diff --git a/src/boards/Groundstation/Automated/Actuators/Actuators.cpp b/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
index 56f491ba559df96abf4a2196337fae84e9595d79..79ce0fc556e9fb267f9a64ceee3d9c6f65a272fd 100644
--- a/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
+++ b/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
@@ -24,8 +24,6 @@
#include <interfaces-impl/hwmapping.h>
-#include <utils/ModuleManager/ModuleManager.hpp>
-
#include "ActuatorsConfig.h"
using namespace miosix;
diff --git a/src/boards/Groundstation/Automated/Actuators/Actuators.h b/src/boards/Groundstation/Automated/Actuators/Actuators.h
index 38e35ff8e10d9c3c0c40ac732c28fe9dc9dbae9b..317bd33ca44fd7dcc32ec9903aa1a2ed50fffbd2 100644
--- a/src/boards/Groundstation/Automated/Actuators/Actuators.h
+++ b/src/boards/Groundstation/Automated/Actuators/Actuators.h
@@ -23,8 +23,7 @@
#include <common/Mavlink.h>
#include <logger/Logger.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
#include "ActuatorsConfig.h"
#include "ActuatorsData.h"
@@ -55,7 +54,7 @@ enum class ActuationStatus : uint8_t
EMERGENCY_STOP, ///< `6`
};
-class Actuators : public Boardcore::Module
+class Actuators : public Boardcore::Injectable
{
public:
Actuators();
diff --git a/src/boards/Groundstation/Automated/Hub.cpp b/src/boards/Groundstation/Automated/Hub.cpp
index c1589926bf4e3c026aa62c1004d7df4bdf602603..c3db6b0be3b32f99a3353d7079d4b6e95959f1bf 100644
--- a/src/boards/Groundstation/Automated/Hub.cpp
+++ b/src/boards/Groundstation/Automated/Hub.cpp
@@ -46,10 +46,9 @@ using namespace miosix;
void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
{
// TODO: Dispatch to correct radio using mavlink ids
- bool send_ok = false;
- ModuleManager& modules = ModuleManager::getInstance();
+ bool send_ok = false;
- LyraGS::RadioMain* radio = modules.get<LyraGS::RadioMain>();
+ LyraGS::RadioMain* radio = getModule<LyraGS::RadioMain>();
if (msg.sysid == MAV_SYSID_ARP)
{
@@ -98,7 +97,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
// The stepper is moved of 'angle' degrees
ActuationStatus moved =
- modules.get<SMA>()->moveStepperDeg(stepperId, angle);
+ getModule<SMA>()->moveStepperDeg(stepperId, angle);
if (moved == ActuationStatus::OK)
sendAck(msg);
else
@@ -114,7 +113,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
// The stepper is moved of 'steps' steps
ActuationStatus moved =
- modules.get<SMA>()->moveStepperSteps(stepperId, steps);
+ getModule<SMA>()->moveStepperSteps(stepperId, steps);
if (moved == ActuationStatus::OK)
sendAck(msg);
else
@@ -128,7 +127,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
float multiplier =
mavlink_msg_set_stepper_multiplier_tc_get_multiplier(&msg);
- modules.get<SMA>()->setMultipliers(stepperId, multiplier);
+ getModule<SMA>()->setMultipliers(stepperId, multiplier);
sendAck(msg);
break;
}
@@ -150,7 +149,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
gpsData.fix = 3;
gpsData.satellites = 42;
- modules.get<SMA>()->setInitialRocketCoordinates(gpsData);
+ getModule<SMA>()->setInitialRocketCoordinates(gpsData);
sendAck(msg);
break;
}
@@ -172,7 +171,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
gpsData.fix = 3;
gpsData.satellites = 42;
- modules.get<SMA>()->setAntennaCoordinates(gpsData);
+ getModule<SMA>()->setAntennaCoordinates(gpsData);
sendAck(msg);
break;
}
@@ -241,7 +240,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
- Serial* serial = ModuleManager::getInstance().get<Serial>();
+ Groundstation::Serial* serial = getModule<Groundstation::Serial>();
#if !defined(NO_MAVLINK_ON_SERIAL)
serial->sendMsg(msg);
#else
@@ -284,8 +283,7 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
Logger::getInstance().log(gpsState);
}
- LyraGS::Ethernet* ethernet =
- ModuleManager::getInstance().get<LyraGS::Ethernet>();
+ LyraGS::EthernetGS* ethernet = getModule<LyraGS::EthernetGS>();
ethernet->sendMsg(msg);
}
diff --git a/src/boards/Groundstation/Automated/Hub.h b/src/boards/Groundstation/Automated/Hub.h
index 93b658aa93bfc3e422b38899c96e3cfecfd0abe6..4d72f1514dbcb6523184e53131b2fdd2500623b9 100644
--- a/src/boards/Groundstation/Automated/Hub.h
+++ b/src/boards/Groundstation/Automated/Hub.h
@@ -22,13 +22,22 @@
#pragma once
+#include <Groundstation/Automated/SMA/SMA.h>
#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <Groundstation/LyraGS/BoardStatus.h>
+#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Radio/Radio.h>
#include <algorithms/NAS/NASState.h>
#include <common/Mavlink.h>
#include <miosix.h>
#include <sensors/SensorData.h>
+#include <utils/DependencyManager/DependencyManager.h>
-#include <utils/ModuleManager/ModuleManager.hpp>
+namespace LyraGS
+{
+class BoardStatus;
+}
namespace Antennas
{
@@ -36,11 +45,11 @@ namespace Antennas
/**
* @brief Central hub connecting all outgoing and ingoing modules.
*/
-class Hub : public Groundstation::HubBase
+class Hub : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::HubBase>, SMA,
+ LyraGS::RadioMain, Groundstation::Serial, LyraGS::EthernetGS>
{
public:
- Hub() {}
-
/**
* @brief Dispatch to the correct interface and outgoing packet (gs ->
* rocket).
