diff --git a/.gitignore b/.gitignore
index 9b89790f971bdc8817c9e536f0eccafcf4009da4..a9f1775b4bc49623280a7697bbb213db7e2b4b91 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,3 +32,5 @@ core
__pycache__
/scripts/generators/generated
/scripts/generators/scxmls
+
+scripts/logdecoder/logdecoder
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 83c45bdd3c1959aa6fb9ff9bdc05e26e3bb9dac1..78209a5f4446e7dc5eaef63de2a9bf1202863192 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -24,6 +24,7 @@
"${workspaceFolder}/libs/mavlink_skyward_lib",
"${workspaceFolder}/libs/fmt/include",
"${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
"${workspaceFolder}/libs",
"${workspaceFolder}/src/shared",
"${workspaceFolder}/src/tests"
@@ -77,6 +78,7 @@
"${workspaceFolder}/libs/mavlink_skyward_lib",
"${workspaceFolder}/libs/fmt/include",
"${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
"${workspaceFolder}/libs",
"${workspaceFolder}/src/shared",
"${workspaceFolder}/src/tests"
@@ -129,6 +131,7 @@
"${workspaceFolder}/libs/mavlink_skyward_lib",
"${workspaceFolder}/libs/fmt/include",
"${workspaceFolder}/libs/eigen",
+ "${workspaceFolder}/libs/tscpp",
"${workspaceFolder}/libs",
"${workspaceFolder}/src/shared",
"${workspaceFolder}/src/tests"
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 4c48cde6bb08d87f0ba9e4ae3a02cc2dba7fe1df..eff44bf316fabcf0e68b244c992a0807d248dc96 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -124,6 +124,7 @@
"atthr",
"AVDD",
"Baro",
+ "Corigliano",
"CORTEXM",
"cpitch",
"croll",
@@ -135,8 +136,10 @@
"Ecompass",
"Eigen",
"elfs",
+ "Erbetta",
"Fatt",
"Fatttr",
+ "fedetft's",
"fiprintf",
"Gatttr",
"getdetahstate",
@@ -146,6 +149,8 @@
"GPIOC",
"gpstr",
"Hatt",
+ "HSCMAND",
+ "HSCMRNN",
"irqv",
"Kalman",
"Katt",
@@ -156,6 +161,7 @@
"MEKF",
"MINC",
"miosix",
+ "MPXHZ",
"NATT",
"NBAR",
"NDTR",
@@ -179,15 +185,21 @@
"sqdip",
"sqtrp",
"sroll",
+ "SSCDANN",
+ "SSCDRRN",
+ "stof",
"syaw",
"TCIE",
"TEIE",
"testsuite",
+ "TSCPP",
+ "Ublox",
"upcounter",
"velnord",
"Xbee",
"xnord",
"yned"
],
- "cSpell.language": "en,it"
+ "cSpell.language": "en,it",
+ "cSpell.enabled": true
}
diff --git a/libs/tscpp b/libs/tscpp
index c8674a48e794c246f79c56b163ebab72d3654846..935bf1944e1ddeaf51fd22cdce04a2a97762890f 160000
--- a/libs/tscpp
+++ b/libs/tscpp
@@ -1 +1 @@
-Subproject commit c8674a48e794c246f79c56b163ebab72d3654846
+Subproject commit 935bf1944e1ddeaf51fd22cdce04a2a97762890f
diff --git a/scripts/logdecoder/Makefile b/scripts/logdecoder/Makefile
index 0a30ee85eaf9786bc68f52dcd335486e4766392e..2523965cd9ce3b7e20457d7d5c1f047d90386c7c 100644
--- a/scripts/logdecoder/Makefile
+++ b/scripts/logdecoder/Makefile
@@ -1,6 +1,12 @@
+BOARDCORE := ../../
all:
- g++ -std=c++11 -O2 -o logdecoder logdecoder.cpp ../libs/tscpp/stream.cpp -I ../libs
-
+ g++ -std=c++17 -O2 -o logdecoder logdecoder.cpp \
+ -DCOMPILE_FOR_X86 \
+ $(BOARDCORE)libs/tscpp/tscpp/stream.cpp \
+ -I$(BOARDCORE)libs/mavlink_skyward_lib \
+ -I$(BOARDCORE)libs/eigen \
+ -I$(BOARDCORE)libs/tscpp \
+ -I$(BOARDCORE)src/shared
clean:
rm logdecoder
diff --git a/scripts/logdecoder/logdecoder.cpp b/scripts/logdecoder/logdecoder.cpp
index 96b81e338727137ff3d25d077d1c56891226fd15..670873a182784e3a882b1649fb48e69502e3b164 100644
--- a/scripts/logdecoder/logdecoder.cpp
+++ b/scripts/logdecoder/logdecoder.cpp
@@ -1,59 +1,139 @@
-/***************************************************************************
- * Copyright (C) 2018 by Terraneo Federico *
- * *
- * This program is free software; you can redistribute it and/or modify *
- * it under the terms of the GNU General Public License as published by *
- * the Free Software Foundation; either version 2 of the License, or *
- * (at your option) any later version. *
- * *
- * This program is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU General Public License for more details. *
- * *
- * As a special exception, if other files instantiate templates or use *
- * macros or inline functions from this file, or you compile this file *
- * and link it with other works to produce a work based on this file, *
- * this file does not by itself cause the resulting work to be covered *
- * by the GNU General Public License. However the source code for this *
- * file must still be made available in accordance with the GNU General *
- * Public License. This exception does not invalidate any other reasons *
- * why a work based on this file might be covered by the GNU General *
- * Public License. *
- * *
- * You should have received a copy of the GNU General Public License *
- * along with this program; if not, see <http://www.gnu.org/licenses/> *
- ***************************************************************************/
-
-/*
- * This is a stub program for the program that will decode the logged data.
