From a889edad257f1cbddd62d4da021ac1fbe9af8cc3 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Fri, 2 Sep 2022 14:57:01 +0200
Subject: [PATCH] [HIL] Few corrections of comments
---
.vscode/c_cpp_properties.json | 35 +++++++++-----
.vscode/settings.json | 4 +-
CMakeLists.txt | 2 +-
skyward-boardcore | 2 +-
.../simulator_communication/HILTransceiver.h | 2 +-
src/boards/Main/TMRepository/TMRepository.cpp | 2 +-
.../HIL/HILTransceiver.cpp | 48 ++++++++-----------
src/hardware_in_the_loop/HIL/HILTransceiver.h | 2 +-
src/hardware_in_the_loop/HILConfig.h | 2 +-
.../HILSimulationConfig.h | 0
.../test-hil/test-hil.cpp | 4 +-
11 files changed, 54 insertions(+), 49 deletions(-)
rename src/{tests/hardware_in_the_loop/test-hil => hardware_in_the_loop}/HILSimulationConfig.h (100%)
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index ebcde8afd..4312763b0 100755
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -21,6 +21,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -53,7 +54,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -81,6 +82,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -113,7 +115,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -140,8 +142,8 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/stm32f429zi_skyward_death_stack_x",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
- "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -175,7 +177,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -204,6 +206,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -214,7 +217,7 @@
"${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests",
- "${workspaceFolder}/src"
+ "${workspaceFolder}/src",
],
"browse": {
"path": [
@@ -236,7 +239,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -266,6 +269,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -298,7 +302,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -326,6 +330,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -358,7 +363,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -386,6 +391,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM3_stm32f2/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -418,7 +424,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -446,6 +452,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -480,7 +487,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests",
"${workspaceFolder}/src"
@@ -510,6 +517,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -542,7 +550,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -570,6 +578,7 @@
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/cortexM4_stm32f4/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix/arch/common",
"${workspaceFolder}/skyward-boardcore/libs/miosix-kernel/miosix",
+ "${workspaceFolder}/skyward-boardcore/libs/Catch2/single_include",
"${workspaceFolder}/skyward-boardcore/libs/mavlink-skyward-lib",
"${workspaceFolder}/skyward-boardcore/libs/fmt/include",
"${workspaceFolder}/skyward-boardcore/libs/eigen",
@@ -602,7 +611,7 @@
"${workspaceFolder}/skyward-boardcore/libs/fmt",
"${workspaceFolder}/skyward-boardcore/src/shared",
"${workspaceFolder}/skyward-boardcore/src/tests",
- "${workspaceFolder}/src/hardware_in_the_loop",
+ "${workspaceFolder}/src/hardware_in_the_loop",
"${workspaceFolder}/src/boards",
"${workspaceFolder}/src/tests"
],
@@ -611,4 +620,4 @@
}
],
"version": 4
-}
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 94e2159e5..ad21fcf0f 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -95,6 +95,7 @@
"tensorsymmetry": "cpp"
},
"cSpell.words": [
+ "Aeroutils",
"AIRBRAKES",
"Baro",
"Boardcore",
@@ -126,6 +127,7 @@
"miosix",
