From 8e5cb22ac60f9a6513804bd034ce9b98e10b01d6 Mon Sep 17 00:00:00 2001
From: EmilioCorigliano <emilio.corigliano@mail.polimi.it>
Date: Mon, 3 Apr 2023 09:17:00 +0200
Subject: [PATCH] [VN100] Correctly using the usart bus instead of creating it
 in the driver

---
 src/shared/sensors/VN100/VN100.cpp | 25 +++++++++----------------
 src/shared/sensors/VN100/VN100.h   | 17 ++++++++---------
 src/tests/sensors/test-vn100.cpp   |  4 +++-
 3 files changed, 20 insertions(+), 26 deletions(-)

diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index e55f1937f..cd8d8c270 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -27,11 +27,10 @@
 namespace Boardcore
 {
 
-VN100::VN100(USARTType *portNumber, int baudRate, CRCOptions crc,
+VN100::VN100(USART &usart, int baudRate, CRCOptions crc,
              uint16_t samplePeriod)
-    : portNumber(portNumber), baudRate(baudRate), crc(crc)
+    : usart(usart), baudRate(baudRate), samplePeriod(samplePeriod), crc(crc)
 {
-    this->samplePeriod = samplePeriod;
 }
 
 bool VN100::init()
@@ -151,7 +150,7 @@ bool VN100::sampleRaw()
     }
 
     // Send the IMU sampling command
-    serialInterface->writeString(preSampleImuString->c_str());
+    usart.writeString(preSampleImuString->c_str());
 
     // Wait some time
     // TODO dimension the time
@@ -200,9 +199,6 @@ bool VN100::closeAndReset()
     // Free the recvString memory
     delete recvString;
 
-    // Free the serialInterface memory
-    delete serialInterface;
-
     return true;
 }
 
@@ -241,7 +237,7 @@ VN100Data VN100::sampleData()
     }
 
     // Returns Quaternion, Magnetometer, Accelerometer and Gyro
-    serialInterface->writeString(preSampleImuString->c_str());
+    usart.writeString(preSampleImuString->c_str());
 
     // Wait some time
     // TODO dimension the time
@@ -269,7 +265,7 @@ VN100Data VN100::sampleData()
     // Returns Magnetometer, Accelerometer, Gyroscope, Temperature and Pressure
     // (UNCOMPENSATED) DO NOT USE THESE MAGNETOMETER, ACCELEROMETER AND
     // GYROSCOPE VALUES
-    serialInterface->writeString(preSampleTempPressString->c_str());
+    usart.writeString(preSampleTempPressString->c_str());
 
     // Wait some time
     // TODO dimension the time
@@ -319,7 +315,7 @@ bool VN100::disableAsyncMessages(bool waitResponse)
 bool VN100::configDefaultSerialPort()
 {
     // Initial default settings
-    serialInterface = new USART(portNumber, 115200);
+    usart.setBaudrate(115200);
 
     // Check correct serial init
     return true;
@@ -342,11 +338,8 @@ bool VN100::configUserSerialPort()
         return false;
     }
 
-    // Destroy the serial object
-    delete serialInterface;
-
     // I can open the serial with user's baud rate
-    serialInterface = new USART(portNumber, baudRate);
+    usart.setBaudrate(baudRate);
 
     // Check correct serial init
     return true;
@@ -654,7 +647,7 @@ bool VN100::sendStringCommand(std::string command)
     }
 
     // I send the final command
-    serialInterface->writeString(command.c_str());
+    usart.writeString(command.c_str());
 
     // Wait some time
     // TODO dimension the time
@@ -667,7 +660,7 @@ bool VN100::recvStringCommand(char *command, int maxLength)
 {
     int i = 0;
     // Read the buffer
-    if (!(serialInterface->readBlocking(command, maxLength)))
+    if (!usart.readBlocking(command, maxLength))
     {
         return false;
     }
diff --git a/src/shared/sensors/VN100/VN100.h b/src/shared/sensors/VN100/VN100.h
index d2d5c6c94..e6880433f 100644
--- a/src/shared/sensors/VN100/VN100.h
+++ b/src/shared/sensors/VN100/VN100.h
@@ -80,13 +80,13 @@ public:
     /**
      * @brief Constructor.
      *
-     * @param USART port number.
+     * @param usart Serial bus used for the sensor.
      * @param BaudRate different from the sensor's default [9600, 19200, 38400,
      * 57600, 115200, 128000, 230400, 460800, 921600].
      * @param Redundancy check option.
      * @param samplePeriod Sampling period in ms
      */
-    VN100(USARTType *portNumber = USART2, int baudRate = 921600,
+    VN100(USART &usart, int baudrate,
           CRCOptions crc        = CRCOptions::CRC_ENABLE_8,
           uint16_t samplePeriod = 20);
 
@@ -238,8 +238,13 @@ private:
      */
     uint16_t calculateChecksum16(uint8_t *message, int length);
 
-    USARTType *portNumber;
+    /**
+     * @brief Serial interface that is needed to communicate
+     * with the sensor via ASCII codes.
+     */
+    USART &usart;
     int baudRate;
+
     uint16_t samplePeriod;
     CRCOptions crc;
     bool isInit = false;
@@ -266,12 +271,6 @@ private:
      */
     unsigned int recvStringLength = 0;
 
-    /**
-     * @brief Serial interface that is needed to communicate
-     * with the sensor via ASCII codes.
-     */
-    USARTInterface *serialInterface = nullptr;
-
     /**
      * @brief Mutex to synchronize the reading and writing of the threadSample
      */
diff --git a/src/tests/sensors/test-vn100.cpp b/src/tests/sensors/test-vn100.cpp
index 2e93b1eff..7b46b4cb8 100644
--- a/src/tests/sensors/test-vn100.cpp
+++ b/src/tests/sensors/test-vn100.cpp
@@ -31,7 +31,9 @@ int main()
 {
     VN100Data sample;
     string sampleRaw;
-    VN100 sensor{USART1, 921600, VN100::CRCOptions::CRC_ENABLE_16};
+    USART usart(USART1, 921600);
+    VN100 sensor{usart, 921600,
+                 VN100::CRCOptions::CRC_ENABLE_16};
 
     // Let the sensor start up
     Thread::sleep(1000);
-- 
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