diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
index cd867af3461bb1b7d8e4c6c4222491bc6aeb77dc..5ba21104f759841ec4d1d5a4eb84fb166e33795b 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
@@ -34,6 +34,134 @@
namespace Boardcore
{
+struct CanPitotData : PitotData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "timestamp,deltaP,airspeed,secondaryType,source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << deltaP << "," << airspeed << ","
+ << static_cast<int>(secondaryType) << "," << static_cast<int>(source)
+ << "\n";
+ }
+};
+
+struct CanPressureData : PressureData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "timestamp,pressure,secondaryType,source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << pressureTimestamp << "," << pressure
+ << static_cast<int>(secondaryType) << "," << static_cast<int>(source)
+ << "\n";
+ }
+};
+
+struct CanTemperatureData : TemperatureData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "timestamp,temperature,secondaryType,source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << temperatureTimestamp << "," << temperature
+ << static_cast<int>(secondaryType) << "," << static_cast<int>(source)
+ << "\n";
+ }
+};
+
+struct CanCurrentData : CurrentData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "timestamp,current,secondaryType,source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << currentTimestamp << "," << current
+ << static_cast<int>(secondaryType) << "," << static_cast<int>(source)
+ << "\n";
+ }
+};
+
+struct CanServoData : ServoData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "timestamp,timer,channel,position,secondaryType,source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << static_cast<int>(timer) << ","
+ << static_cast<int>(channel) << "," << position
+ << static_cast<int>(secondaryType) << "," << static_cast<int>(source)
+ << "\n";
+ }
+};
+
+struct CanBatteryVoltageSensorData : BatteryVoltageSensorData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "voltageTimestamp,channelId,voltage,batVoltage,secondaryType,"
+ "source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << voltageTimestamp << "," << static_cast<int>(channelId) << ","
+ << voltage << "," << batVoltage << static_cast<int>(secondaryType)
+ << "," << static_cast<int>(source) << "\n";
+ }
+};
+
+struct CanVoltageData : VoltageData
+{
+ uint8_t secondaryType = 0;
+ uint8_t source = 0;
+
+ static std::string header()
+ {
+ return "timestamp,voltage,secondaryType,source\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << voltageTimestamp << "," << voltage
+ << static_cast<int>(secondaryType) << "," << static_cast<int>(source)
+ << "\n";
+ }
+};
+
inline Canbus::CanMessage toCanMessage(const PitotData& data)
{
Canbus::CanMessage message;
@@ -142,90 +270,103 @@ inline Canbus::CanMessage toCanMessage(const VoltageData& data)
return message;
}
-inline PitotData pitotDataFromCanMessage(const Canbus::CanMessage& msg)
+inline CanPitotData pitotDataFromCanMessage(const Canbus::CanMessage& msg)
{
- PitotData data;
+ CanPitotData data;
uint32_t airspeed = msg.payload[0];
memcpy(&(data.airspeed), &airspeed, sizeof(data.airspeed));
- data.deltaP = 0.0; // put to 0 to avoid undefined behaviour
-
- data.timestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.deltaP = 0.0; // put to 0 to avoid undefined behaviour
+ data.timestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
-inline PressureData pressureDataFromCanMessage(const Canbus::CanMessage& msg)
+inline CanPressureData pressureDataFromCanMessage(const Canbus::CanMessage& msg)
{
- PressureData data;
+ CanPressureData data;
uint32_t pressure = msg.payload[0];
memcpy(&(data.pressure), &pressure, sizeof(data.pressure));
data.pressureTimestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
-inline TemperatureData temperatureDataFromCanMessage(
+inline CanTemperatureData temperatureDataFromCanMessage(
const Canbus::CanMessage& msg)
{
- TemperatureData data;
+ CanTemperatureData data;
uint32_t temperature = msg.payload[0];
memcpy(&(data.temperature), &temperature, sizeof(data.temperature));
data.temperatureTimestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
-inline CurrentData currentDataFromCanMessage(const Canbus::CanMessage& msg)
+inline CanCurrentData currentDataFromCanMessage(const Canbus::CanMessage& msg)
{
- CurrentData data;
+ CanCurrentData data;
uint32_t current = msg.payload[0];
memcpy(&(data.current), ¤t, sizeof(data.current));
data.currentTimestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
-inline ServoData servoDataFromCanMessage(const Canbus::CanMessage& msg)
+inline CanServoData servoDataFromCanMessage(const Canbus::CanMessage& msg)
{
- ServoData data;
+ CanServoData data;
- data.timestamp = (msg.payload[0] >> 30) & ~0x3;
- data.position = static_cast<uint16_t>(msg.payload[0] >> 16) / 65535.f;
- data.channel = static_cast<uint8_t>(msg.payload[0] >> 8);
- data.timer = static_cast<uint8_t>(msg.payload[0]);
+ data.timestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.position = static_cast<uint16_t>(msg.payload[0] >> 16) / 65535.f;
+ data.channel = static_cast<uint8_t>(msg.payload[0] >> 8);
+ data.timer = static_cast<uint8_t>(msg.payload[0]);
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
-inline BatteryVoltageSensorData batteryVoltageDataFromCanMessage(
+inline CanBatteryVoltageSensorData batteryVoltageDataFromCanMessage(
const Canbus::CanMessage& msg)
{
- BatteryVoltageSensorData data;
+ CanBatteryVoltageSensorData data;
uint32_t voltage = msg.payload[0];
memcpy(&(data.batVoltage), &voltage, sizeof(data.batVoltage));
data.voltageTimestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
-inline VoltageData voltageDataFromCanMessage(const Canbus::CanMessage& msg)
+inline CanVoltageData voltageDataFromCanMessage(const Canbus::CanMessage& msg)
{
- VoltageData data;
+ CanVoltageData data;
uint32_t voltage = msg.payload[0];
memcpy(&(data.voltage), &voltage, sizeof(data.voltage));
data.voltageTimestamp = (msg.payload[0] >> 30) & ~0x3;
+ data.secondaryType = msg.getSecondaryType();
+ data.source = msg.getSource();
return data;
}
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index 07868d2566c1a747eba4e20f5f886220fd3b7a5c..d7b770c6ec423c5735aacde7330e266525c48ba7 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -30,6 +30,7 @@
#include <diagnostic/PrintLoggerData.h>
#include <diagnostic/StackData.h>
#include <drivers/adc/InternalADCData.h>
+#include <drivers/canbus/CanProtocol/CanProtocolTypes.h>
#include <events/EventData.h>
#include <logger/Deserializer.h>
#include <logger/LoggerStats.h>
@@ -140,6 +141,13 @@ void registerTypes(Deserializer& ds)
ds.registerType<HSCMRNN015PAData>();
ds.registerType<SSCMRNN030PAData>();
ds.registerType<PitotData>();
+ ds.registerType<CanPitotData>();
+ ds.registerType<CanPressureData>();
+ ds.registerType<CanTemperatureData>();
+ ds.registerType<CanCurrentData>();
+ ds.registerType<CanServoData>();
+ ds.registerType<CanBatteryVoltageSensorData>();
+ ds.registerType<CanVoltageData>();
}
} // namespace LogTypes