From 9c383fe7831e003efb738485268e4b31a5f7b820 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 27 Nov 2024 14:47:35 +0100
Subject: [PATCH] [RIGv2] Update registry for new valves
---
src/RIGv2/Actuators/Actuators.cpp | 28 ++++++-------
src/RIGv2/Radio/Radio.cpp | 17 ++++++--
src/RIGv2/Registry/Registry.cpp | 67 +++++++++++++++++++++----------
src/RIGv2/Registry/Registry.h | 59 ++++++++++++++++++++-------
4 files changed, 118 insertions(+), 53 deletions(-)
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index d2a92c244..f22a2aabb 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -168,8 +168,8 @@ Actuators::Actuators()
info->flipped = Config::Servos::FILLING_FLIPPED;
info->openingEvent = Common::Events::MOTOR_OPEN_FILLING_VALVE;
info->closingEvent = Common::Events::MOTOR_CLOSE_FILLING_VALVE;
- info->openingTimeKey = CONFIG_ID_FILLING_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_FILLING_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_N2O_FILLING_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_N2O_FILLING_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
info = getServo(ServosList::N2O_RELEASE_VALVE);
@@ -179,8 +179,8 @@ Actuators::Actuators()
info->flipped = Config::Servos::RELEASE_FLIPPED;
info->openingEvent = Common::Events::MOTOR_OPEN_RELEASE_VALVE;
info->closingEvent = Common::Events::MOTOR_CLOSE_RELEASE_VALVE;
- info->openingTimeKey = CONFIG_ID_RELEASE_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_RELEASE_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_N2O_RELEASE_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_N2O_RELEASE_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
info = getServo(ServosList::N2O_VENTING_VALVE);
@@ -190,8 +190,8 @@ Actuators::Actuators()
info->flipped = Config::Servos::VENTING_FLIPPED;
info->openingEvent = Common::Events::MOTOR_OPEN_VENTING_VALVE;
info->closingEvent = Common::Events::MOTOR_CLOSE_VENTING_VALVE;
- info->openingTimeKey = CONFIG_ID_VENTING_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_VENTING_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_N2O_VENTING_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_N2O_VENTING_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
info = getServo(ServosList::N2_FILLING_VALVE);
@@ -201,8 +201,8 @@ Actuators::Actuators()
info->flipped = Config::Servos::FILLING_FLIPPED;
info->openingEvent = Common::Events::MOTOR_OPEN_FILLING_VALVE;
info->closingEvent = Common::Events::MOTOR_CLOSE_FILLING_VALVE;
- info->openingTimeKey = CONFIG_ID_FILLING_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_FILLING_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_N2_FILLING_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_N2_FILLING_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
info = getServo(ServosList::N2_RELEASE_VALVE);
@@ -212,8 +212,8 @@ Actuators::Actuators()
info->flipped = Config::Servos::RELEASE_FLIPPED;
info->openingEvent = Common::Events::MOTOR_OPEN_RELEASE_VALVE;
info->closingEvent = Common::Events::MOTOR_CLOSE_RELEASE_VALVE;
- info->openingTimeKey = CONFIG_ID_RELEASE_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_RELEASE_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_N2_RELEASE_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_N2_RELEASE_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
info = getServo(ServosList::N2_DETACH_SERVO);
@@ -222,8 +222,8 @@ Actuators::Actuators()
info->limit = Config::Servos::DISCONNECT_LIMIT;
info->flipped = Config::Servos::DISCONNECT_FLIPPED;