- * Fill in the TODO to make it work.
+/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
+ * Authors: 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 <iostream>
+#include <logger/Deserializer.h>
+#include <logger/LogTypes.h>
+#include <tscpp/stream.h>
+
#include <fstream>
+#include <iostream>
#include <stdexcept>
-#include <tscpp/stream.h>
+#include <string>
-//TODO: add here include files of serialized classes
-#include "../src/shared/logger/LogStats.h"
-#include "../src/entrypoints/test_logger.h"
+/**
+ * @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 std;
using namespace tscpp;
+using namespace Boardcore;
+
+void showUsage(string commandName);
+
+/**
+ * @brief Deserialize a file.
+ *
+ * @param fileName File name complete with extension.
+ * @return Whether the deserialization was successful.
+ */
+bool deserialize(string fileName);
+
+/**
+ * @brief Deserialize all log file in the directory. Assumes the log files named
+ * as logXX.dat.
+ *
+ * Scans for all the 100 possible log files and decode the ones found.
+ *
+ * @return False if an error was encountered.
+ */
+bool deserializeAll();
+
+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;
+ }
-int main(int argc, char *argv[])
-try {
- TypePoolStream tp;
- //TODO: Register the serialized classes
- tp.registerType<LogStats>([](LogStats& t){ t.print(cout); cout<<'\n'; });
- tp.registerType<Dummy>([](Dummy& t){ t.print(cout); cout<<'\n'; });
-
- if(argc!=2) return 1;
- ifstream in(argv[1]);
- in.exceptions(ios::eofbit);
- UnknownInputArchive ia(in,tp);
- for(;;) ia.unserialize();
-} catch(exception&) {
+ // 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;
}
+
+void showUsage(string commandName)
+{
+ std::cerr << "Usage: " << commandName << " {-a | <log_file_name> | -h}"
+ << "Options:\n"
+ << "\t-h,--help\t\tShow this help message\n"
+ << "\t-a,--all Deserialize all logs in the current directory "
+ "named as logXX.dat\n"
+ << std::endl;
+}
+
+bool deserialize(string fileName)
+{
+ std::cout << "Deserializing " << fileName << "...\n";
+
+ Deserializer d(fileName);
+ LogTypes::registerTypes(d);
+
+ return d.deserialize();
+}
+
+bool deserializeAll()
+{
+ std::cout << "Deserializing all logs in the current directory...\n";
+
+ for (int i = 0; i < 100; i++)
+ {
+ char fileName[11];
+ sprintf(fileName, "log%02d.dat", i);
+ struct stat st;
+
+ // Check if the current logfile exists
+ if (stat(fileName, &st) != 0)
+ continue;
+
+ // File found
+ if (!deserialize(string(fileName)))
+ return false;
+
+ std::cout << fileName << " deserialized successfully";
+ }
+
+ return true;
+}
diff --git a/scripts/logdecoder/sample_no_cereal.dat.dat b/scripts/logdecoder/sample_no_cereal.dat.dat
deleted file mode 100644
index 23dff819fee59674f0cfff237b94fffa191d4a06..0000000000000000000000000000000000000000
Binary files a/scripts/logdecoder/sample_no_cereal.dat.dat and /dev/null differ
diff --git a/scripts/logdecoder/xbee/.gitignore b/scripts/logdecoder/xbee/.gitignore
deleted file mode 100644
index 3e6fd163051d66dceb9c808d07e314ae4d022ee5..0000000000000000000000000000000000000000
--- a/scripts/logdecoder/xbee/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-logdecoder
diff --git a/scripts/logdecoder/xbee/LogTypes.h b/scripts/logdecoder/xbee/LogTypes.h
deleted file mode 100644
index cb82189b489a302f28b3f62dfd61fec88c1326b7..0000000000000000000000000000000000000000
--- a/scripts/logdecoder/xbee/LogTypes.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
- * Author: Luca Erbetta
- *
- * 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 <logger/Deserializer.h>