diff --git a/src/boards/Groundstation/Automated/Leds/Leds.h b/src/boards/Groundstation/Automated/Leds/Leds.h
index 95ad2bd1bfc93551a0f8639535f4f87c050035cc..10dc84efcd3b35b10f0085a2bb4c70136639a6d0 100644
--- a/src/boards/Groundstation/Automated/Leds/Leds.h
+++ b/src/boards/Groundstation/Automated/Leds/Leds.h
@@ -24,10 +24,10 @@
#include <ActiveObject.h>
#include <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <array>
#include <mutex>
-#include <utils/ModuleManager/ModuleManager.hpp>
constexpr uint32_t LED_BLINK_FAST_PERIOD_MS = 50;
constexpr uint32_t LED_BLINK_SLOW_PERIOD_MS = 300;
@@ -48,7 +48,7 @@ enum class LedColor : uint8_t
* @brief Utility to handle blinking leds with non-blocking sleep
* (useful for state machines states that need to blink leds without blocking)
*/
-class Leds : public Boardcore::Module
+class Leds : public Boardcore::Injectable
{
public:
explicit Leds(Boardcore::TaskScheduler* scheduler);
diff --git a/src/boards/Groundstation/Automated/PinHandler/PinHandler.h b/src/boards/Groundstation/Automated/PinHandler/PinHandler.h
index 9497a5ca752be463feefd4b3ad14711e3735081c..3bb5ef27d101d5638aec35eec9f28bbaffd3d541 100644
--- a/src/boards/Groundstation/Automated/PinHandler/PinHandler.h
+++ b/src/boards/Groundstation/Automated/PinHandler/PinHandler.h
@@ -25,13 +25,12 @@
#include <Groundstation/Automated/PinHandler/PinData.h>
#include <diagnostic/PrintLogger.h>
#include <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <utils/PinObserver/PinObserver.h>
-#include <utils/ModuleManager/ModuleManager.hpp>
-
namespace Antennas
{
-class PinHandler : public Boardcore::Module
+class PinHandler : public Boardcore::Injectable
{
public:
enum PinList : uint8_t
diff --git a/src/boards/Groundstation/Automated/SMA/SMA.cpp b/src/boards/Groundstation/Automated/SMA/SMA.cpp
index dc96d97c852c50513c1cd1b1190d508e5f5571b9..ad40628486f35bad5fe72920d754b76557b681f5 100644
--- a/src/boards/Groundstation/Automated/SMA/SMA.cpp
+++ b/src/boards/Groundstation/Automated/SMA/SMA.cpp
@@ -31,8 +31,6 @@
#include <drivers/timer/TimestampTimer.h>
#include <sensors/Vectornav/VN300/VN300Data.h>
-#include <utils/ModuleManager/ModuleManager.hpp>
-
#include "SMAData.h"
using namespace Boardcore;
@@ -104,8 +102,7 @@ ActuationStatus SMA::moveStepperDeg(StepperList stepperId, float angle)
}
else
{
- return ModuleManager::getInstance().get<Actuators>()->moveDeg(stepperId,
- angle);
+ return getModule<Actuators>()->moveDeg(stepperId, angle);
}
}
@@ -118,8 +115,7 @@ ActuationStatus SMA::moveStepperSteps(StepperList stepperId, int16_t steps)
}
else
{
- return ModuleManager::getInstance().get<Actuators>()->move(stepperId,
- steps);
+ return getModule<Actuators>()->move(stepperId, steps);
}
}
@@ -134,8 +130,7 @@ void SMA::setMultipliers(StepperList axis, float multiplier)
}
else
{
- ModuleManager::getInstance().get<Actuators>()->setMultipliers(
- axis, multiplier);
+ getModule<Actuators>()->setMultipliers(axis, multiplier);
}
}
@@ -162,7 +157,7 @@ void SMA::update()
VN300Data vn300Data;
GPSData antennaPosition;
- auto* sensors = ModuleManager::getInstance().get<Sensors>();
+ auto* sensors = getModule<Sensors>();
vn300Data = sensors->getVN300LastSample();
if (vn300Data.fix_gps != 0)
@@ -196,8 +191,7 @@ void SMA::update()
{
GPSData rocketCoordinates;
- Hub* hub =
- static_cast<Hub*>(ModuleManager::getInstance().get<HubBase>());
+ Hub* hub = static_cast<Hub*>(getModule<Groundstation::HubBase>());
rocketCoordinates = hub->getRocketCoordinates();
if (rocketCoordinates.fix != 0)
@@ -219,8 +213,7 @@ void SMA::update()
case SMAState::ACTIVE:
{
// retrieve the last NAS Rocket state
- Hub* hub =
- static_cast<Hub*>(ModuleManager::getInstance().get<HubBase>());
+ Hub* hub = static_cast<Hub*>(getModule<HubBase>());
if (hub->hasNasSet())
{
NASState nasState = hub->getRocketNasState();
@@ -234,9 +227,7 @@ void SMA::update()
// update the follower with the propagated state
follower.setLastRocketNasState(predicted.getNasState());
- VN300Data vn300Data = ModuleManager::getInstance()
- .get<Sensors>()
- ->getVN300LastSample();
+ VN300Data vn300Data = getModule<Sensors>()->getVN300LastSample();
follower.setLastAntennaAttitude(vn300Data);
follower.update(); // step the follower
FollowerState follow = follower.getState();
@@ -248,7 +239,7 @@ void SMA::update()
static_cast<Boardcore::AntennaAngles>(target));
// actuate the steppers
- auto steppers = ModuleManager::getInstance().get<Actuators>();
+ auto steppers = getModule<Actuators>();
steppers->setSpeed(StepperList::STEPPER_X, follow.horizontalSpeed);
steppers->setSpeed(StepperList::STEPPER_Y, follow.verticalSpeed);
@@ -280,8 +271,7 @@ void SMA::update()
VN300Data fakeAttitudeData;
// retrieve the last NAS Rocket state
- Hub* hub =
- static_cast<Hub*>(ModuleManager::getInstance().get<HubBase>());
+ Hub* hub = static_cast<Hub*>(getModule<HubBase>());
if (hub->hasNasSet())
{
NASState nasState = hub->getRocketNasState();
@@ -293,7 +283,7 @@ void SMA::update()
propagator.update(); // step the propagator
PropagatorState predicted = propagator.getState();
- auto steppers = ModuleManager::getInstance().get<Actuators>();
+ auto steppers = getModule<Actuators>();
// set the attitude as the current position of the steppers
// FIXME this method of setting the attitude is too dirty
@@ -391,13 +381,13 @@ State SMA::state_feedback(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::FEEDBACK);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::YELLOW);
+ getModule<Leds>()->setOn(LedColor::YELLOW);
return HANDLED;
}
case EV_EXIT:
{
- ModuleManager::getInstance().get<Actuators>()->disarm();
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::YELLOW);
+ getModule<Actuators>()->disarm();
+ getModule<Leds>()->setOff(LedColor::YELLOW);
return HANDLED;
}
case EV_EMPTY:
@@ -427,13 +417,13 @@ State SMA::state_no_feedback(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::NO_FEEDBACK);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::YELLOW);
+ getModule<Leds>()->setOn(LedColor::YELLOW);
return HANDLED;
}
case EV_EXIT:
{
- ModuleManager::getInstance().get<Actuators>()->disarm();
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::YELLOW);
+ getModule<Actuators>()->disarm();
+ getModule<Leds>()->setOff(LedColor::YELLOW);
return HANDLED;
}
case EV_EMPTY:
@@ -499,10 +489,9 @@ State SMA::state_init_error(const Event& event)
{
logStatus(SMAState::INIT_ERROR);
if (fatalInit)
- ModuleManager::getInstance().get<Leds>()->setFastBlink(
- LedColor::RED);
+ getModule<Leds>()->setFastBlink(LedColor::RED);
else
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::RED);
+ getModule<Leds>()->setOn(LedColor::RED);
return HANDLED;
}
case EV_EXIT:
@@ -539,10 +528,9 @@ State SMA::state_init_done(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::INIT_DONE);
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::RED);
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::BLUE);
- ModuleManager::getInstance().get<Leds>()->setSlowBlink(
- LedColor::YELLOW);
+ getModule<Leds>()->setOff(LedColor::RED);
+ getModule<Leds>()->setOff(LedColor::BLUE);
+ getModule<Leds>()->setSlowBlink(LedColor::YELLOW);
return HANDLED;
}
case EV_EXIT:
@@ -579,8 +567,8 @@ State SMA::state_insert_info(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::INSERT_INFO);
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::YELLOW);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::RED);