"Nidasio",
"pitot",
+ "stateinitializer",
"telecommands",
"UBXGPS",
"usart",
@@ -133,4 +135,4 @@
"Xbee"
],
"C_Cpp.errorSquiggles": "Enabled"
-}
+}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dd4d4ff47..95ec5cb56 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,7 +61,7 @@ sbs_target(groundstation-entry stm32f429zi_skyward_groundstation)
add_executable(test-hil src/tests/hardware_in_the_loop/test-hil/test-hil.cpp ${MAIN_COMPUTER} ${HIL})
target_include_directories(test-hil PRIVATE ${OBSW_INCLUDE_DIRS})
target_compile_definitions(test-hil PRIVATE HILSimulation HILUseADA HILUseRadio EUROC)
-# ssbs_target(test-hil stm32f407vg_stm32f4discovery)
+# sbs_target(test-hil stm32f407vg_stm32f4discovery)
sbs_target(test-hil stm32f429zi_skyward_death_stack_v3)
add_executable(ciuti-entry src/entrypoints/Ciuti/ciuti-entry.cpp ${CIUTI_COMPUTER})
diff --git a/skyward-boardcore b/skyward-boardcore
index 407af0d28..5219ea9bd 160000
--- a/skyward-boardcore
+++ b/skyward-boardcore
@@ -1 +1 @@
-Subproject commit 407af0d28040093f8600034fb5ffd083341a9529
+Subproject commit 5219ea9bd286bfa551f7c9ec2dd281759f6e1f70
diff --git a/src Lynx/hardware_in_the_loop/simulator_communication/HILTransceiver.h b/src Lynx/hardware_in_the_loop/simulator_communication/HILTransceiver.h
index f69513774..14380ae8d 100644
--- a/src Lynx/hardware_in_the_loop/simulator_communication/HILTransceiver.h
+++ b/src Lynx/hardware_in_the_loop/simulator_communication/HILTransceiver.h
@@ -33,7 +33,7 @@
#include "math/Vec3.h"
/**
- * @brief HILTranceiver is a Singleton and provides an easy interface for the
+ * @brief HILTransceiver is a Singleton and provides an easy interface for the
* control algorithms to send and receive data during a simulation
*/
class HILTransceiver : public ActiveObject
diff --git a/src/boards/Main/TMRepository/TMRepository.cpp b/src/boards/Main/TMRepository/TMRepository.cpp
index 8bc49eb75..890be5d42 100644
--- a/src/boards/Main/TMRepository/TMRepository.cpp
+++ b/src/boards/Main/TMRepository/TMRepository.cpp
@@ -256,7 +256,7 @@ mavlink_message_t TMRepository::packSystemTm(SystemTMList tmId, uint8_t msgId,
tm.airspeed_pitot = 0; // TODO: Implement
// ADA estimation
- tm.altitude_agl = -adaState.aglAltitude;
+ tm.altitude_agl = adaState.aglAltitude;
tm.ada_vert_speed = adaState.verticalSpeed;
// IMU
diff --git a/src/hardware_in_the_loop/HIL/HILTransceiver.cpp b/src/hardware_in_the_loop/HIL/HILTransceiver.cpp
index 0197201e5..c59c16dc9 100644
--- a/src/hardware_in_the_loop/HIL/HILTransceiver.cpp
+++ b/src/hardware_in_the_loop/HIL/HILTransceiver.cpp
@@ -79,16 +79,17 @@ void HILTransceiver::addResetSampleCounter(HILTimestampManagement *t)
}*/
/**
- * @brief the thread deals with the communication between the simulator and
- * the mock sensors
+ * @brief The thread deals with the communication between the simulator and the
+ * board.
*
- * The first read is done in the init() function;
+ * TODO: Check:
+ * The first read is done in the init() function
*
- * After the first time the data is received the loop of this thread is:
- * - reads the simulated data and copies them in the SensorData structure
- * - notifies every sensor that new data arrived,
- * - waits for the control algorithms to update the actuator data
- * - sends back the value to the simulator
+ * After the first time the data is received, the loop of this thread:
+ * - Reads the simulated data and copies them in the SensorData structure;
+ * - Notifies every sensor that new data arrived;
+ * - Waits for the control algorithms to update the actuator data;
+ * - Sends back the value to the simulator.