-#include <logger/LogStats.h>
-#include <radio/Xbee/APIFramesLog.h>
-#include <radio/Xbee/Mark.h>
-#include <radio/Xbee/XbeeStatus.h>
-#include <radio/Xbee/XbeeTestData.h>
-
-#include <fstream>
-#include <iostream>
-
-// Serialized classes
-using std::ofstream;
-
-namespace Boardcore
-{
-
-template <typename T>
-void print(T& t, ostream& os)
-{
- t.print(os);
-}
-
-template <typename T>
-void registerType(Deserializer& ds)
-{
- ds.registerType<T>(print<T>, T::header());
-}
-
-void registerTypes(Deserializer& ds)
-{
- registerType<LogStats>(ds);
-
- registerType<Xbee::APIFrameLog>(ds);
- registerType<Xbee::ATCommandFrameLog>(ds);
- registerType<Xbee::ATCommandResponseFrameLog>(ds);
- registerType<Xbee::ModemStatusFrameLog>(ds);
- registerType<Xbee::TXRequestFrameLog>(ds);
- registerType<Xbee::TXStatusFrameLog>(ds);
- registerType<Xbee::RXPacketFrameLog>(ds);
- registerType<Xbee::XbeeStatus>(ds);
-
- registerType<TxData>(ds);
- registerType<RxData>(ds);
- registerType<Mark>(ds);
- registerType<XbeeConfig>(ds);
- registerType<EnergyScanData>(ds);
-}
-
-} // namespace Boardcore
diff --git a/scripts/logdecoder/xbee/Makefile b/scripts/logdecoder/xbee/Makefile
deleted file mode 100644
index 47258b629723d159885432ac1e485023f5d40002..0000000000000000000000000000000000000000
--- a/scripts/logdecoder/xbee/Makefile
+++ /dev/null
@@ -1,13 +0,0 @@
-BASE := ../../../../../
-
-all:
- g++ -std=c++17 -O2 -o logdecoder logdecoder.cpp \
- -DCOMPILE_FOR_X86 \
- $(BASE)libs/tscpp/stream.cpp \
- -I$(BASE)src/shared \
- -I$(BASE)src/tests \
- -I$(BASE)libs \
- -I$(BASE)libs/miosix-kernel/miosix
-
-clean:
- rm logdecoder
diff --git a/scripts/logdecoder/xbee/logdecoder.cpp b/scripts/logdecoder/xbee/logdecoder.cpp
deleted file mode 100644
index 40577eef2088983028f356bb13b341f97641ed3d..0000000000000000000000000000000000000000
--- a/scripts/logdecoder/xbee/logdecoder.cpp
+++ /dev/null
@@ -1,168 +0,0 @@
-/* Copyright (c) 2018 Skyward Experimental Rocketry
- * Author: Federico Terraneo
- *
- * 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.
- */
-
-/*
- * This is a stub program for the program that will decode the logged data.
- * You must first define a function
- * "void registerTypes(Deserializer& ds);"
- *
- * that registers all the required log data types in the deserializer and then
- * INCLUDE this cpp file in your source. finally compile and run
- */
-
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <tscpp/stream.h>
-
-#include <filesystem>
-#include <fstream>
-#include <iostream>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include "LogTypes.h"
-
-using namespace std;
-using namespace tscpp;
-
-namespace fs = filesystem;
-
-void showHelp(string cmdName)
-{
- std::cerr << "Usage: " << cmdName
- << " {-a [logs_diretory] | <log_file_path> | -h}"
- << "Options:\n"
- << "\t-h,--help\t\tShow help message\n"
- << "\t-a,--all [dir=\".\"] Deserialize all logs in the provided "
- "directory\n"
- << std::endl;
-}
-
-vector<fs::path> listLogFiles(fs::path dir)
-{
- vector<fs::path> out;
- for (const auto& entry : fs::directory_iterator(dir))
- {
- if (entry.exists() && entry.is_regular_file())
- {
- if (entry.path().extension() == ".dat")
- {
- out.push_back(entry.path());
- }
- }
- }
- return out;
-}
-
-bool deserialize(fs::path log_path)
-{
- cout << "Deserializing " << log_path << ".dat...\n";
-
- // remove extension
- log_path.replace_extension("");
- Deserializer d(log_path);
- registerTypes(d);
-
- return d.deserialize();
-}
-
-bool deserializeAll(fs::path dir = ".")