+ getModule<Leds>()->setOff(LedColor::YELLOW);
+ getModule<Leds>()->setOn(LedColor::RED);
return HANDLED;
}
case EV_EXIT:
@@ -613,10 +601,9 @@ State SMA::state_arm_ready(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::ARM_READY);
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::BLUE);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::RED);
- ModuleManager::getInstance().get<Leds>()->setSlowBlink(
- LedColor::YELLOW);
+ getModule<Leds>()->setOff(LedColor::BLUE);
+ getModule<Leds>()->setOn(LedColor::RED);
+ getModule<Leds>()->setSlowBlink(LedColor::YELLOW);
return HANDLED;
}
case EV_EXIT:
@@ -649,9 +636,9 @@ State SMA::state_armed(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::ARMED);
- ModuleManager::getInstance().get<Actuators>()->arm();
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::YELLOW);
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::BLUE);
+ getModule<Actuators>()->arm();
+ getModule<Leds>()->setOn(LedColor::YELLOW);
+ getModule<Leds>()->setOff(LedColor::BLUE);
return HANDLED;
}
case EV_EXIT:
@@ -756,8 +743,7 @@ State SMA::state_fix_antennas(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::FIX_ANTENNAS);
- ModuleManager::getInstance().get<Leds>()->setSlowBlink(
- LedColor::BLUE);
+ getModule<Leds>()->setSlowBlink(LedColor::BLUE);
return HANDLED;
}
case EV_EXIT:
@@ -794,13 +780,12 @@ State SMA::state_fix_rocket(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::FIX_ROCKET);
- ModuleManager::getInstance().get<Leds>()->setFastBlink(
- LedColor::BLUE);
+ getModule<Leds>()->setFastBlink(LedColor::BLUE);
return HANDLED;
}
case EV_EXIT:
{
- auto* leds = ModuleManager::getInstance().get<Leds>();
+ auto* leds = getModule<Leds>();
leds->setOff(LedColor::YELLOW);
// init the follower before leaving the state
@@ -845,7 +830,7 @@ State SMA::state_active(const Event& event)
logStatus(SMAState::ACTIVE);
follower.begin();
propagator.begin();
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::BLUE);
+ getModule<Leds>()->setOn(LedColor::BLUE);
return HANDLED;
}
case EV_EXIT:
@@ -880,10 +865,10 @@ State SMA::state_armed_nf(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::ARMED_NF);
- ModuleManager::getInstance().get<Actuators>()->arm();
- ModuleManager::getInstance().get<Leds>()->setOff(LedColor::BLUE);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::YELLOW);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::RED);
+ getModule<Actuators>()->arm();
+ getModule<Leds>()->setOff(LedColor::BLUE);
+ getModule<Leds>()->setOn(LedColor::YELLOW);
+ getModule<Leds>()->setOn(LedColor::RED);
return HANDLED;
}
case EV_EXIT:
@@ -952,13 +937,12 @@ State SMA::state_fix_rocket_nf(const Event& event)
case EV_ENTRY:
{
logStatus(SMAState::FIX_ROCKET_NF);
- ModuleManager::getInstance().get<Leds>()->setFastBlink(
- LedColor::BLUE);
+ getModule<Leds>()->setFastBlink(LedColor::BLUE);
return HANDLED;
}
case EV_EXIT:
{
- auto* leds = ModuleManager::getInstance().get<Leds>();
+ auto* leds = getModule<Leds>();
leds->setOff(LedColor::YELLOW);
// init the follower before leaving the state
@@ -1003,8 +987,8 @@ State SMA::state_active_nf(const Event& event)
logStatus(SMAState::ACTIVE_NF);
follower.begin();
propagator.begin();
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::BLUE);
- ModuleManager::getInstance().get<Leds>()->setOn(LedColor::RED);
+ getModule<Leds>()->setOn(LedColor::BLUE);
+ getModule<Leds>()->setOn(LedColor::RED);
return HANDLED;
}
case EV_EXIT:
diff --git a/src/boards/Groundstation/Automated/SMA/SMA.h b/src/boards/Groundstation/Automated/SMA/SMA.h
index 0a468df20a91d579cce25e2b52eb0a4f55085bf8..e460036e8d25928d796d197da8d3e5321a4b3029 100644
--- a/src/boards/Groundstation/Automated/SMA/SMA.h
+++ b/src/boards/Groundstation/Automated/SMA/SMA.h
@@ -23,6 +23,9 @@
#pragma once
#include <Groundstation/Automated/Actuators/Actuators.h>
+#include <Groundstation/Automated/Leds/Leds.h>
+#include <Groundstation/Automated/Sensors/Sensors.h>
+#include <Groundstation/Common/HubBase.h>
#include <algorithms/Follower/Follower.h>
#include <algorithms/NAS/NASState.h>
#include <algorithms/Propagator/Propagator.h>
@@ -30,8 +33,7 @@
#include <events/HSM.h>
#include <scheduler/TaskScheduler.h>
#include <sensors/SensorData.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
#include "SMAData.h"
@@ -42,7 +44,9 @@ namespace Antennas
* @brief SMA - State Machine for Arp is the state machine which
* controls the Autonomous Rocket Pointer system.
*/
-class SMA : public Boardcore::Module, public Boardcore::HSM<SMA>
+class SMA : public Boardcore::InjectableWithDeps<Actuators, Sensors,
+ Groundstation::HubBase, Leds>,
+ public Boardcore::HSM<SMA>
{
public:
explicit SMA(Boardcore::TaskScheduler* scheduler);
diff --git a/src/boards/Groundstation/Automated/Sensors/Sensors.cpp b/src/boards/Groundstation/Automated/Sensors/Sensors.cpp
index 8b1209533d4bc3159c8264de9b772e9f08c44031..35af6ce8a41f27e3afd5758706ad2cc66942e8e7 100644
--- a/src/boards/Groundstation/Automated/Sensors/Sensors.cpp
+++ b/src/boards/Groundstation/Automated/Sensors/Sensors.cpp
@@ -22,8 +22,6 @@
#include "Sensors.h"
-#include <utils/ModuleManager/ModuleManager.hpp>
-
using namespace std;
using namespace miosix;
using namespace Boardcore;
@@ -54,7 +52,7 @@ bool Sensors::start()
bool Sensors::vn300Init()
{
vn300 = new Boardcore::VN300(
- ModuleManager::getInstance().get<LyraGS::Buses>()->usart2, 115200,
+ getModule<LyraGS::Buses>()->usart2, 115200,
VN300Defs::SampleOptions::ARP,
VNCommonSerial::CRCOptions::CRC_ENABLE_16); ///< TODO: see that CRC
///< behaves correctly
diff --git a/src/boards/Groundstation/Automated/Sensors/Sensors.h b/src/boards/Groundstation/Automated/Sensors/Sensors.h
index f2e399a9f0cd6ec22c51065c48efbd97d320353a..a293f0a2f60bf3a0f2e2f955973f7129b0006836 100644
--- a/src/boards/Groundstation/Automated/Sensors/Sensors.h
+++ b/src/boards/Groundstation/Automated/Sensors/Sensors.h
@@ -21,7 +21,7 @@
*/
#pragma once
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
#include "Groundstation/LyraGS/Buses.h"
#include "sensors/SensorManager.h"
@@ -29,7 +29,7 @@
namespace Antennas
{
-class Sensors : public Boardcore::Module
+class Sensors : public Boardcore::InjectableWithDeps<LyraGS::Buses>
{
public:
Sensors();
diff --git a/src/boards/Groundstation/Common/HubBase.h b/src/boards/Groundstation/Common/HubBase.h
index 78b4143f4fe7af093065a4969f07e612627431d4..ea981ffcd933ea1967df82dd58f12f0cb7096427 100644
--- a/src/boards/Groundstation/Common/HubBase.h
+++ b/src/boards/Groundstation/Common/HubBase.h
@@ -23,8 +23,7 @@
#pragma once
#include <common/Mavlink.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
namespace Groundstation
{
@@ -32,7 +31,7 @@ namespace Groundstation
/**
* @brief Central hub connecting all outgoing and ingoing modules.
*/
-class HubBase : public Boardcore::Module
+class HubBase : public Boardcore::Injectable
{
public:
/**
diff --git a/src/boards/Groundstation/Common/Ports/EthernetBase.cpp b/src/boards/Groundstation/Common/Ports/EthernetBase.cpp
index 2cd5d4c8092ccd6eba128fc21b0865dec54f2adf..2a07d43310fd5c75e95ba7a715f0997def1e5e23 100644
--- a/src/boards/Groundstation/Common/Ports/EthernetBase.cpp
+++ b/src/boards/Groundstation/Common/Ports/EthernetBase.cpp
@@ -120,7 +120,7 @@ bool EthernetBase::start(std::unique_ptr<Boardcore::Wiz5500> wiz5500)
void EthernetBase::handleMsg(const mavlink_message_t& msg)
{
// Dispatch the message through the hub.