info->openingEvent = Common::Events::MOTOR_DISCONNECT;
- info->openingTimeKey = CONFIG_ID_DISCONNECT_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_DISCONNECT_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_N2_DETACH_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_N2_DETACH_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
info = getServo(ServosList::MAIN_VALVE);
@@ -244,8 +244,8 @@ Actuators::Actuators()
info->flipped = Config::Servos::MAIN_FLIPPED;
info->openingEvent = 0;
info->closingEvent = 0;
- info->openingTimeKey = CONFIG_ID_MAIN_OPENING_TIME;
- info->maxApertureKey = CONFIG_ID_MAIN_MAX_APERTURE;
+ info->openingTimeKey = CONFIG_ID_NITROGEN_OPENING_TIME;
+ info->maxApertureKey = CONFIG_ID_NITROGEN_MAX_APERTURE;
info->unsafeSetServoPosition(0.0f);
}
diff --git a/src/RIGv2/Radio/Radio.cpp b/src/RIGv2/Radio/Radio.cpp
index fe44a57c2..09c2aba51 100644
--- a/src/RIGv2/Radio/Radio.cpp
+++ b/src/RIGv2/Radio/Radio.cpp
@@ -364,6 +364,17 @@ void Radio::enqueueRegistry()
mavlink_message_t msg;
const char* name = configurationIdToName(id);
+ // A safe copy function for key names
+ auto copyKeyName = [](auto& dest, const char* src)
+ {
+ // Ensure dest is not a pointer
+ static_assert(sizeof(dest) != sizeof(char*));
+
+ constexpr size_t maxKeyLen = sizeof(dest) / sizeof(dest[0]) - 1;
+ std::strncpy(dest, src, maxKeyLen);
+ dest[maxKeyLen] = '\0'; // Ensure null-termination
+ };
+
switch (value.getType())
{
case TypesEnum::UINT32:
@@ -372,7 +383,7 @@ void Radio::enqueueRegistry()
tm.timestamp = TimestampTimer::getTimestamp();
tm.key_id = id;
- strcpy(tm.key_name, name);
+ copyKeyName(tm.key_name, name);
value.get(tm.value);
mavlink_msg_registry_int_tm_encode(
@@ -386,7 +397,7 @@ void Radio::enqueueRegistry()
tm.timestamp = TimestampTimer::getTimestamp();
tm.key_id = id;
- strcpy(tm.key_name, name);
+ copyKeyName(tm.key_name, name);
value.get(tm.value);
mavlink_msg_registry_float_tm_encode(
@@ -400,7 +411,7 @@ void Radio::enqueueRegistry()
tm.timestamp = TimestampTimer::getTimestamp();
tm.key_id = id;
- strcpy(tm.key_name, name);
+ copyKeyName(tm.key_name, name);
Coordinates coord;
value.get(coord);
tm.latitude = coord.latitude;
diff --git a/src/RIGv2/Registry/Registry.cpp b/src/RIGv2/Registry/Registry.cpp
index 847764c60..2fa748947 100644
--- a/src/RIGv2/Registry/Registry.cpp
+++ b/src/RIGv2/Registry/Registry.cpp
@@ -33,32 +33,57 @@ const char* RIGv2::configurationIdToName(ConfigurationId id)
{
switch (id)
{
- case CONFIG_ID_FILLING_OPENING_TIME:
- return "FillingOpeningTime";
- case CONFIG_ID_VENTING_OPENING_TIME:
- return "VentingOpeningTime";
+ case CONFIG_ID_N2O_FILLING_OPENING_TIME:
+ return "N2O_FILLING_OPENING_TIME";
+ case CONFIG_ID_N2O_FILLING_MAX_APERTURE:
+ return "N2O_FILLING_MAX_APERTURE";
+ case CONFIG_ID_N2O_RELEASE_OPENING_TIME:
+ return "N2O_RELEASE_OPENING_TIME";
+ case CONFIG_ID_N2O_RELEASE_MAX_APERTURE:
+ return "N2O_RELEASE_MAX_APERTURE";
+ case CONFIG_ID_N2O_DETACH_OPENING_TIME:
+ return "N2O_DETACH_OPENING_TIME";
+ case CONFIG_ID_N2O_DETACH_MAX_APERTURE:
+ return "N2O_DETACH_MAX_APERTURE";
+ case CONFIG_ID_N2O_VENTING_OPENING_TIME:
+ return "N2O_VENTING_OPENING_TIME";
+ case CONFIG_ID_N2O_VENTING_MAX_APERTURE:
+ return "N2O_VENTING_MAX_APERTURE";
+ case CONFIG_ID_N2_FILLING_OPENING_TIME:
+ return "N2_FILLING_OPENING_TIME";
+ case CONFIG_ID_N2_FILLING_MAX_APERTURE:
+ return "N2_FILLING_MAX_APERTURE";
+ case CONFIG_ID_N2_RELEASE_OPENING_TIME:
+ return "N2_RELEASE_OPENING_TIME";
+ case CONFIG_ID_N2_RELEASE_MAX_APERTURE:
+ return "N2_RELEASE_MAX_APERTURE";
