diff --git a/src/boards/Groundstation/Rovie/Buses.h b/src/boards/Groundstation/Rovie/Buses.h
index 34b13057ff99ffe2c0dfdd6cde1cd2e446e1d2e3..54d1ce0175a906953dc95ef8ec5f0dfaaf25f33d 100644
--- a/src/boards/Groundstation/Rovie/Buses.h
+++ b/src/boards/Groundstation/Rovie/Buses.h
@@ -23,23 +23,20 @@
#pragma once
#include <drivers/spi/SPIBus.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
#include "interfaces-impl/hwmapping.h"
namespace GroundstationRovie
{
-class Buses : public Boardcore::Module
+class Buses : public Boardcore::Injectable
{
public:
- Boardcore::SPIBus radio1_bus;
- Boardcore::SPIBus ethernet_bus;
+ Boardcore::SPIBus radio1;
+ Boardcore::SPIBus ethernet;
- Buses() : radio1_bus(MIOSIX_RADIO1_SPI), ethernet_bus(MIOSIX_ETHERNET_SPI)
- {
- }
+ Buses() : radio1(MIOSIX_RADIO1_SPI), ethernet(MIOSIX_ETHERNET_SPI) {}
};
} // namespace GroundstationRovie
\ No newline at end of file
diff --git a/src/boards/Groundstation/Rovie/Hub.cpp b/src/boards/Groundstation/Rovie/Hub.cpp
index 50fa886a2f63ea81cdeb84df3f4f43bd22ed369d..f91e023cdd12f7149e27d52a97423458530d183f 100644
--- a/src/boards/Groundstation/Rovie/Hub.cpp
+++ b/src/boards/Groundstation/Rovie/Hub.cpp
@@ -38,9 +38,6 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
- Serial* serial = ModuleManager::getInstance().get<Serial>();
- serial->sendMsg(msg);
-
- Ethernet* ethernet = ModuleManager::getInstance().get<Ethernet>();
- ethernet->sendMsg(msg);
+ getModule<Serial>()->sendMsg(msg);
+ getModule<Ethernet>()->sendMsg(msg);
}
\ No newline at end of file
diff --git a/src/boards/Groundstation/Rovie/Hub.h b/src/boards/Groundstation/Rovie/Hub.h
index 18b7531326a9469c9cb7b37d2b8995ab93879e3f..b74a80901298591ed527c32651e270850b5558c0 100644
--- a/src/boards/Groundstation/Rovie/Hub.h
+++ b/src/boards/Groundstation/Rovie/Hub.h
@@ -23,9 +23,11 @@
#pragma once
#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <Groundstation/Rovie/Ports/Ethernet.h>
+#include <Groundstation/Rovie/Radio/Radio.h>
#include <common/Mavlink.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
namespace GroundstationRovie
{
@@ -33,7 +35,9 @@ namespace GroundstationRovie
/**
* @brief Central hub connecting all outgoing and ingoing modules.
*/
-class Hub : public Groundstation::HubBase
+class Hub : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::HubBase>, Ethernet,
+ RadioRig, Groundstation::Serial>
{
public:
Hub() {}
diff --git a/src/boards/Groundstation/Rovie/Ports/Ethernet.cpp b/src/boards/Groundstation/Rovie/Ports/Ethernet.cpp
index b242322bf5f41510caea0c0fc7c3438067bd547d..3be88ebe667cc86baeae81945b32fd1a451cb62b 100644
--- a/src/boards/Groundstation/Rovie/Ports/Ethernet.cpp
+++ b/src/boards/Groundstation/Rovie/Ports/Ethernet.cpp
@@ -30,18 +30,30 @@ using namespace GroundstationRovie;
using namespace Boardcore;
using namespace miosix;
+Wiz5500* gWiz5500{nullptr};
+
void __attribute__((used)) MIOSIX_ETHERNET_IRQ()
{
- ModuleManager::getInstance().get<Ethernet>()->handleINTn();
+ Wiz5500* instance = gWiz5500;
+ if (instance)
+ {
+ instance->handleINTn();
+ }
+}
+
+void setIRQWiz5500(Wiz5500* instance)
+{
+ FastInterruptDisableLock dl;
+ gWiz5500 = instance;
}
bool Ethernet::start()
{
std::unique_ptr<Wiz5500> wiz5500 = std::make_unique<Wiz5500>(
- ModuleManager::getInstance().get<Buses>()->ethernet_bus,
- ethernet::cs::getPin(), ethernet::intr::getPin(),
- SPI::ClockDivider::DIV_64);
+ getModule<Buses>()->ethernet, ethernet::cs::getPin(),
+ ethernet::intr::getPin(), SPI::ClockDivider::DIV_64);
+ setIRQWiz5500(wiz5500.get());
if (!EthernetBase::start(std::move(wiz5500)))
{
return false;