- ModuleManager::getInstance().get<HubBase>()->dispatchOutgoingMsg(msg);
+ getModule<HubBase>()->dispatchOutgoingMsg(msg);
}
ssize_t EthernetBase::receive(uint8_t* pkt, size_t max_len)
diff --git a/src/boards/Groundstation/Common/Ports/EthernetBase.h b/src/boards/Groundstation/Common/Ports/EthernetBase.h
index 899234879515020ab0cd86861bf56b46c5b1cbc8..c370ae3d0070ec997d50240b830ac1fea0840e48 100644
--- a/src/boards/Groundstation/Common/Ports/EthernetBase.h
+++ b/src/boards/Groundstation/Common/Ports/EthernetBase.h
@@ -23,9 +23,11 @@
#pragma once
#include <ActiveObject.h>
+#include <Groundstation/Common/HubBase.h>
#include <common/Mavlink.h>
#include <drivers/WIZ5500/WIZ5500.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <memory>
@@ -38,7 +40,8 @@ Boardcore::WizMac genNewRandomMac();
using EthernetMavDriver =
Boardcore::MavlinkDriver<1024, 10, MAVLINK_MAX_DIALECT_PAYLOAD_SIZE>;
-class EthernetBase : public Boardcore::Transceiver
+class EthernetBase : public Boardcore::Transceiver,
+ public Boardcore::InjectableWithDeps<HubBase>
{
public:
EthernetBase(){};
diff --git a/src/boards/Groundstation/Common/Ports/Serial.cpp b/src/boards/Groundstation/Common/Ports/Serial.cpp
index 45f4b7712016451e394c9ce4284e5bcb8c6fb4ce..a8716aaeba18190e5825aa57c8cd82f58f6c8b08 100644
--- a/src/boards/Groundstation/Common/Ports/Serial.cpp
+++ b/src/boards/Groundstation/Common/Ports/Serial.cpp
@@ -22,9 +22,6 @@
#include "Serial.h"
-#include <Groundstation/Common/HubBase.h>
-#include <filesystem/console/console_device.h>
-
using namespace miosix;
using namespace Groundstation;
using namespace Boardcore;
@@ -55,7 +52,7 @@ void Serial::sendMsg(const mavlink_message_t& msg)
void Serial::handleMsg(const mavlink_message_t& msg)
{
// Dispatch the message through the hub.
- ModuleManager::getInstance().get<HubBase>()->dispatchOutgoingMsg(msg);
+ getModule<HubBase>()->dispatchOutgoingMsg(msg);
}
ssize_t Serial::receive(uint8_t* pkt, size_t max_len)
diff --git a/src/boards/Groundstation/Common/Ports/Serial.h b/src/boards/Groundstation/Common/Ports/Serial.h
index ea39b639428dd17b623c6e0899ac2cd6c5e7e630..199bc1ba40d8612d7cc8d7922799ad36ffa73f21 100644
--- a/src/boards/Groundstation/Common/Ports/Serial.h
+++ b/src/boards/Groundstation/Common/Ports/Serial.h
@@ -23,11 +23,13 @@
#pragma once
#include <ActiveObject.h>
+#include <Groundstation/Common/HubBase.h>
#include <common/Mavlink.h>
+#include <filesystem/console/console_device.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <memory>
-#include <utils/ModuleManager/ModuleManager.hpp>
namespace Groundstation
{
@@ -38,7 +40,8 @@ using SerialMavDriver =
/**
* @brief Class responsible for UART communication.
*/
-class Serial : public Boardcore::Module, public Boardcore::Transceiver
+class Serial : public Boardcore::InjectableWithDeps<HubBase>,
+ public Boardcore::Transceiver
{
public:
Serial() {}
diff --git a/src/boards/Groundstation/Common/Radio/RadioBase.cpp b/src/boards/Groundstation/Common/Radio/RadioBase.cpp
index b30f5a03bd0821a43d1d6b7f9c367826cca1c53f..e6931d701754e2537ee12813bacd1baf4fea17ae 100644
--- a/src/boards/Groundstation/Common/Radio/RadioBase.cpp
+++ b/src/boards/Groundstation/Common/Radio/RadioBase.cpp
@@ -141,7 +141,7 @@ bool RadioBase::send(uint8_t* pkt, size_t len)
void RadioBase::handleMsg(const mavlink_message_t& msg)
{
// Dispatch the message through the hub.
- ModuleManager::getInstance().get<HubBase>()->dispatchIncomingMsg(msg);
+ getModule<HubBase>()->dispatchIncomingMsg(msg);
if (isEndOfTransmissionPacket(msg))
{
diff --git a/src/boards/Groundstation/Common/Radio/RadioBase.h b/src/boards/Groundstation/Common/Radio/RadioBase.h
index 3067912106fb345926e74fc8c63039ae43592115..fc8bf2d332b10587e4fe854a21f6bb0d8c79bc3f 100644
--- a/src/boards/Groundstation/Common/Radio/RadioBase.h
+++ b/src/boards/Groundstation/Common/Radio/RadioBase.h
@@ -24,13 +24,14 @@
#include <ActiveObject.h>
#include <Groundstation/Common/Config/RadioConfig.h>
+#include <Groundstation/Common/HubBase.h>
#include <common/Mavlink.h>
#include <common/Radio.h>
#include <radio/MavlinkDriver/MavlinkDriver.h>
#include <radio/SX1278/SX1278Fsk.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <memory>
-#include <utils/ModuleManager/ModuleManager.hpp>
namespace Groundstation
{
@@ -58,7 +59,9 @@ struct RadioStats
* @brief Base radio class, used to implement functionality independent of
* main/payload radios.
*/
-class RadioBase : private Boardcore::ActiveObject, public Boardcore::Transceiver
+class RadioBase : private Boardcore::ActiveObject,
+ public Boardcore::Transceiver,
+ public Boardcore::InjectableWithDeps<HubBase>
{
public:
RadioBase() {}
diff --git a/src/boards/Groundstation/LyraGS/Base/Hub.cpp b/src/boards/Groundstation/LyraGS/Base/Hub.cpp
index 38fdaa65e181769bbe9d702ae65306df3aa4a3ed..79f437896f134ad48125bef3b16f6e78ad60f424 100644
--- a/src/boards/Groundstation/LyraGS/Base/Hub.cpp
+++ b/src/boards/Groundstation/LyraGS/Base/Hub.cpp
@@ -26,30 +26,27 @@
#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/LyraGS/BoardStatus.h>
#include <Groundstation/LyraGS/Ports/Ethernet.h>
-#include <Groundstation/LyraGS/Radio/Radio.h>
using namespace Groundstation;
using namespace GroundstationBase;
using namespace Boardcore;
+using namespace LyraGS;
void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
{
- LyraGS::BoardStatus* status =
- ModuleManager::getInstance().get<LyraGS::BoardStatus>();
+ LyraGS::BoardStatus* status = getModule<LyraGS::BoardStatus>();
bool send_ok = false;
if (status->isMainRadioPresent() && msg.sysid == MAV_SYSID_MAIN)
{
- LyraGS::RadioMain* radio =
- ModuleManager::getInstance().get<LyraGS::RadioMain>();
+ LyraGS::RadioMain* radio = getModule<LyraGS::RadioMain>();
send_ok |= radio->sendMsg(msg);
}
if (status->isPayloadRadioPresent() && msg.sysid == MAV_SYSID_PAYLOAD)
{
- LyraGS::RadioPayload* radio =
- ModuleManager::getInstance().get<LyraGS::RadioPayload>();
+ LyraGS::RadioPayload* radio = getModule<LyraGS::RadioPayload>();
send_ok |= radio->sendMsg(msg);
}
@@ -64,16 +61,14 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
- LyraGS::BoardStatus* status =
- ModuleManager::getInstance().get<LyraGS::BoardStatus>();
+ LyraGS::BoardStatus* status = getModule<LyraGS::BoardStatus>();
- Serial* serial = ModuleManager::getInstance().get<Serial>();
+ Serial* serial = getModule<Serial>();
serial->sendMsg(msg);
if (status->isEthernetPresent())
{
- LyraGS::Ethernet* ethernet =
- ModuleManager::getInstance().get<LyraGS::Ethernet>();
+ LyraGS::EthernetGS* ethernet = getModule<LyraGS::EthernetGS>();
ethernet->sendMsg(msg);
}
}
\ No newline at end of file
diff --git a/src/boards/Groundstation/LyraGS/Base/Hub.h b/src/boards/Groundstation/LyraGS/Base/Hub.h
index 0e8e8335526abbe3456f6f99eac9c8a9c31a3d11..00855c32cfb04b5e49c0b1b9341eea2c9ae51c0d 100644
--- a/src/boards/Groundstation/LyraGS/Base/Hub.h
+++ b/src/boards/Groundstation/LyraGS/Base/Hub.h
@@ -23,17 +23,20 @@
#pragma once
#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <Groundstation/LyraGS/Ports/Ethernet.h>
#include <common/Mavlink.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
namespace GroundstationBase
{
-
/**
* @brief Central hub connecting all outgoing and ingoing modules.
