.cpp | 97 ------------
25 files changed, 154 insertions(+), 694 deletions(-)
rename {scripts => src/scripts}/eventgen.sh (100%)
rename {scripts => src/scripts}/fsmgen.sh (100%)
rename {scripts => src/scripts}/logdecoder/Makefile (100%)
rename {scripts => src/scripts}/logdecoder/logdecoder.cpp (100%)
delete mode 100644 src/tests/common/test-can-event-handler.h
delete mode 100644 src/tests/common/test-can-flight-sim/test-auxiliary-can.cpp
delete mode 100644 src/tests/common/test-can-flight-sim/test-flight-event-handler.h
delete mode 100644 src/tests/common/test-can-flight-sim/test-main-can.cpp
delete mode 100644 src/tests/common/test-can-flight-sim/test-payload-can.cpp
delete mode 100644 src/tests/common/test-can-handler.cpp
diff --git a/skyward-boardcore b/skyward-boardcore
index 8fc3bebc5..58e6975cc 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 8fc3bebc5211d0b384cfdc3467b36c0a09feeab4
+Subproject commit 58e6975cc65e582edcc83c8db2b778673732afaa
diff --git a/src/boards/Auxiliary/CanHandler/CanHandler.cpp b/src/boards/Auxiliary/CanHandler/CanHandler.cpp
index 14f9bf1de..eaa9f2011 100644
--- a/src/boards/Auxiliary/CanHandler/CanHandler.cpp
+++ b/src/boards/Auxiliary/CanHandler/CanHandler.cpp
@@ -54,16 +54,24 @@ CanHandler::CanHandler()
static_cast<uint8_t>(Board::BROADCAST));
protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
static_cast<uint8_t>(Board::AUXILIARY));
+ protocol->addFilter(static_cast<uint8_t>(Board::PAYLOAD),
+ static_cast<uint8_t>(Board::BROADCAST));
+ protocol->addFilter(static_cast<uint8_t>(Board::PAYLOAD),
+ static_cast<uint8_t>(Board::AUXILIARY));
driver->init();
-
- printf("Init done\n");
}
void CanHandler::handleCanMessage(const CanMessage &msg)
{
PrimaryType msgType = static_cast<PrimaryType>(msg.getPrimaryType());
- printf("Received message\n");
+ printf("Received packet:\n");
+ printf("\tpriority: %d\n", msg.getPriority());
+ printf("\tprimary type: %d\n", msg.getPrimaryType());
+ printf("\tsource: %d\n", msg.getSource());
+ printf("\tdestination: %d\n", msg.getDestination());
+ printf("\tsecondary type: %d\n", msg.getSecondaryType());
+ printf("\n");
switch (msgType)
{
@@ -84,15 +92,13 @@ void CanHandler::handleCanEvent(const CanMessage &msg)
{
EventId eventId = static_cast<EventId>(msg.getSecondaryType());
- printf("Handling event\n");
-
switch (eventId)
{
case EventId::ARM:
case EventId::CAM_ON:
{
Actuators::getInstance().ledOn();
- // Actuators::getInstance().camOn();
+ Actuators::getInstance().camOn();
LOG_DEBUG(logger, "Cameras and leds turned on");
break;
}
@@ -100,7 +106,7 @@ void CanHandler::handleCanEvent(const CanMessage &msg)
case EventId::CAM_OFF:
{
Actuators::getInstance().ledOff();
- // Actuators::getInstance().camOff();
+ Actuators::getInstance().camOff();
LOG_DEBUG(logger, "Cameras and leds turned off");
break;
}
diff --git a/src/boards/Main/CanHandler/CanHandler.cpp b/src/boards/Main/CanHandler/CanHandler.cpp
index db6ef1eb1..3ed419bcf 100644
--- a/src/boards/Main/CanHandler/CanHandler.cpp
+++ b/src/boards/Main/CanHandler/CanHandler.cpp
@@ -41,7 +41,25 @@ bool CanHandler::start() { return protocol->start(); }
bool CanHandler::isStarted() { return protocol->isStarted(); }
-void CanHandler::camOn()
+void CanHandler::sendArmEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::BROADCAST),
+ static_cast<uint8_t>(EventId::ARM));
+}
+
+void CanHandler::sendDisarmEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::BROADCAST),
+ static_cast<uint8_t>(EventId::DISARM));
+}
+
+void CanHandler::sendCamOnEvent()
{
protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
static_cast<uint8_t>(PrimaryType::EVENTS),
@@ -50,7 +68,7 @@ void CanHandler::camOn()
