From dd17ff151c3e1aa51ee8130837322d00216fa09c Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Mon, 26 Feb 2024 23:49:23 +0100
Subject: [PATCH] [HIL] Fixed namespace issues, formatting in HILSensor print,
cppcheck issues and turned printf in TRACEs
---
src/shared/hil/HIL.h | 4 +--
src/shared/hil/HILPhasesManager.h | 10 +++---
src/shared/sensors/HILSensors/HILSensor.h | 4 +--
src/tests/hil/HILSimulationConfig.h | 41 ++++++++++++-----------
4 files changed, 31 insertions(+), 28 deletions(-)
diff --git a/src/shared/hil/HIL.h b/src/shared/hil/HIL.h
index e9ba8b49b..0680517fb 100644
--- a/src/shared/hil/HIL.h
+++ b/src/shared/hil/HIL.h
@@ -101,7 +101,7 @@ public:
LOG_INFO(logger, "Waiting for simulation to start...");
while (!hilPhasesManager->isSimulationRunning())
{
- Thread::sleep(updatePeriod);
+ miosix::Thread::sleep(updatePeriod);
}
}
@@ -118,7 +118,7 @@ private:
{
hilTransceiver->setActuatorData(updateActuatorData());
}
- Thread::sleep(updatePeriod);
+ miosix::Thread::sleep(updatePeriod);
}
}
diff --git a/src/shared/hil/HILPhasesManager.h b/src/shared/hil/HILPhasesManager.h
index 0131f20d8..29827f0a1 100644
--- a/src/shared/hil/HILPhasesManager.h
+++ b/src/shared/hil/HILPhasesManager.h
@@ -23,6 +23,7 @@
#pragma once
#include <algorithms/AirBrakes/TrajectoryPoint.h>
+#include <diagnostic/PrintLogger.h>
#include <drivers/timer/TimestampTimer.h>
#include <events/Event.h>
#include <events/EventHandler.h>
@@ -30,6 +31,7 @@
#include <iostream>
#include <map>
+#include <utils/Debug.h>
#include <utils/ModuleManager/ModuleManager.hpp>
typedef std::function<void()> TCallback;
@@ -48,9 +50,9 @@ struct Outcomes
void print(uint64_t t_start) const
{
- printf("@time : %f [sec]\n", (double)(t - t_start) / 1000000);
- printf("@altitude : %f [m]\n", z);
- printf("@velocity : %f [m/s]\n\n", vz);
+ TRACE("@time : %f [sec]\n", (double)(t - t_start) / 1000000);
+ TRACE("@altitude : %f [m]\n", z);
+ TRACE("@velocity : %f [m/s]\n\n", vz);
}
};
@@ -151,6 +153,6 @@ protected:
std::map<FlightPhases, bool> flagsFlightPhases;
std::map<FlightPhases, bool> prev_flagsFlightPhases;
- std::map<FlightPhases, vector<TCallback>> callbacks;
+ std::map<FlightPhases, std::vector<TCallback>> callbacks;
std::map<FlightPhases, Outcomes> outcomes;
};
diff --git a/src/shared/sensors/HILSensors/HILSensor.h b/src/shared/sensors/HILSensors/HILSensor.h
index ce2bfc264..f7b246e45 100644
--- a/src/shared/sensors/HILSensors/HILSensor.h
+++ b/src/shared/sensors/HILSensors/HILSensor.h
@@ -111,7 +111,7 @@ protected:
if (sampleCounter >= N_DATA)
{
this->lastError = Boardcore::SensorErrors::NO_NEW_DATA;
- LOG_WARN(logger, "%s: No new data", typeid(this).name());
+ LOG_WARN(logger, "{}: No new data", typeid(this).name());
}
else if (this->lastError != Boardcore::SensorErrors::NO_NEW_DATA)
{
@@ -121,7 +121,7 @@ protected:
else
{
this->lastError = Boardcore::SensorErrors::NOT_INIT;
- LOG_WARN(logger, "%s is not initialized", typeid(this).name());
+ LOG_WARN(logger, "{} is not initialized", typeid(this).name());
}
return this->lastSample;
diff --git a/src/tests/hil/HILSimulationConfig.h b/src/tests/hil/HILSimulationConfig.h
index 3c71184a3..82b66451e 100644
--- a/src/tests/hil/HILSimulationConfig.h
+++ b/src/tests/hil/HILSimulationConfig.h
@@ -48,7 +48,7 @@ namespace HILConfig
struct SensorConfig : public Boardcore::SensorInfo