*/
-class Hub : public Groundstation::HubBase
+class Hub : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::HubBase>,
+ LyraGS::BoardStatus, LyraGS::RadioMain, LyraGS::RadioPayload,
+ Groundstation::Serial, LyraGS::EthernetGS>
{
public:
/**
diff --git a/src/boards/Groundstation/LyraGS/BoardStatus.cpp b/src/boards/Groundstation/LyraGS/BoardStatus.cpp
index ab709195d483197e60ef23ef3ebd655d52e68e12..b65ce88af2beed8715fa5a217070f6e66152db20 100644
--- a/src/boards/Groundstation/LyraGS/BoardStatus.cpp
+++ b/src/boards/Groundstation/LyraGS/BoardStatus.cpp
@@ -22,16 +22,6 @@
#include "BoardStatus.h"
-#include <Groundstation/Automated/Actuators/Actuators.h>
-#include <Groundstation/Automated/SMA/SMA.h>
-#include <Groundstation/Automated/Sensors/Sensors.h>
-#include <Groundstation/Common/Config/GeneralConfig.h>
-#include <Groundstation/Common/HubBase.h>
-#include <Groundstation/LyraGS/Ports/Ethernet.h>
-#include <Groundstation/LyraGS/Radio/Radio.h>
-#include <common/Mavlink.h>
-#include <drivers/timer/TimestampTimer.h>
-
using namespace Boardcore;
using namespace Groundstation;
using namespace LyraGS;
@@ -70,12 +60,11 @@ void BoardStatus::arpRoutine()
using namespace Antennas;
miosix::Thread::sleep(Groundstation::RADIO_STATUS_PERIOD);
- ModuleManager &modules = ModuleManager::getInstance();
- auto vn300 = modules.get<Sensors>()->getVN300LastSample();
+ auto vn300 = getModule<Sensors>()->getVN300LastSample();
- Actuators *actuators = modules.get<Actuators>();
- SMA *sm = modules.get<SMA>();
+ Actuators *actuators = getModule<Actuators>();
+ SMA *sm = getModule<SMA>();
AntennaAngles targetAngles = sm->getTargetAngles();
@@ -112,7 +101,7 @@ void BoardStatus::arpRoutine()
{
tm.main_radio_present = 1;
- auto stats = ModuleManager::getInstance().get<RadioMain>()->getStats();
+ auto stats = getModule<RadioMain>()->getStats();
tm.main_packet_tx_error_count = stats.send_errors;
tm.main_tx_bitrate = main_tx_bitrate.update(stats.bits_tx_count);
tm.main_packet_rx_success_count = stats.packet_rx_success_count;
@@ -125,7 +114,7 @@ void BoardStatus::arpRoutine()
if (ethernet_present)
{
- auto stats = ModuleManager::getInstance().get<Ethernet>()->getState();
+ auto stats = getModule<EthernetGS>()->getState();
tm.ethernet_present = 1;
tm.ethernet_status = (stats.link_up ? 1 : 0) |
@@ -137,7 +126,7 @@ void BoardStatus::arpRoutine()
mavlink_msg_arp_tm_encode(SysIDs::MAV_SYSID_ARP,
Groundstation::GS_COMPONENT_ID, &msg, &tm);
- ModuleManager::getInstance().get<HubBase>()->dispatchIncomingMsg(msg);
+ getModule<HubBase>()->dispatchIncomingMsg(msg);
}
void BoardStatus::GSRoutine()
@@ -154,7 +143,7 @@ void BoardStatus::GSRoutine()
{
tm.main_radio_present = 1;
- auto stats = ModuleManager::getInstance().get<RadioMain>()->getStats();
+ auto stats = getModule<RadioMain>()->getStats();
tm.main_packet_tx_error_count = stats.send_errors;
tm.main_tx_bitrate = main_tx_bitrate.update(stats.bits_tx_count);
tm.main_packet_rx_success_count = stats.packet_rx_success_count;
@@ -169,8 +158,7 @@ void BoardStatus::GSRoutine()
{
tm.payload_radio_present = 1;
- auto stats =
- ModuleManager::getInstance().get<RadioPayload>()->getStats();
+ auto stats = getModule<RadioPayload>()->getStats();
tm.payload_packet_tx_error_count = stats.send_errors;
tm.payload_tx_bitrate = payload_tx_bitrate.update(stats.bits_tx_count);
tm.payload_packet_rx_success_count = stats.packet_rx_success_count;
@@ -183,7 +171,8 @@ void BoardStatus::GSRoutine()
if (ethernet_present)
{
- auto stats = ModuleManager::getInstance().get<Ethernet>()->getState();
+ auto ethernet = getModule<EthernetGS>();
+ auto stats = ethernet->getState();
tm.ethernet_present = 1;
tm.ethernet_status = (stats.link_up ? 1 : 0) |
@@ -194,7 +183,7 @@ void BoardStatus::GSRoutine()
mavlink_message_t msg;
mavlink_msg_arp_tm_encode(GS_SYSTEM_ID, GS_COMPONENT_ID, &msg, &tm);
- ModuleManager::getInstance().get<HubBase>()->dispatchIncomingMsg(msg);
+ getModule<HubBase>()->dispatchIncomingMsg(msg);
}
void BoardStatus::run()
diff --git a/src/boards/Groundstation/LyraGS/BoardStatus.h b/src/boards/Groundstation/LyraGS/BoardStatus.h
index 10a14c4bf845c2d412812b0210ebf3dd99999083..0396a2b077d47ee4e2d22db0f24ce9e21f03e119 100644
--- a/src/boards/Groundstation/LyraGS/BoardStatus.h
+++ b/src/boards/Groundstation/LyraGS/BoardStatus.h
@@ -23,14 +23,25 @@
#pragma once
#include <ActiveObject.h>
+#include <Groundstation/Automated/Actuators/Actuators.h>
+#include <Groundstation/Automated/SMA/SMA.h>
+#include <Groundstation/Automated/Sensors/Sensors.h>
+#include <Groundstation/Common/Config/GeneralConfig.h>
#include <Groundstation/Common/Config/RadioConfig.h>
+#include <Groundstation/Common/HubBase.h>
#include <Groundstation/Common/Radio/RadioBase.h>
+#include <Groundstation/LyraGS/Ports/Ethernet.h>
+#include <Groundstation/LyraGS/Radio/Radio.h>
+#include <common/Mavlink.h>
+#include <drivers/timer/TimestampTimer.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <utils/collections/CircularBuffer.h>
-#include <utils/ModuleManager/ModuleManager.hpp>
-
namespace LyraGS
{
+class RadioMain;
+class RadioPayload;
+class EthernetGS;
/**
* @brief Utility to calculate the bitrate
@@ -70,7 +81,11 @@ private:
/**
* @brief Class responsible for keeping track of radio status and metrics.
*/
-class BoardStatus : public Boardcore::Module, private Boardcore::ActiveObject
+class BoardStatus
+ : public Boardcore::InjectableWithDeps<
+ Antennas::Actuators, Antennas::SMA, Antennas::Sensors,
+ Groundstation::HubBase, RadioMain, RadioPayload, EthernetGS>,
+ private Boardcore::ActiveObject
{
public:
explicit BoardStatus(bool isArp) : isArp{isArp} {}
@@ -88,7 +103,7 @@ public:
bool isPayloadRadioPresent();
/**
- * @brief Check wether the ethernet was found during boot.
+ * @brief Check wether the ethernet was found d\uring boot.