static_cast<uint8_t>(EventId::CAM_ON));
}
-void CanHandler::camOff()
+void CanHandler::sendCamOffEvent()
{
protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
static_cast<uint8_t>(PrimaryType::EVENTS),
@@ -65,10 +83,15 @@ CanHandler::CanHandler()
bitTiming.baudRate = BAUD_RATE;
bitTiming.samplePoint = SAMPLE_POINT;
driver = new CanbusDriver(CAN1, {}, bitTiming);
- driver->init();
protocol =
new CanProtocol(driver, bind(&CanHandler::handleCanMessage, this, _1));
+
+ // protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
+ // static_cast<uint8_t>(Board::BROADCAST));
+ // protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
+ // static_cast<uint8_t>(Board::AUXILIARY));
+ driver->init();
}
void CanHandler::handleCanMessage(const CanMessage &msg)
diff --git a/src/boards/Main/CanHandler/CanHandler.h b/src/boards/Main/CanHandler/CanHandler.h
index 07ece394a..b4aaccbf7 100644
--- a/src/boards/Main/CanHandler/CanHandler.h
+++ b/src/boards/Main/CanHandler/CanHandler.h
@@ -46,9 +46,13 @@ public:
// void logStatus();
- void camOn();
+ void sendArmEvent();
- void camOff();
+ void sendDisarmEvent();
+
+ void sendCamOnEvent();
+
+ void sendCamOffEvent();
private:
CanHandler();
diff --git a/src/boards/Main/Radio/Radio.cpp b/src/boards/Main/Radio/Radio.cpp
index 312c8efa6..ef9977b9e 100644
--- a/src/boards/Main/Radio/Radio.cpp
+++ b/src/boards/Main/Radio/Radio.cpp
@@ -25,6 +25,7 @@
#include <Main/Actuators/Actuators.h>
#include <Main/BoardScheduler.h>
#include <Main/Buses.h>
+#include <Main/CanHandler/CanHandler.h>
#include <Main/PinHandler/PinHandler.h>
#include <Main/Sensors/Sensors.h>
#include <Main/TMRepository/TMRepository.h>
@@ -47,8 +48,8 @@ void __attribute__((used)) EXTI10_IRQHandlerImpl()
{
using namespace Main;
- if (Radio::getInstance().sx1278)
- Radio::getInstance().sx1278->handleDioIRQ();
+ if (Radio::getInstance().transceiver)
+ Radio::getInstance().transceiver->handleDioIRQ();
}
namespace Main
@@ -109,17 +110,17 @@ Radio::Radio()
{
// transceiver = new SerialTransceiver(Buses::getInstance().usart1);
- sx1278 =
+ transceiver =
new SX1278(Buses::getInstance().spi5, sensors::sx127x::cs::getPin());
- // Use default configuration
- sx1278->init({});
+ // // Use default configuration
+ transceiver->init({});
enableExternalInterrupt(GPIOF_BASE, 10, InterruptTrigger::RISING_EDGE);
- mavDriver =
- new MavDriver(sx1278, bind(&Radio::handleMavlinkMessage, this, _1, _2),
- 0, MAV_OUT_BUFFER_MAX_AGE);
+ mavDriver = new MavDriver(transceiver,
+ bind(&Radio::handleMavlinkMessage, this, _1, _2),
+ 0, MAV_OUT_BUFFER_MAX_AGE);
// Add to the scheduler the flight and statistics telemetries
BoardScheduler::getInstance().getScheduler().addTask(
@@ -431,6 +432,7 @@ void Radio::handleCommand(const mavlink_message_t& msg)
LOG_DEBUG(logger, "Received command arm");
EventBroker::getInstance().post(TMTC_ARM, TOPIC_TMTC);
+ CanHandler::getInstance().sendArmEvent();
break;
}
@@ -439,6 +441,7 @@ void Radio::handleCommand(const mavlink_message_t& msg)
LOG_DEBUG(logger, "Received command disarm");
EventBroker::getInstance().post(TMTC_DISARM, TOPIC_TMTC);
+ CanHandler::getInstance().sendArmEvent();
break;
}
@@ -506,14 +509,14 @@ void Radio::handleCommand(const mavlink_message_t& msg)
{
LOG_DEBUG(logger, "Received command start recording");
- // TODO: Apply command
+ CanHandler::getInstance().sendCamOnEvent();
break;
}
case MAV_CMD_STOP_RECORDING:
{
LOG_DEBUG(logger, "Received command stop recording");
- // TODO: Apply command
+ CanHandler::getInstance().sendCamOffEvent();
break;
}
diff --git a/src/boards/Main/Radio/Radio.h b/src/boards/Main/Radio/Radio.h
index eac2b901e..59c2de324 100644
--- a/src/boards/Main/Radio/Radio.h
+++ b/src/boards/Main/Radio/Radio.h