+ case CONFIG_ID_N2_DETACH_OPENING_TIME:
+ return "N2_DETACH_OPENING_TIME";
+ case CONFIG_ID_N2_DETACH_MAX_APERTURE:
+ return "N2_DETACH_MAX_APERTURE";
+ case CONFIG_ID_N2_QUENCHING_OPENING_TIME:
+ return "N2_QUENCHING_OPENING_TIME";
+ case CONFIG_ID_N2_QUENCHING_MAX_APERTURE:
+ return "N2_QUENCHING_MAX_APERTURE";
case CONFIG_ID_MAIN_OPENING_TIME:
- return "MainOpeningTime";
- case CONFIG_ID_RELEASE_OPENING_TIME:
- return "ReleaseOpeningTime";
- case CONFIG_ID_DISCONNECT_OPENING_TIME:
- return "DisconOpeningTime";
- case CONFIG_ID_FILLING_MAX_APERTURE:
- return "FillingMaxAperture";
- case CONFIG_ID_VENTING_MAX_APERTURE:
- return "VentingMaxAperture";
+ return "MAIN_OPENING_TIME";
case CONFIG_ID_MAIN_MAX_APERTURE:
- return "MainMaxAperture";
- case CONFIG_ID_RELEASE_MAX_APERTURE:
- return "ReleaseMaxAperture";
- case CONFIG_ID_DISCONNECT_MAX_APERTURE:
- return "DisconMaxAperture";
+ return "MAIN_MAX_APERTURE";
+ case CONFIG_ID_NITROGEN_OPENING_TIME:
+ return "NITROGEN_OPENING_TIME";
+ case CONFIG_ID_NITROGEN_MAX_APERTURE:
+ return "NITROGEN_MAX_APERTURE";
case CONFIG_ID_IGNITION_TIME:
- return "IgnitionTime";
+ return "IGNITION_TIME";
case CONFIG_ID_DEFAULT_OPENING_TIME:
- return "DefOpeningTime";
+ return "DEFAULT_OPENING_TIME";
case CONFIG_ID_DEFAULT_MAX_APERTURE:
- return "DefMaxAperture";
+ return "DEFAULT_MAX_APERTURE";
+ case CONFIG_ID_CHAMBER_TIME:
+ return "CHAMBER_TIME";
+ case CONFIG_ID_CHAMBER_DELAY:
+ return "CHAMBER_DELAY";
+
default:
return "<invalid>";
}
diff --git a/src/RIGv2/Registry/Registry.h b/src/RIGv2/Registry/Registry.h
index 1f9b99b61..b1f8e4cd2 100644
--- a/src/RIGv2/Registry/Registry.h
+++ b/src/RIGv2/Registry/Registry.h
@@ -30,21 +30,50 @@ namespace RIGv2
enum ConfigurationKeys
{
- CONFIG_ID_FILLING_OPENING_TIME = 1,
- CONFIG_ID_VENTING_OPENING_TIME = 2,
- CONFIG_ID_MAIN_OPENING_TIME = 3,
- CONFIG_ID_RELEASE_OPENING_TIME = 4,
- CONFIG_ID_DISCONNECT_OPENING_TIME = 5,
- CONFIG_ID_FILLING_MAX_APERTURE = 6,
- CONFIG_ID_VENTING_MAX_APERTURE = 7,
- CONFIG_ID_MAIN_MAX_APERTURE = 8,
- CONFIG_ID_RELEASE_MAX_APERTURE = 9,
- CONFIG_ID_DISCONNECT_MAX_APERTURE = 10,
- CONFIG_ID_IGNITION_TIME = 11,
- CONFIG_ID_DEFAULT_OPENING_TIME = 12,
- CONFIG_ID_DEFAULT_MAX_APERTURE = 13,
- CONFIG_ID_CHAMBER_TIME = 14,
- CONFIG_ID_CHAMBER_DELAY = 15,
+ // N2O
+ CONFIG_ID_N2O_FILLING_OPENING_TIME,
+ CONFIG_ID_N2O_FILLING_MAX_APERTURE,
+
+ CONFIG_ID_N2O_RELEASE_OPENING_TIME,
+ CONFIG_ID_N2O_RELEASE_MAX_APERTURE,
+
+ CONFIG_ID_N2O_DETACH_OPENING_TIME,
+ CONFIG_ID_N2O_DETACH_MAX_APERTURE,
+
+ CONFIG_ID_N2O_VENTING_OPENING_TIME,
+ CONFIG_ID_N2O_VENTING_MAX_APERTURE,
+
+ // N2
+ CONFIG_ID_N2_FILLING_OPENING_TIME,
+ CONFIG_ID_N2_FILLING_MAX_APERTURE,
+
+ CONFIG_ID_N2_RELEASE_OPENING_TIME,
+ CONFIG_ID_N2_RELEASE_MAX_APERTURE,
+
+ CONFIG_ID_N2_DETACH_OPENING_TIME,
+ CONFIG_ID_N2_DETACH_MAX_APERTURE,
+
+ CONFIG_ID_N2_QUENCHING_OPENING_TIME,
+ CONFIG_ID_N2_QUENCHING_MAX_APERTURE,
+
+ // Main & Nitrogen
+ CONFIG_ID_MAIN_OPENING_TIME,
+ CONFIG_ID_MAIN_MAX_APERTURE,
+
+ CONFIG_ID_NITROGEN_OPENING_TIME,
+ CONFIG_ID_NITROGEN_MAX_APERTURE,
+
+ // Ignition parameters
+ CONFIG_ID_IGNITION_TIME,
+
+ // Default valve parameters
+ CONFIG_ID_DEFAULT_OPENING_TIME,
+ CONFIG_ID_DEFAULT_MAX_APERTURE,
+
+ // Chamber valve parameters
+ CONFIG_ID_CHAMBER_TIME, // Time the chamber valve stays open
+ CONFIG_ID_CHAMBER_DELAY, // Delay of opening the chamber valve after
+ // opening the main valve
};
const char* configurationIdToName(Boardcore::ConfigurationId id);
--
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