*/
bool isEthernetPresent();
diff --git a/src/boards/Groundstation/LyraGS/Buses.h b/src/boards/Groundstation/LyraGS/Buses.h
index ead43b9b116f86bb476c1eda5c5a2a4d5a45af41..1faf0f84611b36b9e182c38852a26a1cb4a05c33 100644
--- a/src/boards/Groundstation/LyraGS/Buses.h
+++ b/src/boards/Groundstation/LyraGS/Buses.h
@@ -24,29 +24,23 @@
#include <drivers/spi/SPIBus.h>
#include <drivers/usart/USART.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <utils/DependencyManager/DependencyManager.h>
#include "interfaces-impl/hwmapping.h"
namespace LyraGS
{
-class Buses : public Boardcore::Module
+class Buses : public Boardcore::Injectable
{
public:
- Boardcore::SPIBus radio1_bus;
- Boardcore::SPIBus radio2_bus;
- Boardcore::USART usart2;
- Boardcore::USART uart4;
- Boardcore::SPIBus ethernet_bus;
+ Boardcore::SPIBus &getRadio() { return radio1_bus; }
- Buses()
- : radio1_bus{MIOSIX_RADIO1_SPI}, radio2_bus{MIOSIX_RADIO2_SPI},
- usart2{USART2, 115200}, uart4{UART4, 115200}, ethernet_bus{
- MIOSIX_ETHERNET_SPI}
- {
- }
+ Boardcore::SPIBus radio1_bus{MIOSIX_RADIO1_SPI};
+ Boardcore::SPIBus radio2_bus{MIOSIX_RADIO2_SPI};
+ Boardcore::USART usart2{USART2, 115200};
+ Boardcore::USART uart4{UART4, 115200};
+ Boardcore::SPIBus ethernet_bus{MIOSIX_ETHERNET_SPI};
};
} // namespace LyraGS
\ No newline at end of file
diff --git a/src/boards/Groundstation/LyraGS/Ports/Ethernet.cpp b/src/boards/Groundstation/LyraGS/Ports/Ethernet.cpp
index 72cc4b01d0765031ff8d22743f91d5575a5d3d98..f4223d71deca2c96ffa71999ae01a712f8c430bd 100644
--- a/src/boards/Groundstation/LyraGS/Ports/Ethernet.cpp
+++ b/src/boards/Groundstation/LyraGS/Ports/Ethernet.cpp
@@ -27,21 +27,27 @@
#include <interfaces-impl/hwmapping.h>
using namespace Boardcore;
+using namespace LyraGS;
+
+namespace LyraGS
+{
+EthernetGS* ethernetGSGlobal = nullptr;
+}
void __attribute__((used)) MIOSIX_ETHERNET_IRQ()
{
- ModuleManager::getInstance().get<LyraGS::Ethernet>()->handleINTn();
+ if (ethernetGSGlobal)
+ ethernetGSGlobal->handleINTn();
}
namespace LyraGS
{
-bool Ethernet::start()
+bool EthernetGS::start()
{
std::unique_ptr<Wiz5500> wiz5500 = std::make_unique<Wiz5500>(
- ModuleManager::getInstance().get<Buses>()->ethernet_bus,
- miosix::ethernet::cs::getPin(), miosix::ethernet::intr::getPin(),
- SPI::ClockDivider::DIV_64);
+ getModule<Buses>()->ethernet_bus, miosix::ethernet::cs::getPin(),
+ miosix::ethernet::intr::getPin(), SPI::ClockDivider::DIV_64);
// First check if the device is even connected
bool present = wiz5500->checkVersion();
@@ -56,8 +62,17 @@ bool Ethernet::start()
return false;
}
- ModuleManager::getInstance().get<BoardStatus>()->setEthernetPresent(true);
+ ethernetGSGlobal = this;
+ getModule<BoardStatus>()->setEthernetPresent(true);
return true;
}
+
+void EthernetGS::sendMsg(const mavlink_message_t& msg) { Super::sendMsg(msg); };
+
+void EthernetGS::handleINTn() { EthernetBase::handleINTn(); }
+Boardcore::Wiz5500::PhyState EthernetGS::getState()
+{
+ return Super::getState();
+};
} // namespace LyraGS
\ No newline at end of file
diff --git a/src/boards/Groundstation/LyraGS/Ports/Ethernet.h b/src/boards/Groundstation/LyraGS/Ports/Ethernet.h
index d35d3b4a957054744bcf948fa29348a6ab6b9d9b..fe6913f22d14bbc265c124a9487aba57b2ba9332 100644
--- a/src/boards/Groundstation/LyraGS/Ports/Ethernet.h
+++ b/src/boards/Groundstation/LyraGS/Ports/Ethernet.h
@@ -23,21 +23,24 @@
#pragma once
#include <Groundstation/Common/Ports/EthernetBase.h>
-
-#include <utils/ModuleManager/ModuleManager.hpp>
+#include <Groundstation/LyraGS/BoardStatus.h>
+#include <utils/DependencyManager/DependencyManager.h>
namespace LyraGS
{
+class BoardStatus;
-class Ethernet : public Groundstation::EthernetBase, public Boardcore::Module
+class EthernetGS : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::EthernetBase>,
+ Buses, BoardStatus>
{
public:
- Ethernet() : EthernetBase(), Module() {}
- Ethernet(bool randomIp, uint8_t ipOffset)
- : EthernetBase(randomIp, ipOffset), Module()
- {
- }
+ EthernetGS() : Super{} {}
+ EthernetGS(bool randomIp, uint8_t ipOffset) : Super{randomIp, ipOffset} {}
[[nodiscard]] bool start();
+ void sendMsg(const mavlink_message_t& msg);
+ void handleINTn();
+ Boardcore::Wiz5500::PhyState getState();
};
} // namespace LyraGS
\ No newline at end of file
diff --git a/src/boards/Groundstation/LyraGS/Radio/Radio.cpp b/src/boards/Groundstation/LyraGS/Radio/Radio.cpp
index 4780fcab966bd98c726b25206be8694891b9c320..85b4afcaab6c2d2641b37cc5c462deba3f77ab62 100644
--- a/src/boards/Groundstation/LyraGS/Radio/Radio.cpp
+++ b/src/boards/Groundstation/LyraGS/Radio/Radio.cpp
@@ -22,51 +22,54 @@
#include "Radio.h"
-#include <Groundstation/Common/HubBase.h>
-#include <Groundstation/Common/Ports/Serial.h>
-#include <Groundstation/LyraGS/BoardStatus.h>
-#include <Groundstation/LyraGS/Buses.h>
-#include <interfaces-impl/hwmapping.h>
-#include <radio/SX1278/SX1278Frontends.h>
-
-using namespace Groundstation;
using namespace LyraGS;
using namespace Boardcore;
using namespace miosix;
+SX1278Fsk* radioMainGlobal{nullptr};
+SX1278Fsk* radioPayloadGlobal{nullptr};
+
void __attribute__((used)) MIOSIX_RADIO1_DIO0_IRQ()
{
- ModuleManager::getInstance().get<RadioMain>()->handleDioIRQ();
+ SX1278Fsk* instance = radioMainGlobal;
+ if (instance)
+ instance->handleDioIRQ();
}
void __attribute__((used)) MIOSIX_RADIO1_DIO1_IRQ()
{
- ModuleManager::getInstance().get<RadioMain>()->handleDioIRQ();
+ SX1278Fsk* instance = radioMainGlobal;
+ if (instance)
+ instance->handleDioIRQ();
}
void __attribute__((used)) MIOSIX_RADIO1_DIO3_IRQ()
{
- ModuleManager::getInstance().get<RadioMain>()->handleDioIRQ();
+ SX1278Fsk* instance = radioMainGlobal;
+ if (instance)
+ instance->handleDioIRQ();
}
void __attribute__((used)) MIOSIX_RADIO2_DIO0_IRQ()
{
- ModuleManager::getInstance().get<RadioPayload>()->handleDioIRQ();
+ if (radioPayloadGlobal)
+ radioPayloadGlobal->handleDioIRQ();
}