*/
void HILTransceiver::run()
{
@@ -99,20 +100,23 @@ void HILTransceiver::run()
while (true)
{
- /* Scope of the temporary data read from serial and pausing the
- * kernel in order to copy the data in the shared structure */
+ // Pausing the kernel in order to copy the data in the shared structure
{
SimulatorData tempData;
hilSerial.read(&tempData, sizeof(SimulatorData));
+
miosix::PauseKernelLock kLock;
sensorData = tempData;
+
if (updated)
{
lostUpdate = true;
- updated = false; // we want the last computation
+ updated = false; // We want the last computation
}
}
+ // If this is the first packet to be received, then update the flight
+ // phase manager
if (!receivedFirstPacket)
{
receivedFirstPacket = true;
@@ -120,40 +124,30 @@ void HILTransceiver::run()
FlightPhases::SIMULATION_STARTED, true);
}
- /*
- * notify all sensors that a new set of data is arrived
- * [REVIEW] Could be moved in HILFlightPhasesManager
- */
+ // Notify all sensors that a new set of data is arrived
+ //[REVIEW] Could be moved in HILFlightPhasesManager
for (auto st : sensorsTimestamp)
- {
st->resetSampleCounter();
- }
- // trigger events relative to the flight phases
- // TRACE("flags: %f %f %f %f %f %f\n", sensorData.flags.flag_flight,
- // sensorData.flags.flag_ascent, sensorData.flags.flag_burning,
- // sensorData.flags.flag_airbrakes, sensorData.flags.flag_para1,
- // sensorData.flags.flag_para2);
+ // Trigger events relative to the flight phases
flightPhasesManager->processFlags(sensorData.flags);
if (lostUpdate)
{
- // this means also that the number of samples used for the mean sent
+ // This means also that the number of samples used for the mean sent
// to the HIL simulator is made up of more than the number of
- // samples we thougt
+ // samples we though
TRACE("[HILT] lost updates!\n");
lostUpdate = false;
}
- // sensorData.print();
waitActuatorData();
hilSerial.write(&actuatorData, sizeof(ActuatorData));
- // actuatorData.print();
}
}
/**
- * @brief Waits for the control algorithm(s) to update actuatorData.
+ * @brief Waits for the control algorithms to update actuatorData.
*/
void HILTransceiver::waitActuatorData()
{
diff --git a/src/hardware_in_the_loop/HIL/HILTransceiver.h b/src/hardware_in_the_loop/HIL/HILTransceiver.h
index 971581ef4..c1aabfc51 100644
--- a/src/hardware_in_the_loop/HIL/HILTransceiver.h
+++ b/src/hardware_in_the_loop/HIL/HILTransceiver.h
@@ -34,7 +34,7 @@
class HILFlightPhasesManager;
/**
- * @brief HILTranceiver is a Singleton and provides an easy interface for
+ * @brief HILTransceiver is a Singleton and provides an easy interface for
* the control algorithms to send and receive data during a simulation
*/
class HILTransceiver : public Boardcore::ActiveObject
diff --git a/src/hardware_in_the_loop/HILConfig.h b/src/hardware_in_the_loop/HILConfig.h
index 939afcd64..b3f70973e 100644
--- a/src/hardware_in_the_loop/HILConfig.h
+++ b/src/hardware_in_the_loop/HILConfig.h
@@ -44,7 +44,7 @@
#include "entrypoints/hardware_in_the_loop/HILSimulationConfig.h"
/* serial simulation with sample manager */
#elif defined(HILSimulation)
-#include "test-hil/HILSimulationConfig.h"
+#include <HILSimulationConfig.h>
#elif defined(HIL_ADA)
#include "test-HIL+ADA/HILSimulationConfig.h"
#elif defined(HIL_AEROBRAKE)
diff --git a/src/tests/hardware_in_the_loop/test-hil/HILSimulationConfig.h b/src/hardware_in_the_loop/HILSimulationConfig.h
similarity index 100%
rename from src/tests/hardware_in_the_loop/test-hil/HILSimulationConfig.h
rename to src/hardware_in_the_loop/HILSimulationConfig.h
diff --git a/src/tests/hardware_in_the_loop/test-hil/test-hil.cpp b/src/tests/hardware_in_the_loop/test-hil/test-hil.cpp
index ead37287c..fba8fb710 100644
--- a/src/tests/hardware_in_the_loop/test-hil/test-hil.cpp
+++ b/src/tests/hardware_in_the_loop/test-hil/test-hil.cpp
@@ -345,8 +345,8 @@ int main()
.getX());
#ifndef HILMockNAS
- Boardcore::NASState nasState =
- Main::NASController::getInstance().getNasState();
+ D(Boardcore::NASState nasState =
+ Main::NASController::getInstance().getNasState());
TRACE("nas -> n:%+.3f, e:%+.3f d:%+.3f\n", nasState.n, nasState.e,
nasState.d);
TRACE("nas -> vn:%+.3f, ve:%+.3f vd:%+.3f\n", nasState.vn,
--
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