-{
- vector<fs::path> logs = listLogFiles(dir);
- for (auto log : logs)
- {
- if (!deserialize(log.string()))
- {
- return false;
- }
- }
-
- return true;
-}
-
-int main(int argc, char* argv[])
-{
- if (argc < 2)
- {
- showHelp(string(argv[0]));
- return 1;
- }
-
- bool success = false;
- string arg1 = string(argv[1]);
- if (arg1 == "-h" || arg1 == "--help")
- {
- showHelp(string(argv[0]));
- return 0;
- }
-
- if (arg1 == "-a" || arg1 == "--all")
- {
- fs::path dir = ".";
- if (argc == 3)
- {
- string arg2 = string(argv[2]);
- fs::directory_entry entry(arg2);
- if (entry.exists() && entry.is_directory())
- {
- dir = arg2;
- }
- else
- {
- cout << "Second argument after '-a' or '--all' must be a "
- "directory\n";
- showHelp(string(argv[0]));
- return 1;
- }
- }
- cout << "Deserializing all logs...\n";
- success = deserializeAll(dir);
- }
- else if (arg1[0] == '-')
- {
- cerr << "Unknown option\n";
- return 1;
- }
- else
- {
- fs::directory_entry entry(arg1);
- if (entry.exists() && entry.is_regular_file())
- {
- success = deserialize(arg1);
- }
- else
- {
- showHelp(string(argv[0]));
- return 1;
- }
- }
-
- if (success)
- {
- cout << "Deserialization completed successfully.\n";
- }
- else
- {
- cout << "Deserialization ended with errors.\n";
- }
-}
diff --git a/src/shared/logger/Deserializer.h b/src/shared/logger/Deserializer.h
index 63bdfbe53bec423e99ff24544062da452b0adba7..e0382dffcaec69b821faa0b7f28b81f0095c0a4a 100644
--- a/src/shared/logger/Deserializer.h
+++ b/src/shared/logger/Deserializer.h
@@ -27,6 +27,7 @@
#include <cstdio>
#include <fstream>
+#include <iostream>
#include <limits>
#include <ostream>
#include <string>
@@ -51,151 +52,155 @@ typedef std::numeric_limits<float> flt;
class Deserializer
{
public:
- Deserializer(std::string logfile, std::string prefix = "")
- : prefix(prefix), logFile(logfile),
- logFileWithExt(prefix + logFile + ".dat")
- {
- }
+ Deserializer(std::string fileName);
- ~Deserializer()
- {
- if (!closed)
- {
- for (auto it = fileStreams.begin(); it != fileStreams.end(); it++)
- {
- (*it)->close();
- delete *it;
- }
- }
- }
+ ~Deserializer();
/**
- * Register a type to be deserialized, and the associated print function
+ * Register a type to be deserialized, and the associated print function.
*
- * @param t the object to be deserialized
- * @param fncPrint function that prints the deserialized data on the
+ * @param t The object to be deserialized.
+ * @param fncPrint Function that prints the deserialized data on the
* provided output stream.
+ * @param header Optional CSV header text.
*/
template <typename T>
bool registerType(std::function<void(T& t, std::ostream& os)> fncPrint,
- std::string header = "")
- {
- if (closed)
- {
- printf("Error: Deserializer is closed.\n");
- return false;
- }
+ std::string header = "");
- char cFilename[128];
- sprintf(cFilename, "%s%s_%s.csv", prefix.c_str(), logFile.c_str(),
- typeid(T).name());
+ /**
+ * @brief Deserializes the provided file.
+ *
+ * @return Whether the deserialization was successful.
+ */
+ bool deserialize();
- std::string filename(cFilename);
+ void close();
- std::ofstream* stream = new std::ofstream();
- stream->open(filename);
+private:
+ bool closed = false;
- if (!stream->is_open())
- {
- printf("Error opening file %s.\n", filename.c_str());
- perror("Error is:");
- delete stream;
- return false;
- }
+ std::vector<std::ofstream*> fileStreams;
+ tscpp::TypePoolStream tps;
+
+ std::string fileName;
+};
+
+Deserializer::Deserializer(std::string fileName) : fileName(fileName) {}
- fileStreams.push_back(stream);
- stream->precision(flt::max_digits10); // Set stream precision to
- // maximum float precision
- // Print the header
- if (header.length() > 0)
+Deserializer::~Deserializer()
+{
+ if (!closed)
+ for (auto it = fileStreams.begin(); it != fileStreams.end(); it++)
{
- *stream << header;
+ (*it)->close();
+ delete *it;
}
+}
- using namespace std::placeholders; // for _1
+template <typename T>
+bool Deserializer::registerType(
+ std::function<void(T& t, std::ostream& os)> fncPrint, std::string header)
+{
+ if (closed)
+ {
+ printf("Error: Deserializer is closed.\n");
+ return false;
+ }
- std::function<void(T & t)> callback =
- std::bind(fncPrint, _1, std::ref(*stream));
+ char cFilename[128];
+ sprintf(cFilename, "%s_%s.csv", fileName.c_str(), typeid(T).name());
- tps.registerType<T>(callback);
+ std::string filename(cFilename);
- return true;
+ std::ofstream* stream = new std::ofstream();
+ stream->open(filename);
+
+ if (!stream->is_open())
+ {
+ printf("Error opening file %s.\n", filename.c_str());
+ perror("Error is:");
+ delete stream;
+ return false;
}
- /**
- * @brief Deserializes the provided file.
- *
- * @return Wheter the deserialization was successful.