@@ -25,8 +25,8 @@
#include <Main/Configs/RadioConfig.h>
#include <common/Mavlink.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
-// #include <radio/SerialTransceiver/SerialTransceiver.h>
#include <radio/SX1278/SX1278.h>
+#include <radio/SerialTransceiver/SerialTransceiver.h>
#include <scheduler/TaskScheduler.h>
namespace Main
@@ -42,7 +42,7 @@ class Radio : public Boardcore::Singleton<Radio>
public:
// Boardcore::SerialTransceiver* transceiver;
- Boardcore::SX1278* sx1278;
+ Boardcore::SX1278* transceiver;
MavDriver* mavDriver;
diff --git a/src/boards/Payload/Actuators/Actuators.cpp b/src/boards/Payload/Actuators/Actuators.cpp
index 22c5ebc28..23395bedb 100644
--- a/src/boards/Payload/Actuators/Actuators.cpp
+++ b/src/boards/Payload/Actuators/Actuators.cpp
@@ -23,10 +23,7 @@
#include "Actuators.h"
#include <Payload/Configs/ActuatorsConfigs.h>
-
-#ifndef COMPILE_FOR_HOST
-#include <interfaces-impl/hwmapping.h>
-#endif
+#include <interfaces-impl/bsp_impl.h>
using namespace miosix;
using namespace Payload::ActuatorsConfigs;
@@ -139,6 +136,14 @@ float Actuators::getServoPosition(ServosList servoId)
return 0;
}
+void Actuators::ledOn() { miosix::ledOn(); }
+
+void Actuators::ledOff() { miosix::ledOff(); }
+
+void Actuators::camOn() { interfaces::camMosfet::high(); }
+
+void Actuators::camOff() { interfaces::camMosfet::low(); }
+
Actuators::Actuators()
: led1(leds::led_red1::getPin()), led2(leds::led_red2::getPin()),
led3(leds::led_blue1::getPin()),
diff --git a/src/boards/Payload/Actuators/Actuators.h b/src/boards/Payload/Actuators/Actuators.h
index 686b091b1..e3dff18c2 100644
--- a/src/boards/Payload/Actuators/Actuators.h
+++ b/src/boards/Payload/Actuators/Actuators.h
@@ -71,6 +71,14 @@ struct Actuators : public Boardcore::Singleton<Actuators>
float getServoPosition(ServosList servoId);
+ void ledOn();
+
+ void ledOff();
+
+ void camOn();
+
+ void camOff();
+
private:
Actuators();
diff --git a/src/boards/Payload/CanHandler/CanHandler.cpp b/src/boards/Payload/CanHandler/CanHandler.cpp
index 03ebc2d90..bd3606ea4 100644
--- a/src/boards/Payload/CanHandler/CanHandler.cpp
+++ b/src/boards/Payload/CanHandler/CanHandler.cpp
@@ -22,6 +22,7 @@
#include "CanHandler.h"
+#include <Payload/Actuators/Actuators.h>
#include <Payload/BoardScheduler.h>
#include <Payload/Configs/SensorsConfig.h>
#include <Payload/Sensors/Sensors.h>
@@ -46,17 +47,58 @@ bool CanHandler::start() { return protocol->start(); }
bool CanHandler::isStarted() { return protocol->isStarted(); }
+void CanHandler::sendArmEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::PAYLOAD),
+ static_cast<uint8_t>(Board::BROADCAST),
+ static_cast<uint8_t>(EventId::ARM));
+}
+
+void CanHandler::sendDisarmEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::PAYLOAD),
+ static_cast<uint8_t>(Board::BROADCAST),
+ static_cast<uint8_t>(EventId::DISARM));
+}
+
+void CanHandler::sendCamOnEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::PAYLOAD),
+ static_cast<uint8_t>(Board::AUXILIARY),
+ static_cast<uint8_t>(EventId::CAM_ON));
+}
+
+void CanHandler::sendCamOffEvent()
+{
+ protocol->enqueueEvent(static_cast<uint8_t>(Priority::CRITICAL),
+ static_cast<uint8_t>(PrimaryType::EVENTS),
+ static_cast<uint8_t>(Board::PAYLOAD),
+ static_cast<uint8_t>(Board::AUXILIARY),
+ static_cast<uint8_t>(EventId::CAM_OFF));
+}
+
CanHandler::CanHandler()
{
CanbusDriver::AutoBitTiming bitTiming;
bitTiming.baudRate = BAUD_RATE;
bitTiming.samplePoint = SAMPLE_POINT;
driver = new CanbusDriver(CAN1, {}, bitTiming);
- driver->init();
protocol =
new CanProtocol(driver, bind(&CanHandler::handleCanMessage, this, _1));
+ protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::BROADCAST));
+ protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
+ static_cast<uint8_t>(Board::PAYLOAD));
+ driver->init();
+
BoardScheduler::getInstance().getScheduler().addTask(
[&]()
{
@@ -98,11 +140,19 @@ void CanHandler::handleCanEvent(const CanMessage &msg)
case EventId::ARM:
{
EventBroker::getInstance().post(TMTC_ARM, TOPIC_TMTC);
+ }
+ case EventId::CAM_ON:
+ {
+ Actuators::getInstance().camOn();
break;
}
case EventId::DISARM:
{
EventBroker::getInstance().post(TMTC_DISARM, TOPIC_TMTC);
+ }
+ case EventId::CAM_OFF:
+ {
+ Actuators::getInstance().camOff();
break;
}
diff --git a/src/boards/Payload/CanHandler/CanHandler.h b/src/boards/Payload/CanHandler/CanHandler.h
index 610aa2b41..32a619033 100644
--- a/src/boards/Payload/CanHandler/CanHandler.h
+++ b/src/boards/Payload/CanHandler/CanHandler.h
@@ -46,6 +46,14 @@ public:
// void logStatus();
+ void sendArmEvent();
+
+ void sendDisarmEvent();
+
+ void sendCamOnEvent();
+
+ void sendCamOffEvent();
+
private:
CanHandler();
diff --git a/src/boards/Payload/PinHandler/PinHandler.cpp b/src/boards/Payload/PinHandler/PinHandler.cpp
index e8b51b3a3..80fbe767e 100644
--- a/src/boards/Payload/PinHandler/PinHandler.cpp
+++ b/src/boards/Payload/PinHandler/PinHandler.cpp
@@ -37,20 +37,7 @@ using namespace Common;
namespace Payload
{
-void PinHandler::onLaunchPinTransition(PinTransition transition)
-{
- if (transition == LAUNCH_PIN_TRIGGER)
- EventBroker::getInstance().post(Event{FLIGHT_LIFTOFF}, TOPIC_FLIGHT);
-}
-
-void PinHandler::onNCPinTransition(PinTransition transition)
-{
- if (transition == NC_DETACH_PIN_TRIGGER)
- EventBroker::getInstance().post(Event{FLIGHT_NC_DETACHED},
- TOPIC_FLIGHT);
-}
-
-void PinHandler::onDPLServoPinTransition(PinTransition transition)
+void PinHandler::onExpulsionPinTransition(PinTransition transition)
{
if (transition == DPL_SERVO_PIN_TRIGGER)
EventBroker::getInstance().post(Event{DPL_SERVO_ACTUATION_DETECTED},
@@ -61,10 +48,6 @@ std::map<PinsList, PinData> PinHandler::getPinsData()
{
std::map<PinsList, PinData> data;
- data[PinsList::LAUNCH_PIN] =
- PinObserver::getInstance().getPinData(inputs::launchpad::getPin());
- data[PinsList::NOSECONE_PIN] = PinObserver::getInstance().getPinData(
- inputs::nosecone_detach::getPin());
data[PinsList::DEPLOYMENT_PIN] =
PinObserver::getInstance().getPinData(inputs::expulsion::getPin());
@@ -73,19 +56,9 @@ std::map<PinsList, PinData> PinHandler::getPinsData()
PinHandler::PinHandler()
{
- PinObserver::getInstance().registerPinCallback(
- inputs::launchpad::getPin(),
- bind(&PinHandler::onLaunchPinTransition, this, _1),
- LAUNCH_PIN_THRESHOLD);
-
- PinObserver::getInstance().registerPinCallback(
- inputs::nosecone_detach::getPin(),
- bind(&PinHandler::onLaunchPinTransition, this, _1),
- NC_DETACH_PIN_THRESHOLD);
-
PinObserver::getInstance().registerPinCallback(
inputs::expulsion::getPin(),
- bind(&PinHandler::onLaunchPinTransition, this, _1),
+ bind(&PinHandler::onExpulsionPinTransition, this, _1),
DPL_SERVO_PIN_THRESHOLD);
}
diff --git a/src/boards/Payload/PinHandler/PinHandler.h b/src/boards/Payload/PinHandler/PinHandler.h
index cc1ada229..7fadfe59d 100644
--- a/src/boards/Payload/PinHandler/PinHandler.h
+++ b/src/boards/Payload/PinHandler/PinHandler.h
@@ -41,21 +41,11 @@ class PinHandler : public Boardcore::Singleton<PinHandler>
friend Boardcore::Singleton<PinHandler>;
public:
- /**
- * @brief Called when a launch pin is detected.
- */
- void onLaunchPinTransition(Boardcore::PinTransition transition);
-
- /**
- * @brief Called when the nosecone pin is detected.
- */
- void onNCPinTransition(Boardcore::PinTransition transition);
-
/**
* @brief Called when the deployment servo actuation is detected via the
* optical sensor.