{
- SensorConfig(const std::string s, const uint32_t period)
+ SensorConfig(const std::string& s, const uint32_t period)
: Boardcore::SensorInfo{s, period, []() {}, true}
{
}
@@ -126,7 +126,7 @@ struct FlagsHIL
void print()
{
- printf(
+ TRACE(
"flag_flight: %f\n"
"flag_ascent: %f\n"
"flag_burning: %f\n"
@@ -157,7 +157,7 @@ struct ADAStateHIL
void print()
{
- printf(
+ TRACE(
"mslAltitude: %+.3f\n"
"aglAltitude: %+.3f\n"
"verticalSpeed: %+.3f\n"
@@ -197,7 +197,7 @@ struct NASStateHIL
void print()
{
- printf(
+ TRACE(
"n: %+.3f\n"
"e: %+.3f\n"
"d: %+.3f\n"
@@ -222,7 +222,7 @@ struct AirBrakesStateHIL
AirBrakesStateHIL() : updating(0) {}
- void print() { printf("updating: %+.3f\n", updating); }
+ void print() { TRACE("updating: %+.3f\n", updating); }
};
/**
@@ -245,7 +245,7 @@ struct MEAStateHIL
void print()
{
- printf(
+ TRACE(
"correctedPressure: %+.3f\n"
"estimatedMass: %+.3f\n"
"estimatedApogee: %+.3f\n"
@@ -278,7 +278,7 @@ struct ActuatorsStateHIL
void print()
{
- printf(
+ TRACE(
"airbrakes: %f perc\n"
"expulsion: %f perc\n"
"mainValve: %f perc\n"
@@ -376,7 +376,7 @@ class MainHILPhasesManager
: public HILPhasesManager<MainFlightPhases, SimulatorData, ActuatorData>
{
public:
- MainHILPhasesManager(
+ explicit MainHILPhasesManager(
std::function<Boardcore::TimedTrajectoryPoint()> getCurrentPosition)
: HILPhasesManager<MainFlightPhases, SimulatorData, ActuatorData>(
getCurrentPosition)
@@ -443,33 +443,33 @@ public:
void printOutcomes()
{
- printf("OUTCOMES: (times dt from liftoff)\n\n");
- printf("Simulation time: %.3f [sec]\n\n",
+ TRACE("OUTCOMES: (times dt from liftoff)\n\n");
+ TRACE("Simulation time: %.3f [sec]\n\n",
(double)(t_stop - t_start) / 1000000.0f);
- printf("Motor stopped burning (simulation flag): \n");
+ TRACE("Motor stopped burning (simulation flag): \n");
outcomes[MainFlightPhases::SIM_BURNING].print(t_liftoff);
- printf("Airbrakes exit shadowmode: \n");
+ TRACE("Airbrakes exit shadowmode: \n");
outcomes[MainFlightPhases::AEROBRAKES].print(t_liftoff);
- printf("Apogee: \n");
+ TRACE("Apogee: \n");
outcomes[MainFlightPhases::APOGEE].print(t_liftoff);
- printf("Parachute 1: \n");
+ TRACE("Parachute 1: \n");
outcomes[MainFlightPhases::PARA1].print(t_liftoff);
- printf("Parachute 2: \n");
+ TRACE("Parachute 2: \n");
outcomes[MainFlightPhases::PARA2].print(t_liftoff);
- printf("Simulation Stopped: \n");
+ TRACE("Simulation Stopped: \n");
outcomes[MainFlightPhases::SIMULATION_STOPPED].print(t_liftoff);
// auto cpuMeter = Boardcore::CpuMeter::getCpuStats();
- // printf("max cpu usage: %+.3f\n", cpuMeter.maxValue);
- // printf("avg cpu usage: %+.3f\n", cpuMeter.mean);
- // printf("min free heap: %+.3lu\n", cpuMeter.minFreeHeap);
- // printf("max free stack:%+.3lu\n", cpuMeter.minFreeStack);
+ // TRACE("max cpu usage: %+.3f\n", cpuMeter.maxValue);
+ // TRACE("avg cpu usage: %+.3f\n", cpuMeter.mean);
+ // TRACE("min free heap: %+.3lu\n", cpuMeter.minFreeHeap);
+ // TRACE("max free stack:%+.3lu\n", cpuMeter.minFreeStack);
}
private:
@@ -480,6 +480,7 @@ private:
TRACE("%d invalid event\n", e);
/* calling the callbacks subscribed to the changed flags */
+ // cppcheck-suppress unsignedLessThanZero
for (unsigned int i = 0; i < changed_flags.size(); i++)
{
std::vector<TCallback> callbacksToCall =
--
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