- */
- bool deserialize()
+ fileStreams.push_back(stream);
+ stream->precision(flt::max_digits10); // Set stream precision to
+ // maximum float precision
+ // Print the header
+ if (header.length() > 0)
{
- if (closed)
- {
- return false;
- }
+ *stream << header;
+ }
+
+ using namespace std::placeholders; // for _1
+
+ std::function<void(T & t)> callback =
+ std::bind(fncPrint, _1, std::ref(*stream));
- bool success = true;
- std::string unknownTypeName;
+ tps.registerType<T>(callback);
+
+ return true;
+}
+
+bool Deserializer::deserialize()
+{
+ if (closed)
+ return false;
+
+ bool success = true;
+ std::string unknownTypeName;
+
+ std::ifstream file(fileName);
+
+ // Check if the file exists
+ if (!file)
+ {
+ std::cout << fileName << " does not exists." << std::endl;
+ return false;
+ }
- struct stat st;
- if (stat(logFileWithExt.c_str(), &st) != 0)
+ tscpp::UnknownInputArchive ia(file, tps);
+ int i = 0;
+ while (success)
+ {
+ try
{
- printf("File %s does not exists.\n", logFileWithExt.c_str());
- return false;
+ ia.unserialize();
}
-
- std::ifstream file(logFileWithExt);
- // file.open;
- tscpp::UnknownInputArchive ia(file, tps);
- int i = 0;
- while (success)
+ catch (tscpp::TscppException& ex)
{
- try
+ // Reached end of file
+ if (strcmp(ex.what(), "eof") == 0)
{
- ia.unserialize();
+ break;
}
- catch (tscpp::TscppException& ex)
+ else if (strcmp(ex.what(), "unknown type") == 0)
{
- // Reached end of file
- if (strcmp(ex.what(), "eof") == 0)
- {
- break;
- }
- else if (strcmp(ex.what(), "unknown type") == 0)
- {
- unknownTypeName = ex.name();
- success = false;
- printf("Unknown type found: %s\n", unknownTypeName.c_str());
- break;
- }
+ unknownTypeName = ex.name();
+ success = false;
+ std::cout << "Unknown type found: " << unknownTypeName
+ << std::endl;
+ break;
}
}
- file.close();
- return success;
}
- void close()
+ file.close();
+ return success;
+}
+
+void Deserializer::close()
+{
+ if (!closed)
{
- if (!closed)
+ closed = true;
+ for (auto it = fileStreams.begin(); it != fileStreams.end(); it++)
{
- closed = true;
- for (auto it = fileStreams.begin(); it != fileStreams.end(); it++)
- {
- (*it)->close();
- delete *it;
- }
+ (*it)->close();
+ delete *it;
}
}
-
-private:
- bool closed = false;
-
- std::vector<std::ofstream*> fileStreams;
- tscpp::TypePoolStream tps;
-
- std::string prefix;
- std::string logFile;
- std::string logFileWithExt;
-};
+}
} // namespace Boardcore
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
new file mode 100644
index 0000000000000000000000000000000000000000..3863ea5d5c79f735c181c347a3a6ab8ab9e1dcbc
--- /dev/null
+++ b/src/shared/logger/LogTypes.h
@@ -0,0 +1,125 @@
+/* Copyright (c) 2015-2022 Skyward Experimental Rocketry
+ * Author: Luca Erbetta, Alberto Nidasio
+ *
+ * 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 <algorithms/ExtendedKalman/ExtendedKalmanState.h>
+#include <diagnostic/PrintLoggerData.h>
+#include <drivers/adc/InternalADCData.h>
+#include <events/EventData.h>
+#include <logger/Deserializer.h>
+#include <logger/LoggerStats.h>
+#include <radio/MavlinkDriver/MavlinkStatus.h>
+#include <radio/Xbee/XbeeStatus.h>
+#include <scheduler/TaskSchedulerData.h>
+#include <sensors/ADS1118/ADS1118Data.h>
+#include <sensors/ADS131M04/ADS131M04Data.h>
+#include <sensors/BME280/BME280Data.h>
+#include <sensors/BMP280/BMP280Data.h>
+#include <sensors/BMX160/BMX160Data.h>
+#include <sensors/BMX160/BMX160WithCorrectionData.h>
+#include <sensors/HX711/HX711Data.h>
+#include <sensors/L3GD20/L3GD20Data.h>
+#include <sensors/LIS3DSH/LIS3DSHData.h>
+#include <sensors/LIS3MDL/LIS3MDLData.h>
+#include <sensors/MBLoadCell/MBLoadCellData.h>
+#include <sensors/MPU9250/MPU9250Data.h>
+#include <sensors/MS5803/MS5803Data.h>
+#include <sensors/SensorData.h>
+#include <sensors/UbloxGPS/UbloxGPSData.h>
+#include <sensors/VN100/VN100Data.h>
+#include <sensors/analog/battery/BatteryVoltageSensorData.h>
+#include <sensors/analog/current/CurrentSensorData.h>
+#include <sensors/analog/pressure/MPXHZ6130A/MPXHZ6130AData.h>
+#include <sensors/analog/pressure/honeywell/HSCMAND015PAData.h>
+#include <sensors/analog/pressure/honeywell/HSCMRNN030PAData.h>
+#include <sensors/analog/pressure/honeywell/HSCMRNN160KAData.h>
+#include <sensors/analog/pressure/honeywell/SSCDANN030PAAData.h>
+#include <sensors/analog/pressure/honeywell/SSCDRRN015PDAData.h>
+
+#include <fstream>
+#include <iostream>
+
+/**
+ * @brief This file includes all the types the logdecoder script will decode.
+ *
+ * All logged classes inside Boardcore should be reported here.