*/
- void onDPLServoPinTransition(Boardcore::PinTransition transition);
+ void onExpulsionPinTransition(Boardcore::PinTransition transition);
/**
* @brief Returns a vector with all the pins data.
diff --git a/src/boards/Payload/Radio/Radio.cpp b/src/boards/Payload/Radio/Radio.cpp
index 4f497769d..de2bb32b5 100644
--- a/src/boards/Payload/Radio/Radio.cpp
+++ b/src/boards/Payload/Radio/Radio.cpp
@@ -25,6 +25,7 @@
#include <Payload/Actuators/Actuators.h>
#include <Payload/BoardScheduler.h>
#include <Payload/Buses.h>
+#include <Payload/CanHandler/CanHandler.h>
#include <Payload/PinHandler/PinHandler.h>
#include <Payload/Sensors/Sensors.h>
#include <common/events/Events.h>
@@ -438,7 +439,7 @@ void Radio::handleCommand(const mavlink_message_t& msg)
LOG_DEBUG(logger, "Received command arm");
EventBroker::getInstance().post(TMTC_ARM, TOPIC_TMTC);
-
+ CanHandler::getInstance().sendArmEvent();
break;
}
case MAV_CMD_DISARM:
@@ -446,7 +447,7 @@ void Radio::handleCommand(const mavlink_message_t& msg)
LOG_DEBUG(logger, "Received command disarm");
EventBroker::getInstance().post(TMTC_DISARM, TOPIC_TMTC);
-
+ CanHandler::getInstance().sendDisarmEvent();
break;
}
case MAV_CMD_FORCE_LAUNCH:
@@ -513,14 +514,18 @@ void Radio::handleCommand(const mavlink_message_t& msg)
{
LOG_DEBUG(logger, "Received command start recording");
- // TODO: Apply command
+ Actuators::getInstance().camOn();
+ Actuators::getInstance().ledOn();
+ CanHandler::getInstance().sendCamOnEvent();
break;
}
case MAV_CMD_STOP_RECORDING:
{
LOG_DEBUG(logger, "Received command stop recording");
- // TODO: Apply command
+ Actuators::getInstance().camOff();
+ Actuators::getInstance().ledOff();
+ CanHandler::getInstance().sendCamOffEvent();
break;
}
@@ -534,4 +539,4 @@ void Radio::handleCommand(const mavlink_message_t& msg)
sendAck(msg);
}
-} // namespace Payload
\ No newline at end of file
+} // namespace Payload
diff --git a/src/entrypoints/Auxiliary/auxiliary-entry.cpp b/src/entrypoints/Auxiliary/auxiliary-entry.cpp
index 53c8462b4..f3fe49c20 100644
--- a/src/entrypoints/Auxiliary/auxiliary-entry.cpp
+++ b/src/entrypoints/Auxiliary/auxiliary-entry.cpp
@@ -30,8 +30,6 @@ int main()
{
CanHandler::getInstance().start();
- printf("Started\n");
-
while (true)
Thread::sleep(1000);
-}
\ No newline at end of file
+}
diff --git a/scripts/eventgen.sh b/src/scripts/eventgen.sh
similarity index 100%
rename from scripts/eventgen.sh
rename to src/scripts/eventgen.sh
diff --git a/scripts/fsmgen.sh b/src/scripts/fsmgen.sh
similarity index 100%
rename from scripts/fsmgen.sh
rename to src/scripts/fsmgen.sh
diff --git a/scripts/logdecoder/Makefile b/src/scripts/logdecoder/Makefile
similarity index 100%
rename from scripts/logdecoder/Makefile
rename to src/scripts/logdecoder/Makefile
diff --git a/scripts/logdecoder/logdecoder.cpp b/src/scripts/logdecoder/logdecoder.cpp
similarity index 100%
rename from scripts/logdecoder/logdecoder.cpp
rename to src/scripts/logdecoder/logdecoder.cpp
diff --git a/src/tests/Main/test-can-handler.cpp b/src/tests/Main/test-can-handler.cpp
index 035c0e54b..b31394812 100644
--- a/src/tests/Main/test-can-handler.cpp
+++ b/src/tests/Main/test-can-handler.cpp
@@ -32,12 +32,12 @@ int main()
while (true)
{
- CanHandler::getInstance().camOn();
+ CanHandler::getInstance().sendCamOnEvent();
printf("Sent event for cam on\n");
Thread::sleep(1000);
- CanHandler::getInstance().camOff();
+ CanHandler::getInstance().sendCamOffEvent();
printf("Sent event for cam off\n");
Thread::sleep(1000);
}
-}
\ No newline at end of file
+}
diff --git a/src/tests/common/test-can-event-handler.h b/src/tests/common/test-can-event-handler.h
deleted file mode 100644
index a228cc67a..000000000
--- a/src/tests/common/test-can-event-handler.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Federico Mandelli
- *
- * 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 <common/canbus/CanHandler.h>
-#include <events/EventBroker.h>
-#include <events/EventHandler.h>
-
-class MyEventHandler : public Boardcore::EventHandler
-{
-public:
- MyEventHandler()
- : EventHandler(), // call parent constructor
- last_event(0)
- {