void __attribute__((used)) MIOSIX_RADIO2_DIO1_IRQ()
{
- ModuleManager::getInstance().get<RadioPayload>()->handleDioIRQ();
+ if (radioPayloadGlobal)
+ radioPayloadGlobal->handleDioIRQ();
}
void __attribute__((used)) MIOSIX_RADIO2_DIO3_IRQ()
{
- ModuleManager::getInstance().get<RadioPayload>()->handleDioIRQ();
+ if (radioPayloadGlobal)
+ radioPayloadGlobal->handleDioIRQ();
}
bool RadioMain::start()
{
-
std::unique_ptr<SX1278::ISX1278Frontend> frontend;
if (hasBackup)
@@ -77,31 +80,30 @@ bool RadioMain::start()
std::unique_ptr<Boardcore::SX1278Fsk> sx1278 =
std::make_unique<Boardcore::SX1278Fsk>(
- 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_bus, radio1::cs::getPin(),
+ radio1::dio0::getPin(), radio1::dio1::getPin(),
+ radio1::dio3::getPin(), SPI::ClockDivider::DIV_64,
+ std::move(frontend));
+
+ // Set the global radio for IRQ
+ radioMainGlobal = sx1278.get();
// First check if the device is even connected
bool present = sx1278->checkVersion();
- ModuleManager::getInstance().get<BoardStatus>()->setMainRadioPresent(
- present);
+ getModule<LyraGS::BoardStatus>()->setMainRadioPresent(present);
if (present)
{
// Configure the radio
if (sx1278->configure(Common::MAIN_RADIO_CONFIG) !=
SX1278Fsk::Error::NONE)
- {
return false;
- }
// Initialize if only if present
if (!RadioBase::start(std::move(sx1278)))
- {
+
return false;
- }
}
return true;
@@ -118,15 +120,17 @@ bool RadioPayload::start()
frontend = std::make_unique<Skyward433Frontend>();
sx1278 = std::make_unique<Boardcore::SX1278Fsk>(
- ModuleManager::getInstance().get<Buses>()->radio2_bus,
- radio2::cs::getPin(), radio2::dio0::getPin(), radio2::dio1::getPin(),
- radio2::dio3::getPin(), SPI::ClockDivider::DIV_64, std::move(frontend));
+ getModule<Buses>()->radio2_bus, radio2::cs::getPin(),
+ radio2::dio0::getPin(), radio2::dio1::getPin(), radio2::dio3::getPin(),
+ SPI::ClockDivider::DIV_64, std::move(frontend));
+
+ // Set the global radio for IRQ
+ radioPayloadGlobal = sx1278.get();
// First check if the device is even connected
bool present = sx1278->checkVersion();
- ModuleManager::getInstance().get<BoardStatus>()->setPayloadRadioPresent(
- present);
+ getModule<LyraGS::BoardStatus>()->setPayloadRadioPresent(present);
if (present)
{
diff --git a/src/boards/Groundstation/LyraGS/Radio/Radio.h b/src/boards/Groundstation/LyraGS/Radio/Radio.h
index 47cefb5690d2c4316dd68e088d9b2750f8bab417..b176e2758a751f70be2f79a24f200ac2d2df2cd7 100644
--- a/src/boards/Groundstation/LyraGS/Radio/Radio.h
+++ b/src/boards/Groundstation/LyraGS/Radio/Radio.h
@@ -22,12 +22,23 @@
#pragma once
+#include <Groundstation/Common/HubBase.h>
+#include <Groundstation/Common/Ports/Serial.h>
#include <Groundstation/Common/Radio/RadioBase.h>
+#include <Groundstation/LyraGS/BoardStatus.h>
+#include <Groundstation/LyraGS/Buses.h>
+#include <interfaces-impl/hwmapping.h>
+#include <radio/SX1278/SX1278Frontends.h>
+#include <utils/DependencyManager/DependencyManager.h>
namespace LyraGS
{
-class RadioMain : public Groundstation::RadioBase, public Boardcore::Module
+class BoardStatus;
+
+class RadioMain : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::RadioBase>,
+ Buses, BoardStatus>
{
public:
[[nodiscard]] bool start();
@@ -39,8 +50,9 @@ public:
private:
bool hasBackup = false;
};
-
-class RadioPayload : public Groundstation::RadioBase, public Boardcore::Module
+class RadioPayload : public Boardcore::InjectableWithDeps<
+ Boardcore::InjectableBase<Groundstation::RadioBase>,
+ Buses, BoardStatus>
{
public:
[[nodiscard]] bool start();
diff --git a/src/entrypoints/Groundstation/Automated/test-actuators.cpp b/src/entrypoints/Groundstation/Automated/test-actuators.cpp
index b013b9410fbde35734b37e52b415f4fbdde0d8e1..064b76b6aa4e8f8f15619548cae18fe6b4224a74 100644
--- a/src/entrypoints/Groundstation/Automated/test-actuators.cpp
+++ b/src/entrypoints/Groundstation/Automated/test-actuators.cpp
@@ -199,19 +199,19 @@ int main()
Actuators *actuators = new Actuators();
Sensors *sensors = new Sensors();
- ModuleManager &modules = ModuleManager::getInstance();
- PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
- bool ok = true;
+ DependencyManager manager;
+ PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
+ bool ok = true;
LOG_INFO(logger, "test-actuators\n");
// Insert modules
{
- ok &= modules.insert<HubBase>(hub);
- ok &= modules.insert(buses);
- ok &= modules.insert(serial);
- ok &= modules.insert(actuators);
- ok &= modules.insert(sensors);
+ ok &= manager.insert<HubBase>(hub);
+ ok &= manager.insert(buses);
+ ok &= manager.insert(serial);
+ ok &= manager.insert(actuators);
+ ok &= manager.insert(sensors);
// If insertion failed, stop right here
if (!ok)
@@ -223,6 +223,16 @@ int main()
{
LOG_DEBUG(logger, "All modules inserted successfully!\n");
}
+
+ if (!manager.inject())
+ {
+ LOG_ERR(logger, "[error] Failed to inject the dependencies!\n");
+ errorLoop();
+ }
+ else
+ {
+ LOG_DEBUG(logger, "All modules injected successfully!\n");
+ }
}
// Start modules
diff --git a/src/entrypoints/Groundstation/lyra-gs-entry.cpp b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
index 2dfeae47d4e6d529dd8040e2fe899cebe48700be..4ac45bb3d66190ecdd01c11ca096f21bc19825c0 100644
--- a/src/entrypoints/Groundstation/lyra-gs-entry.cpp
+++ b/src/entrypoints/Groundstation/lyra-gs-entry.cpp
@@ -38,14 +38,15 @@
#include <events/EventBroker.h>
#include <miosix.h>
#include <scheduler/TaskScheduler.h>
+#include <utils/DependencyManager/DependencyManager.h>
#include <thread>
-#include <utils/ModuleManager/ModuleManager.hpp>
using namespace Boardcore;
using namespace miosix;
using namespace Groundstation;
using namespace LyraGS;
+using namespace Antennas;
/**
* @brief Dip switch status for the GS board
@@ -126,29 +127,39 @@ int main()
DipSwitch dip(sh, clk, qh, microSecClk);
DipStatusLyraGS dipRead = getDipStatus(dip.read());
- // TODO: Pass to DependencyManager when rebased!