+ */
+
+namespace Boardcore
+{
+
+namespace LogTypes
+{
+
+template <typename T>
+void print(T& t, std::ostream& os)
+{
+ t.print(os);
+}
+
+template <typename T>
+void registerType(Deserializer& ds)
+{
+ ds.registerType<T>(print<T>, T::header());
+}
+
+void registerTypes(Deserializer& ds)
+{
+ registerType<ExtendedKalmanState>(ds);
+ registerType<LoggingString>(ds);
+ registerType<InternalADCData>(ds);
+ registerType<EventData>(ds);
+ registerType<LoggerStats>(ds);
+ registerType<MavlinkStatus>(ds);
+ registerType<Xbee::XbeeStatus>(ds);
+ registerType<TaskStatsResult>(ds);
+ registerType<ADS1118Data>(ds);
+ registerType<ADS131M04Data>(ds);
+ registerType<BME280Data>(ds);
+ registerType<BMP280Data>(ds);
+ registerType<BMX160Data>(ds);
+ registerType<BMX160WithCorrectionData>(ds);
+ registerType<HX711Data>(ds);
+ registerType<L3GD20Data>(ds);
+ registerType<LIS3DSHData>(ds);
+ registerType<LIS3MDLData>(ds);
+ registerType<MBLoadCellData>(ds);
+ registerType<MPU9250Data>(ds);
+ registerType<MS5803Data>(ds);
+ registerType<TemperatureData>(ds);
+ registerType<UbloxGPSData>(ds);
+ registerType<VN100Data>(ds);
+ registerType<BatteryVoltageSensorData>(ds);
+ registerType<CurrentSensorData>(ds);
+ registerType<LoadCellData>(ds);
+ registerType<MPXHZ6130AData>(ds);
+ registerType<HSCMAND015PAData>(ds);
+ registerType<HSCMRNN030PAData>(ds);
+ registerType<HSCMRNN160KAData>(ds);
+ registerType<SSCDANN030PAAData>(ds);
+ registerType<SSCDRRN015PDAData>(ds);
+}
+
+} // namespace LogTypes
+
+} // namespace Boardcore
diff --git a/src/shared/sensors/HX711/HX711Data.h b/src/shared/sensors/HX711/HX711Data.h
index 6d4f4940229b86fd157f6b4b133ee6b7ec8c9d14..49e25db1942c56331a90e9bbe6cd29f21741607d 100644
--- a/src/shared/sensors/HX711/HX711Data.h
+++ b/src/shared/sensors/HX711/HX711Data.h
@@ -32,17 +32,17 @@ struct HX711Data : public LoadCellData
{
HX711Data() : LoadCellData{0, 0} {}
- HX711Data(uint64_t weightTimestamp, float weight)
- : LoadCellData{weightTimestamp, weight}
+ HX711Data(uint64_t loadTimestamp, float load)
+ : LoadCellData{loadTimestamp, load}
{
}
- static std::string header() { return "weightTimestamp,weight\n"; }
+ static std::string header() { return "loadTimestamp,load\n"; }
void print(std::ostream& os) const
{
- os << weightTimestamp << "," << weight << "\n";
+ os << loadTimestamp << "," << load << "\n";
}
};
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/shared/sensors/MBLoadCell/MBLoadCell.cpp b/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
index 1874fff78cb19a8b22ff69cefb07e4c1462c9bb2..4e2a6fa7cf780bcdf8aa4e193700578bc6120595 100644
--- a/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
+++ b/src/shared/sensors/MBLoadCell/MBLoadCell.cpp
@@ -165,15 +165,15 @@ void MBLoadCell::printData()
}
}
-Data MBLoadCell::getMaxWeight() { return maxWeight; }
+MBLoadCellData MBLoadCell::getMaxWeight() { return maxWeight; }
-Data MBLoadCell::getMinWeight() { return minWeight; }
+MBLoadCellData MBLoadCell::getMinWeight() { return minWeight; }
bool MBLoadCell::selfTest() { return true; }
-Data MBLoadCell::sampleImpl()
+MBLoadCellData MBLoadCell::sampleImpl()
{
- Data value;
+ MBLoadCellData value;
switch (settings.mode)
{
case LoadCellModes::CONT_MOD_T:
@@ -217,23 +217,23 @@ Data MBLoadCell::sampleImpl()
return value;
}
-Data MBLoadCell::sampleContModT()
+MBLoadCellData MBLoadCell::sampleContModT()
{
DataModT data;
receive(&data);
- return Data(atof(data.weight) / 10.0);
+ return MBLoadCellData(atof(data.weight) / 10.0);
}
-Data MBLoadCell::sampleContModTd()
+MBLoadCellData MBLoadCell::sampleContModTd()
{
DataModTd data;
receive(&data);
- return Data(atof(data.weightT) / 10.0);
+ return MBLoadCellData(atof(data.weightT) / 10.0);
}
-Data MBLoadCell::sampleAsciiModTd()
+MBLoadCellData MBLoadCell::sampleAsciiModTd()
{
DataAsciiRequest request;
@@ -262,7 +262,7 @@ Data MBLoadCell::sampleAsciiModTd()
else
{
// Taking the value returned
- return Data(stof(response.substr(3, 6)) / 10.0);
+ return MBLoadCellData(stof(response.substr(3, 6)) / 10.0);
}
}
diff --git a/src/shared/sensors/MBLoadCell/MBLoadCell.h b/src/shared/sensors/MBLoadCell/MBLoadCell.h
index aefe3c6808653ca2ca93abd0742feae5d8f23273..d8e57f5f65bdded510a9ad6830bed13d1c053106 100644
--- a/src/shared/sensors/MBLoadCell/MBLoadCell.h
+++ b/src/shared/sensors/MBLoadCell/MBLoadCell.h
@@ -47,7 +47,7 @@ namespace Boardcore
* - ASCII-modTd: bidirectional mode that consists in sending a request and
* receiving a response with the data requested or an error message
*/
-class MBLoadCell : public Sensor<Data>
+class MBLoadCell : public Sensor<MBLoadCellData>
{
public:
/**
@@ -86,12 +86,12 @@ public:
/**
* @brief Returns a copy of the max weight detected.