diff --git a/src/boards/Groundstation/Rovie/Ports/Ethernet.h b/src/boards/Groundstation/Rovie/Ports/Ethernet.h
index 1aa1acdb919d529cf8f3562348338bf9828994ef..7184483e7ed4ca09893d30aa65e3afe3e7cc73d9 100644
--- a/src/boards/Groundstation/Rovie/Ports/Ethernet.h
+++ b/src/boards/Groundstation/Rovie/Ports/Ethernet.h
@@ -23,13 +23,15 @@
#pragma once
#include <Groundstation/Common/Ports/EthernetBase.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <Groundstation/Rovie/Buses.h>
+#include <utils/DependencyManager/DependencyManager.h>
namespace GroundstationRovie
{
-class Ethernet : public Groundstation::EthernetBase, public Boardcore::Module
+class Ethernet
+ : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::EthernetBase>, Buses>
{
public:
[[nodiscard]] bool start();
diff --git a/src/boards/Groundstation/Rovie/Radio/Radio.cpp b/src/boards/Groundstation/Rovie/Radio/Radio.cpp
index dd129e6bd73ccd3f369085c1708c8e43cf052d26..4a3bc05945f74c3c296b52dd4ccd9518153cc02d 100644
--- a/src/boards/Groundstation/Rovie/Radio/Radio.cpp
+++ b/src/boards/Groundstation/Rovie/Radio/Radio.cpp
@@ -24,7 +24,6 @@
#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/Rovie/Buses.h>
-#include <Groundstation/Rovie/Hub.h>
#include <radio/SX1278/SX1278Frontends.h>
using namespace Groundstation;
@@ -32,28 +31,26 @@ using namespace GroundstationRovie;
using namespace Boardcore;
using namespace miosix;
-void __attribute__((used)) MIOSIX_RADIO1_DIO0_IRQ()
-{
- ModuleManager::getInstance().get<RadioRig>()->handleDioIRQ();
-}
+SX1278Lora* gRadio{nullptr};
-void __attribute__((used)) MIOSIX_RADIO1_DIO1_IRQ()
+void handleDioIRQ()
{
- ModuleManager::getInstance().get<RadioRig>()->handleDioIRQ();
+ SX1278Lora* instance = gRadio;
+ if (instance)
+ {
+ instance->handleDioIRQ();
+ }
}
-void __attribute__((used)) MIOSIX_RADIO1_DIO3_IRQ()
+void setIRQRadio(SX1278Lora* radio)
{
- ModuleManager::getInstance().get<RadioRig>()->handleDioIRQ();
+ FastInterruptDisableLock dl;
+ gRadio = radio;
}
-void RadioRig::handleDioIRQ()
-{
- if (started)
- {
- sx1278->handleDioIRQ();
- }
-}
+void __attribute__((used)) MIOSIX_RADIO_DIO0_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO_DIO1_IRQ() { handleDioIRQ(); }
+void __attribute__((used)) MIOSIX_RADIO_DIO3_IRQ() { handleDioIRQ(); }
bool RadioRig::start()
{
@@ -67,9 +64,12 @@ bool RadioRig::start()
#endif
sx1278 = std::make_unique<SX1278Lora>(
- ModuleManager::getInstance().get<Buses>()->radio1_bus,
- radio1::cs::getPin(), radio1::dio0::getPin(), radio1::dio1::getPin(),
- radio1::dio3::getPin(), SPI::ClockDivider::DIV_64, std::move(frontend));
+ getModule<Buses>()->radio1, radio1::cs::getPin(),
+ radio1::dio0::getPin(), radio1::dio1::getPin(), radio1::dio3::getPin(),
+ SPI::ClockDivider::DIV_64, std::move(frontend));
+
+ // Store the global radio instance
+ setIRQRadio(sx1278.get());
// Configure the radio
if (sx1278->configure(Common::RIG_RADIO_CONFIG) != SX1278Lora::Error::NONE)
@@ -77,14 +77,14 @@ bool RadioRig::start()
return false;
}
- auto mav_handler = [this](RadioMavDriver* channel,
- const mavlink_message_t& msg) { handleMsg(msg); };
+ auto mavHandler = [this](RadioMavDriver* channel,
+ const mavlink_message_t& msg) { handleMsg(msg); };
- mav_driver = std::make_unique<RadioMavDriver>(
- sx1278.get(), mav_handler, Groundstation::MAV_SLEEP_AFTER_SEND,
+ mavDriver = std::make_unique<RadioMavDriver>(
+ sx1278.get(), mavHandler, Groundstation::MAV_SLEEP_AFTER_SEND,
Groundstation::MAV_OUT_BUFFER_MAX_AGE);
- if (!mav_driver->start())
+ if (!mavDriver->start())
{
return false;
}
@@ -96,5 +96,5 @@ bool RadioRig::start()
void RadioRig::handleMsg(const mavlink_message_t& msg)
{
// Dispatch the message through the hub.