- ModuleManager &modules = ModuleManager::getInstance();
- PrintLogger logger = Logging::getLogger("lyra_gs");
+ DependencyManager manager;
+ PrintLogger logger = Logging::getLogger("lyra_gs");
// TODO: Board scheduler for the schedulers
TaskScheduler *scheduler_low = new TaskScheduler(0);
TaskScheduler *scheduler_high = new TaskScheduler();
Buses *buses = new Buses();
Serial *serial = new Serial();
- RadioMain *radio_main = new LyraGS::RadioMain(dipRead.mainHasBackup);
- BoardStatus *board_status = new BoardStatus(dipRead.isARP);
- LyraGS::Ethernet *ethernet = new LyraGS::Ethernet(false, dipRead.ipConfig);
- RadioPayload *radio_payload = new RadioPayload(dipRead.payloadHasBackup);
- Antennas::Actuators *actuators = nullptr;
+ LyraGS::RadioMain *radio_main =
+ new LyraGS::RadioMain(dipRead.mainHasBackup);
+ LyraGS::BoardStatus *board_status = new LyraGS::BoardStatus(dipRead.isARP);
+ LyraGS::EthernetGS *ethernet =
+ new LyraGS::EthernetGS(false, dipRead.ipConfig);
+ LyraGS::RadioPayload *radio_payload =
+ new LyraGS::RadioPayload(dipRead.payloadHasBackup);
+
+ HubBase *hub = nullptr;
+
+ // ARP-related things
+ Antennas::Actuators *actuators = nullptr;
+ Antennas::Leds *leds = nullptr;
+ Antennas::Sensors *sensors = nullptr;
+ Antennas::SMA *sma = nullptr;
+ Antennas::PinHandler *pinHandler = nullptr;
bool ok = true;
- ok &= modules.insert(buses);
- ok &= modules.insert(serial);
- ok &= modules.insert(radio_main);
- ok &= modules.insert(ethernet);
- ok &= modules.insert(radio_payload);
- ok &= modules.insert(board_status);
+ ok &= manager.insert(buses);
+ ok &= manager.insert(serial);
+ ok &= manager.insert<LyraGS::RadioMain>(radio_main);
+ ok &= manager.insert<LyraGS::EthernetGS>(ethernet);
+ ok &= manager.insert<LyraGS::RadioPayload>(radio_payload);
+ ok &= manager.insert(board_status);
// Inserting Modules
@@ -156,30 +167,29 @@ int main()
if (dipRead.isARP)
{
LOG_DEBUG(logger, "[debug] Starting as ARP Ground Station\n");
- Antennas::Leds *leds = new Antennas::Leds(scheduler_low);
- HubBase *hub = new Antennas::Hub();
- actuators = new Antennas::Actuators();
- Antennas::Sensors *sensors = new Antennas::Sensors();
- Antennas::SMA *sma = new Antennas::SMA(scheduler_high);
- Antennas::PinHandler *pinHandler = new Antennas::PinHandler();
-
- ok &= modules.insert(sma);
- ok &= modules.insert<HubBase>(hub);
- ok &= modules.insert(actuators);
- ok &= modules.insert(sensors);
- ok &= modules.insert(leds);
- ok &= modules.insert(pinHandler);
+ leds = new Antennas::Leds(scheduler_low);
+ hub = new Antennas::Hub();
+ actuators = new Antennas::Actuators();
+ sensors = new Antennas::Sensors();
+ sma = new Antennas::SMA(scheduler_high);
+ pinHandler = new Antennas::PinHandler();
+
+ ok &= manager.insert(sma);
+ ok &= manager.insert<HubBase>(hub);
+ ok &= manager.insert(actuators);
+ ok &= manager.insert(sensors);
+ ok &= manager.insert(leds);
+ ok &= manager.insert(pinHandler);
}
// Ground station module insertion
else
{
LOG_DEBUG(logger, "[debug] Starting as GS base Ground Station\n");
- HubBase *hub = new GroundstationBase::Hub();
- ok &= modules.insert<HubBase>(hub);
+ hub = new GroundstationBase::Hub();
+ ok &= manager.insert<HubBase>(hub);
}
// If insertion failed, stop right here
-
if (!ok)
{
LOG_ERR(logger, "[error] Failed to insert all modules!\n");
@@ -188,6 +198,15 @@ int main()
LOG_DEBUG(logger, "[debug] All modules inserted correctly!\n");
+ if (!manager.inject())
+ {
+ LOG_ERR(logger, "[error] Failed to inject the dependencies!\n");
+ errorLoop();
+ }
+
+ // Print out the graph of dependencies
+ manager.graphviz(std::cout);
+
// Start the modules
// ARP start errors
@@ -201,12 +220,16 @@ int main()
}
#endif
+ LOG_DEBUG(logger, "DEBUG: scheduler_low starting...\n");
+
if (!scheduler_low->start())
{
LOG_ERR(logger, "[error] Failed to start scheduler_low!\n");
ok = false;
}
+ LOG_DEBUG(logger, "DEBUG: scheduler_high starting...\n");
+
if (!scheduler_high->start())
{
LOG_ERR(logger, "[error] Failed to start scheduler_high!\n");
@@ -214,12 +237,16 @@ int main()
init_fatal = true;
}
+ LOG_DEBUG(logger, "DEBUG: serial starting...\n");
+
if (!serial->start())
{
LOG_ERR(logger, "[error] Failed to start serial!\n");
ok = false;
}
+ LOG_DEBUG(logger, "DEBUG: radio_main starting...\n");
+
if (!radio_main->start())
{
LOG_ERR(logger, "[error] Failed to start radio_main!\n");
@@ -227,6 +254,8 @@ int main()
init_fatal = true;
}
+ LOG_DEBUG(logger, "DEBUG: radio_payload starting...\n");
+
if (!radio_payload->start())
{
LOG_ERR(logger, "[error] Failed to start payload radio!\n");
@@ -234,12 +263,16 @@ int main()
ok &= dipRead.isARP;
}
+ LOG_DEBUG(logger, "DEBUG: ethernet starting...\n");
+
if (!ethernet->start())
{
LOG_ERR(logger, "[error] Failed to start ethernet!\n");
ok = false;
}
+ LOG_DEBUG(logger, "DEBUG: board_status starting...\n");
+
if (!board_status->start())
{
LOG_ERR(logger, "[error] Failed to start board_status!\n");
@@ -250,24 +283,32 @@ int main()
if (dipRead.isARP)
{
- if (!ModuleManager::getInstance().get<Antennas::Leds>()->start())
+ LOG_DEBUG(logger, "DEBUG: leds starting...\n");
+
+ if (leds && !(leds->start()))
{
LOG_ERR(logger, "[error] Failed to start leds!\n");
ok = false;
}
- if (!ModuleManager::getInstance().get<Antennas::Sensors>()->start())
+ LOG_DEBUG(logger, "DEBUG: sensors starting...\n");
+
+ if (sensors && !(sensors->start()))
{
LOG_ERR(logger, "[error] Failed to start sensors!\n");
ok = false;
}
- if (!ModuleManager::getInstance().get<Antennas::SMA>()->start())
+ LOG_DEBUG(logger, "DEBUG: sma starting...\n");
+
+ if (sma && !(sma->start()))
{
LOG_ERR(logger, "[error] Failed to start sma!\n");
ok = false;
}
+ LOG_DEBUG(logger, "DEBUG: actuators starting...\n");
+
if (actuators)
{
actuators->start();
@@ -276,7 +317,9 @@ int main()
else
LOG_ERR(logger, "[error] Failed to start actuators!\n");
- if (!modules.get<Antennas::PinHandler>()->start())
+ LOG_DEBUG(logger, "DEBUG: pin handler starting...\n");
+
+ if (pinHandler && !pinHandler->start())
{
LOG_ERR(logger, "[error] Failed to start PinHandler!\n");
ok = false;
@@ -334,10 +377,8 @@ int main()
"ARP's modules initialization has failed. Init fatal "
"error. Cannot proceed, a restart and fix of the "
"boards/module is required.\n");
- ModuleManager::getInstance().get<Antennas::Leds>()->setFastBlink(
- Antennas::LedColor::RED);
- ModuleManager::getInstance().get<Antennas::SMA>()->setFatal();
-
+ if (sma)
+ sma->setFatal();
// Still go to INIT_ERROR to still allow initialization
EventBroker::getInstance().post(Common::ARP_INIT_ERROR,
Common::TOPIC_ARP);
@@ -349,8 +390,6 @@ int main()
logger,
"ARP's modules initialization has failed. Init error. It "
"is still possible to proceed with MAV_ARP_CMD_FORCE_INIT.\n");
- ModuleManager::getInstance().get<Antennas::Leds>()->setOn(
- Antennas::LedColor::RED);
EventBroker::getInstance().post(Common::ARP_INIT_ERROR,
Common::TOPIC_ARP);
} // If all modules are ok