*/
- Data getMaxWeight();
+ MBLoadCellData getMaxWeight();
/**
* @brief Returns a copy of the min weight detected.
*/
- Data getMinWeight();
+ MBLoadCellData getMinWeight();
bool selfTest() override;
@@ -102,22 +102,22 @@ protected:
*
* @return The weight measured from the load cell.
*/
- Data sampleImpl() override;
+ MBLoadCellData sampleImpl() override;
/**
* @brief Sampling in the "continuous Mod T" mode.
*/
- Data sampleContModT(void);
+ MBLoadCellData sampleContModT(void);
/**
* @brief Sampling in the "continuous Mod Td" mode.
*/
- Data sampleContModTd(void);
+ MBLoadCellData sampleContModTd(void);
/**
* @brief Sampling in the "ASCII Mod Td" mode.
*/
- Data sampleAsciiModTd(void);
+ MBLoadCellData sampleAsciiModTd(void);
/**
* @brief Forges a request for the ascii mode.
@@ -158,8 +158,8 @@ protected:
private:
MBLoadCellSettings settings; ///< Contains all the configuration
- Data maxWeight; ///< Maximum weight detected by the load cell
- Data minWeight; ///< Minimum weight detected by the load cell
+ MBLoadCellData maxWeight; ///< Maximum weight detected by the load cell
+ MBLoadCellData minWeight; ///< Minimum weight detected by the load cell
bool maxSetted;
bool maxPrint;
bool minSetted;
diff --git a/src/shared/sensors/MBLoadCell/MBLoadCellData.h b/src/shared/sensors/MBLoadCell/MBLoadCellData.h
index c576fa20e15f691d11f8a060e6545f449c786310..3c9c12495040743ac5dc2bfd0a7647f62115ee94 100644
--- a/src/shared/sensors/MBLoadCell/MBLoadCellData.h
+++ b/src/shared/sensors/MBLoadCell/MBLoadCellData.h
@@ -22,9 +22,9 @@
#pragma once
-#include <drivers/timer/TimestampTimer.h>
#include <utils/Debug.h>
+#include <cstdio>
#include <map>
#include "sensors/SensorData.h"
@@ -87,24 +87,25 @@ enum ReturnsStates
* @brief Structure that stores a data value, with his timestamp and his
* validity.
*/
-struct Data : public LoadCellData
+struct MBLoadCellData : public LoadCellData
{
bool valid = false;
- Data() : LoadCellData{0, 0.0}, valid(false) {}
+ MBLoadCellData() : LoadCellData{0, 0.0}, valid(false) {}
- explicit Data(float data)
- : LoadCellData{TimestampTimer::getInstance().getTimestamp(), data},
- valid(true)
+ explicit MBLoadCellData(float data) : MBLoadCellData{0, data} {}
+
+ explicit MBLoadCellData(uint64_t loadTimestamp, float data)
+ : LoadCellData{loadTimestamp, data}, valid(true)
{
}
- static std::string header() { return "weightTimestamp,weight\n"; }
+ static std::string header() { return "loadTimestamp,weight\n"; }
void print(std::ostream& os) const
{
if (valid)
- os << weightTimestamp / 1000000.0 << "," << weight << "\n";
+ os << loadTimestamp / 1000000.0 << "," << load << "\n";
}
};
@@ -115,10 +116,10 @@ struct MBLoadCellSettings
{
LoadCellModes mode;
bool grossMode;
- Data peakWeight;
- Data setpoint1;
- Data setpoint2;
- Data setpoint3;
+ MBLoadCellData peakWeight;
+ MBLoadCellData setpoint1;
+ MBLoadCellData setpoint2;
+ MBLoadCellData setpoint3;
/**
* @brief Updates the correct value with the data passed. Also, memorizes
@@ -129,16 +130,16 @@ struct MBLoadCellSettings
switch (val)
{
case PEAK_WEIGHT:
- peakWeight = Data(data);
+ peakWeight = MBLoadCellData(data);
break;
case GET_SETPOINT_1:
- setpoint1 = Data(data);
+ setpoint1 = MBLoadCellData(data);
break;
case GET_SETPOINT_2:
- setpoint2 = Data(data);
+ setpoint2 = MBLoadCellData(data);
break;
case GET_SETPOINT_3:
- setpoint3 = Data(data);
+ setpoint3 = MBLoadCellData(data);
break;
default:
break;
@@ -151,22 +152,22 @@ struct MBLoadCellSettings
void print() const
{
/*if (netWeight.valid)
- TRACE("Net Weight : %f [Kg]\n", netWeight.data);
+ TRACE("Net Weight : %f [Kg]\n", netWeight.load);
if (grossWeight.valid)
- TRACE("Gross Weight : %f [Kg]\n", grossWeight.data);