- ModuleManager::getInstance().get<HubBase>()->dispatchIncomingMsg(msg);
+ getModule<HubBase>()->dispatchIncomingMsg(msg);
}
\ No newline at end of file
diff --git a/src/boards/Groundstation/Rovie/Radio/Radio.h b/src/boards/Groundstation/Rovie/Radio/Radio.h
index 2e497210756c134a9d5a0a86852001258ce2259e..05dfb37514801b499f3169c8bea5f91d668c1c1e 100644
--- a/src/boards/Groundstation/Rovie/Radio/Radio.h
+++ b/src/boards/Groundstation/Rovie/Radio/Radio.h
@@ -22,7 +22,10 @@
#pragma once
+#include <Groundstation/Common/HubBase.h>
#include <Groundstation/Common/Radio/RadioBase.h>
+#include <Groundstation/Rovie/Buses.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <atomic>
@@ -34,18 +37,14 @@ using RadioMavDriver =
Groundstation::MAV_OUT_QUEUE_SIZE,
MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
-class RadioRig : public Boardcore::Module
+class RadioRig
+ : public Boardcore::InjectableWithDeps<Groundstation::HubBase, Buses>
{
public:
RadioRig() {}
[[nodiscard]] bool start();
- /**
- * @brief Handle generic DIO irq.
- */
- void handleDioIRQ();
-
private:
/**
* @brief Called internally when a message is received.
@@ -57,7 +56,7 @@ private:
// Objects are always destructed in reverse order, so keep them in this
// order
std::unique_ptr<Boardcore::SX1278Lora> sx1278;
- std::unique_ptr<RadioMavDriver> mav_driver;
+ std::unique_ptr<RadioMavDriver> mavDriver;
};
} // namespace GroundstationRovie
\ No newline at end of file
diff --git a/src/entrypoints/Groundstation/rovie-groundstation-entry.cpp b/src/entrypoints/Groundstation/rovie-groundstation-entry.cpp
index 59dba2ff317a499e8ed3ca7ee09d12b3dd19f40d..be6064a41333a686e502d246a61b3233a82acf91 100644
--- a/src/entrypoints/Groundstation/rovie-groundstation-entry.cpp
+++ b/src/entrypoints/Groundstation/rovie-groundstation-entry.cpp
@@ -26,6 +26,7 @@
#include <Groundstation/Rovie/Ports/Ethernet.h>
#include <Groundstation/Rovie/Radio/Radio.h>
#include <miosix.h>
+#include <utils/DependencyManager/DependencyManager.h>
using namespace Groundstation;
using namespace GroundstationRovie;
@@ -55,21 +56,19 @@ int main()
{
ledOff();
- Hub *hub = new Hub();
- Buses *buses = new Buses();
- Serial *serial = new Serial();
- Ethernet *ethernet = new Ethernet();
- RadioRig *radio_rig = new RadioRig();
+ Hub *hub = new Hub();
+ Buses *buses = new Buses();
+ Serial *serial = new Serial();
+ Ethernet *ethernet = new Ethernet();
+ RadioRig *radioRig = new RadioRig();
- ModuleManager &modules = ModuleManager::getInstance();
+ DependencyManager manager;
- bool ok = true;
+ bool ok = manager.insert<HubBase>(hub) && manager.insert(buses) &&
+ manager.insert(serial) && manager.insert(ethernet) &&
+ manager.insert(radioRig) && manager.inject();
- ok &= modules.insert<HubBase>(hub);
- ok &= modules.insert(buses);
- ok &= modules.insert(serial);
- ok &= modules.insert(ethernet);
- ok &= modules.insert(radio_rig);
+ manager.graphviz(std::cout);
// If insertion failed, stop right here
if (!ok)
@@ -92,7 +91,7 @@ int main()
printf("[error] Failed to start ethernet!\n");
}
- ok &= radio_rig->start();
+ ok &= radioRig->start();
if (!ok)
{
printf("[error] Failed to start RIG radio!\n");