- // make this object to subscribe to TOPIC_CAN_EVENTS
- Boardcore::EventBroker::getInstance().subscribe(
- this, common::CanTopics::TOPIC_CAN_EVENTS);
- }
-
- ~MyEventHandler()
- {
- // unsubscribe from all the topics this object was subscribed to
- Boardcore::EventBroker::getInstance().unsubscribe(this);
- }
-
-protected:
- void handleEvent(const Boardcore::Event& ev) override
- {
- switch (ev)
- {
- case common::CanEvent::EV_LIFTOFF:
- TRACE("Received EV_LIFTOFF \n");
- break;
- case common::CanEvent::EV_APOGEE:
- TRACE("Received EV_APOGEE \n");
- break;
- case common::CanEvent::EV_ARMED:
- TRACE("Received EV_ARMED \n");
- break;
- default:
- TRACE("Invalid event \n");
- }
-
- last_event = ev;
- }
-
-private:
- uint8_t last_event;
-};
diff --git a/src/tests/common/test-can-flight-sim/test-auxiliary-can.cpp b/src/tests/common/test-can-flight-sim/test-auxiliary-can.cpp
deleted file mode 100644
index 58b51fbc2..000000000
--- a/src/tests/common/test-can-flight-sim/test-auxiliary-can.cpp
+++ /dev/null
@@ -1,83 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Federico Mandelli
- *
- * 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 <common/canbus/CanHandler.h>
-#include <common/canbus/MockSensors/MockPitot.h>
-#include <time.h>
-#include <utils/collections/IRQCircularBuffer.h>
-
-#include <thread>
-
-#include "test-flight-event-handler.h"
-
-using namespace Boardcore::Canbus;
-using namespace miosix;
-using namespace common;
-
-CanHandler* handler;
-bool running;
-void receivePressure(MockPitot* pitot)
-{
- while (true)
- {
- (*pitot).waitTillUpdated();
- (*pitot).getData();
- TRACE("ERROR received a pressure \n");
- }
-}
-
-int main()
-{
- // We accept only packet with source main
- Filter f;
- f.source = Boards::Main;
-
- MockPitot* pitot = new MockPitot(Pitot);
- handler = new CanHandler(Boards::Main);
- handler->addFilter(f);
- (*handler).startHandler();
-
- // We expect to receive multiple*100 packet of AereoBrakes packet,and
- // multiple of each command packet
-
- MyEventHandler evh;
- TRACE("Start sending\n");
- if (evh.start())
- {
- std::thread recPress(receivePressure, pitot);
- for (;;)
- {
- running = true;
- evh.waitReset(); // First reset is to start sending
- evh.waitReset(); // the second to stop
- running = false;
- evh.checkCounters(nEvents);
- // We stop for 100 ms to wait for any unfinished print
- Thread::sleep(100);
- }
- evh.stop(); // it posts an EV_EMPTY to wake up the thread
- }
- else
- {
- TRACE("Failed to start MyEventHandler\n");
- }
-}
diff --git a/src/tests/common/test-can-flight-sim/test-flight-event-handler.h b/src/tests/common/test-can-flight-sim/test-flight-event-handler.h
deleted file mode 100644
index 2dc4a3e15..000000000
--- a/src/tests/common/test-can-flight-sim/test-flight-event-handler.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Federico Mandelli
- *
- * 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 <common/canbus/CanConfig.h>
-#include <events/EventBroker.h>
-#include <events/EventHandler.h>
-
-#define MULTIPLIER 10
-
-#define nPressure 100 * MULTIPLIER
-#define nAir 50 * MULTIPLIER
-#define nEvents 1 * MULTIPLIER
-
-class MyEventHandler : public Boardcore::EventHandler
-{
-public:
- MyEventHandler()
- : EventHandler(), // call parent constructor
- last_event(0)
- {
- // make this object to subscribe to TOPIC_CAN_EVENTS
- Boardcore::EventBroker::getInstance().subscribe(
- this, common::CanTopics::TOPIC_CAN_EVENTS);
- }
-
- ~MyEventHandler()
- {
- // unsubscribe from all the topics this object was subscribed to
- Boardcore::EventBroker::getInstance().unsubscribe(this);
- }
- void checkCounters(int number)
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- if (apogee == number && armed == number)
- {
- TRACE("Received %d number of event\n", number);
- }
- else
- {
- TRACE("Expected Value %d\n", number);
- TRACE("Received Apogee %d\n", apogee);
- TRACE("Received Armed %d\n", armed);
- }
- apogee = 0;
- armed = 0;
- }
-
- void waitReset()
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- conVar.wait(l);
- }
-
-protected:
- void handleEvent(const Boardcore::Event& ev) override