+ TRACE("Gross Weight : %f [Kg]\n", grossWeight.load);
*/
if (peakWeight.valid)
- TRACE("Peak Weight : %f [Kg]\n", peakWeight.weight);
+ TRACE("Peak Weight : %f [Kg]\n", peakWeight.load);
if (setpoint1.valid)
- TRACE("Setpoint 1 : %f [Kg]\n", setpoint1.weight);
+ TRACE("Setpoint 1 : %f [Kg]\n", setpoint1.load);
if (setpoint2.valid)
- TRACE("Setpoint 2 : %f [Kg]\n", setpoint2.weight);
+ TRACE("Setpoint 2 : %f [Kg]\n", setpoint2.load);
if (setpoint3.valid)
- TRACE("Setpoint 3 : %f [Kg]\n", setpoint3.weight);
+ TRACE("Setpoint 3 : %f [Kg]\n", setpoint3.load);
}
};
@@ -223,7 +224,7 @@ struct DataAsciiRequest
checksum ^= str[i];
}
- itoa(checksum, ck, 16);
+ sprintf(ck, "%x", checksum);
}
/**
diff --git a/src/shared/sensors/SensorData.h b/src/shared/sensors/SensorData.h
index f4aeb4e642155d38e0054796e840b77bd30d0d36..b945640e9cb8a5f31a888361469c8db7b9a11801 100644
--- a/src/shared/sensors/SensorData.h
+++ b/src/shared/sensors/SensorData.h
@@ -56,8 +56,16 @@ struct TimestampData
struct LoadCellData
{
- uint64_t weightTimestamp;
- float weight;
+ uint64_t loadTimestamp;
+ float voltage;
+ float load;
+
+ static std::string header() { return "loadTimestamp,voltage,load\n"; }
+
+ void print(std::ostream& os) const
+ {
+ os << loadTimestamp << "," << voltage << "," << load << "\n";
+ }
};
struct TemperatureData
diff --git a/src/shared/sensors/analog/loadcell/LoadCell.h b/src/shared/sensors/analog/loadcell/LoadCell.h
index 76d678ce2304542247fb0fa57b33aed73972ff4d..ac36f900faf2f98ce613bf3ff3cd94924745f0d4 100644
--- a/src/shared/sensors/analog/loadcell/LoadCell.h
+++ b/src/shared/sensors/analog/loadcell/LoadCell.h
@@ -26,8 +26,6 @@
#include <functional>
-#include "LoadCellData.h"
-
namespace Boardcore
{
@@ -50,7 +48,7 @@ public:
{
LoadCellData data;
- std::tie(data.timestamp, data.voltage) = getVoltage();
+ std::tie(data.loadTimestamp, data.voltage) = getVoltage();
data.load = data.voltage / conversionCoeff;
diff --git a/src/shared/sensors/analog/loadcell/LoadCellData.h b/src/shared/sensors/analog/loadcell/LoadCellData.h
deleted file mode 100644
index 665ae93111656de0f1c756d2a4003d27093fd1fc..0000000000000000000000000000000000000000
--- a/src/shared/sensors/analog/loadcell/LoadCellData.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * 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 <ostream>
-
-namespace Boardcore
-{
-
-struct LoadCellData
-{
- uint64_t timestamp;
- float voltage;
- float load;
-
- static std::string header() { return "timestamp,voltage,load\n"; }
-
- void print(std::ostream& os) const
- {
- os << timestamp << "," << voltage << "," << load << "\n";
- }
-};
-
-} // namespace Boardcore
diff --git a/src/shared/utils/CSVReader/CSVReader.h b/src/shared/utils/CSVReader/CSVReader.h
index 32388292c5890d88e3fa43182e049ac89ddaa477..a8f59a5efae736e8de7fb31193163d7fb4964f16 100644
--- a/src/shared/utils/CSVReader/CSVReader.h
+++ b/src/shared/utils/CSVReader/CSVReader.h
@@ -123,6 +123,9 @@ private:
/**
* @brief Iterable parser of CSV files.
*
+ * If the CSV file has an header row, you must specify true as the second
+ * parameter in the constructor.
+ *
* Given the file name, reads the contents as elements of type Data. Can be used
* with CSVIterator to iterate through all the CSV rows.
* You can retrieve all data inside the file as a vector with collect().
@@ -134,7 +137,14 @@ template <typename Data>
class CSVParser
{
public:
- CSVParser(const char* fileName) : fileStream(fileName) {}
+ CSVParser(const char* fileName, bool hasHeader = false)
+ : fileStream(fileName)
+ {
+ // If the file has the header, ignore everithing in the first line
+ if (hasHeader)
+ fileStream.ignore(std::numeric_limits<std::streamsize>::max(),
+ '\n');
+ }
~CSVParser() { fileStream.close(); }