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- switch (ev)
- {
- case common::CanEvent::EV_LIFTOFF:
- conVar.broadcast();
- break;
- case common::CanEvent::EV_APOGEE:
- apogee++;
- break;
- case common::CanEvent::EV_ARMED:
- armed++;
- break;
- default:
- TRACE("Invalid event \n");
- }
-
- last_event = ev;
- }
-
-private:
- uint8_t last_event;
- int apogee = 0;
- int armed = 0;
- miosix::FastMutex mutex;
- miosix::ConditionVariable conVar;
-};
diff --git a/src/tests/common/test-can-flight-sim/test-main-can.cpp b/src/tests/common/test-can-flight-sim/test-main-can.cpp
deleted file mode 100644
index da2754326..000000000
--- a/src/tests/common/test-can-flight-sim/test-main-can.cpp
+++ /dev/null
@@ -1,148 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Federico Mandelli
- *
- * 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 <common/canbus/CanHandler.h>
-#include <common/canbus/MockSensors/MockPitot.h>
-#include <time.h>
-#include <utils/collections/IRQCircularBuffer.h>
-
-#include <atomic>
-#include <thread>
-
-#include "test-flight-event-handler.h"
-
-using namespace Boardcore::Canbus;
-using namespace miosix;
-using namespace common;
-
-CanHandler* handler;
-std::atomic<bool> running; // 1 element we are active 0 we are inactive
-miosix::FastMutex mutex;
-
-void receivePressure(MockPitot* pitot)
-{
- int counter = 0;
- while (true)
- {
- while (running)
- {
- clock_t start = clock();
- for (int i = 0; i < nPressure; i++)
- {
- (*pitot).waitTillUpdated();
- counter++;
- (*pitot).getData();
- }
- float time = float(clock() - start) / CLOCKS_PER_SEC;
- TRACE("received %d packets in %f second\n", nPressure, time);
- }
- while (!running)
- {
- Thread::sleep(10);
- }
- }
-}
-
-void sendCommands()
-{
- int f;
- int msWait = 1000 / (nEvents * 2);
- while (true)
- {
- for (f = 0; f < nEvents && running; f++)
- {
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- (*handler).sendCan(Boards::Broadcast, common::Priority::Low,
- Type::Events, EventsId::Apogee);
- }
- Thread::sleep(msWait);
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- (*handler).sendCan(Boards::Broadcast, common::Priority::Low,
- Type::Events, EventsId::Armed);
- }
- Thread::sleep(msWait);
- }
- TRACE("Sent %d commands\n", f);
- if (f == nEvents)
- {
- while (running)
- {
- Thread::sleep(10);
- }
- }
- while (!running)
- {
- Thread::sleep(10);
- }
- }
-}
-
-int main()
-{
- // We accept only packet with destination main
- Filter f;
- f.destination = Boards::Main;
- MockPitot* pitot = new MockPitot(Pitot);
- handler = new CanHandler(Boards::Main);
- handler->addFilter(f);
- (*handler).addMock(pitot);
-
- (*handler).startHandler();
-
- // We expect to receive multiple*100 packet of Pressure packet,
- // send multiple*100 AirBrakes Packet and multiple of each command packet
- MyEventHandler evh;
- TRACE("Start sending\n");
- if (evh.start())
- {
- std::thread recPress(receivePressure, pitot);
- std::thread sendCmd(sendCommands);
- for (;;)
- {
- running = true;
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- (*handler).sendCan(Boards::Broadcast,
- common::Priority::Critical, Type::Events,
- EventsId::Liftoff);
- }
- Thread::sleep(1000);
- running = false;
- {
- miosix::Lock<miosix::FastMutex> l(mutex);
- (*handler).sendCan(Boards::Broadcast,
- common::Priority::Critical, Type::Events,
- EventsId::Liftoff);
- }
- evh.checkCounters(0);
- // We stop for 100 ms to wait for any unfinished print
- Thread::sleep(100);
- }
- evh.stop(); // it posts an EV_EMPTY to wake up the thread
- }
- else
- {
- TRACE("Failed to start MyEventHandler\n");
- }
-}
diff --git a/src/tests/common/test-can-flight-sim/test-payload-can.cpp b/src/tests/common/test-can-flight-sim/test-payload-can.cpp
deleted file mode 100644
index 2871546c5..000000000
--- a/src/tests/common/test-can-flight-sim/test-payload-can.cpp
+++ /dev/null
@@ -1,112 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Federico Mandelli
- *
- * 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 <common/canbus/CanHandler.h>
-#include <common/canbus/MockSensors/MockPitot.h>
-#include <utils/collections/IRQCircularBuffer.h>
-
-#include <atomic>
-#include <thread>
-
-#include "test-flight-event-handler.h"
-
-using namespace Boardcore::Canbus;
-using namespace miosix;
-using namespace common;
-CanHandler* handler;
-std::atomic<bool> running; // 1 element we are active 0 we are inactive
-void receivePressure(MockPitot* pitot)
-{
- while (true)
- {
- (*pitot).waitTillUpdated();
- (*pitot).getData();
- TRACE("ERROR received a pressure packet\n");
- }
-}
-
-void sendPressure(MockPitot* pitot)
-{
- CanData temp = pitot->parseData({240, 1234.23});
- int f;
- int msWait = 1000 / (nPressure);
- while (true)
- {
- for (f = 0; f < nPressure && running; f++)
- {
- (*handler).sendCan(Boards::Main, common::Priority::Critical,
- Type::Sensor, SensorId::Pitot, temp);
- Thread::sleep(msWait);
- }
- TRACE("Sent %d pressure packets\n", f);
- if (f == nPressure)
- {
- while (running)
- {
- Thread::sleep(10);
- }
- }
- while (!running)
- {
- Thread::sleep(10);
- }
- }
-}
-
-int main()
-{
-
- // We accept only packet with source main and destination payload
-
- Filter f;
- f.source = Boards::Main;
- f.destination = Boards::Broadcast;
- MockPitot* pitot = new MockPitot(Pitot);
- handler = new CanHandler(Boards::Main);
- handler->addFilter(f);
-
- (*handler).startHandler();
-
- // We expect to send multiple*100 packet of Pressure packet and receive
- // multiple of each command packet
- MyEventHandler evh;
- if (evh.start())
- {
- std::thread sendPress(sendPressure, pitot);
- std::thread recPress(receivePressure, pitot);
- for (;;)
- {
- running = true;
- evh.waitReset(); // First reset is to start sending
- evh.waitReset(); // the second to stop
- running = false;
- evh.checkCounters(nEvents);
- // We stop for 100 ms to wait for any unfinished print
- Thread::sleep(100);
- }
- evh.stop(); // It posts an EV_EMPTY to wake up the thread
- }
- else
- {
- TRACE("Failed to start MyEventHandler\n");
- }
-}
diff --git a/src/tests/common/test-can-handler.cpp b/src/tests/common/test-can-handler.cpp
deleted file mode 100644
index bf82b4564..000000000
--- a/src/tests/common/test-can-handler.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Federico Mandelli
- *
- * 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 <common/canbus/CanHandler.h>
-#include <common/canbus/MockSensors/MockPitot.h>
-#include <drivers/canbus/BusLoadEstimation.h>
-#include <drivers/canbus/Canbus.h>
-#include <utils/collections/CircularBuffer.h>
-
-#include <thread>
-
-#include "test-can-event-handler.h"
-
-#define slp 1000
-
-using namespace Boardcore::Canbus;
-using namespace miosix;
-using namespace common;
-
-void checkPressureData(MockPitot* pitot)
-{
- Thread::sleep(10); // De-synchronize the sending from the receiving;
-
- while (true)
- {
- if ((*pitot).waitTillUpdated())
- {
- TRACE("Received pressure packet. Data: %f, timestamp %llu\n",
- (*pitot).getData().pressure,
- (*pitot).getData().pressureTimestamp);
- }
- else
- {
- TRACE("No Pressure packet received in this time slot\n");
- }
-
- Thread::sleep(slp);
- }
-}
-
-int main()
-{
- MockPitot* pitot = new MockPitot(SensorId::Pitot);
- CanHandler handler(Boards::Main);
- handler.addMock(pitot);
- Filter f; // empty filter to accept all incoming messages
-
- handler.addFilter(f);
- handler.startHandler();
- // send event, data and command
- Boardcore::PressureData t{240, 12354.35};
- MyEventHandler evh;
- if (evh.start())
- {
- std::thread printPressureData(checkPressureData, pitot);
-
- for (;;)
- {
- TRACE("Sent a packet \n");
- handler.sendCan(Boards::Payload, common::Priority::Medium,
- Type::Sensor, SensorId::Pitot,
- (*pitot).parseData(t));
- // if we have to send a command we do not use a payload
- handler.sendCan(Boards::Main, common::Priority::Low, Type::Events,
- EventsId::Liftoff);
- handler.sendCan(Boards::Main, common::Priority::Low, Type::Events,
- EventsId::Apogee);
- handler.sendCan(Boards::Main, common::Priority::Low, Type::Events,
- EventsId::Armed);
- Thread::sleep(slp);
- }
- evh.stop(); // it posts an EV_EMPTY to wake up the thread
- }
- else
- {
- TRACE("Failed to start MyEventHandler\n");
- }
-}
--
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