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Use SBG sensor status #47

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merged 14 commits into from
Mar 19, 2024
Merged

Use SBG sensor status #47

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aed11e5
wip
jonapap Jun 7, 2023
7eea2af
Add GPS status and IMU flags getter.
NoahSprenger Mar 14, 2024
a971a44
feat: add option to sensor fields
jonapap Jun 8, 2023
3119e36
feat: implement Arbitrary for messages in std
jonapap Jun 9, 2023
3a2bdc3
Resolve conflict
NoahSprenger Mar 14, 2024
4ba362b
Fix proptest std test feature
NoahSprenger Mar 14, 2024
91443a0
Seperate Data and increase testing thread size
NoahSprenger Mar 14, 2024
a29520f
Update workflow
NoahSprenger Mar 14, 2024
a1504e0
Fix workflow
NoahSprenger Mar 14, 2024
603ad8b
add macro for common derives in the messages crate
jonapap Mar 18, 2024
14470e2
Update libraries/sbg-rs/src/data_conversion.rs
NoahSprenger Mar 18, 2024
a839c2e
Update libraries/sbg-rs/src/data_conversion.rs
NoahSprenger Mar 18, 2024
6f3f905
Update libraries/sbg-rs/src/data_conversion.rs
NoahSprenger Mar 18, 2024
02d32f8
Update libraries/sbg-rs/src/data_conversion.rs
NoahSprenger Mar 18, 2024
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16 changes: 16 additions & 0 deletions .github/workflows/build.yml
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Expand Up @@ -46,6 +46,22 @@ jobs:
# with:
# command: make
# args: test-device --no-run
test:
runs-on: ubuntu-latest
env:
RUST_MIN_STACK: 8388608
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Is this needed if Cargo Make sets it itself?

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Unfortunately, it is needed as I tested before with the stack increase only in the Cargo Make.

steps:
- uses: actions/checkout@v2
- name: Install packages
run: sudo apt update && sudo apt install -y cmake
- uses: actions-rs/toolchain@v1
with:
toolchain: stable
- uses: actions-rs/cargo@v1
name: "Install cargo-make"
with:
command: install
args: --force cargo-make
- uses: actions-rs/cargo@v1
name: "Run Host Tests"
with:
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6 changes: 6 additions & 0 deletions Cargo.lock
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1 change: 1 addition & 0 deletions Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
[workspace]
resolver = "2"

members = [
"boards/*",
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3 changes: 2 additions & 1 deletion Makefile.toml
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Expand Up @@ -22,7 +22,8 @@ dependencies = [

[tasks.test-messages]
command = "cargo"
args = ["test", "-p", "messages", "--target", "${CARGO_MAKE_RUST_TARGET_TRIPLE}"]
args = ["test", "-p", "messages", "--target", "${CARGO_MAKE_RUST_TARGET_TRIPLE}", "--features", "std", "--no-default-features"]
env = {RUST_MIN_STACK = "8388608"}
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Please add a comment documenting why this is needed. Also, is this value special in any way?

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👍 The value is not special.


# -----------------------
# Embedded Testing
Expand Down
20 changes: 19 additions & 1 deletion boards/beacon/src/data_manager.rs
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Expand Up @@ -7,13 +7,16 @@
pub air: Option<Message>,
pub ekf_nav_1: Option<Message>,
pub ekf_nav_2: Option<Message>,
pub ekf_nav_acc: Option<Message>,
pub ekf_quat: Option<Message>,
pub imu_1: Option<Message>,
pub imu_2: Option<Message>,
pub utc_time: Option<Message>,
pub gps_vel: Option<Message>,
pub gps_vel_acc: Option<Message>,
pub gps_pos_1: Option<Message>,
pub gps_pos_2: Option<Message>,
pub gps_pos_acc: Option<Message>,
pub state: Option<StateData>,
pub logging_rate: Option<RadioRate>,
}
Expand All @@ -24,41 +27,47 @@
air: None,
ekf_nav_1: None,
ekf_nav_2: None,
ekf_nav_acc: None,
ekf_quat: None,
imu_1: None,
imu_2: None,
utc_time: None,
gps_vel: None,
gps_vel_acc: None,
gps_pos_1: None,
gps_pos_2: None,
gps_pos_acc: None,
state: None,
logging_rate: Some(RadioRate::Slow), // start slow.
}
}

pub fn get_logging_rate(&mut self) -> RadioRate {

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GitHub Actions / clippy

methods `get_logging_rate`, `take_sensors`, `clone_states`, and `handle_data` are never used 

warning: methods `get_logging_rate`, `take_sensors`, `clone_states`, and `handle_data` are never used
  --> boards/beacon/src/data_manager.rs:45:12
   |
24 | impl DataManager {
   | ---------------- methods in this implementation
...
45 |     pub fn get_logging_rate(&mut self) -> RadioRate {
   |            ^^^^^^^^^^^^^^^^
...
56 |     pub fn take_sensors(&mut self) -> [Option<Message>; 13] {
   |            ^^^^^^^^^^^^
...
74 |     pub fn clone_states(&self) -> [Option<StateData>; 1] {
   |            ^^^^^^^^^^^^
...
77 |     pub fn handle_data(&mut self, data: Message) {
   |            ^^^^^^^^^^^
   |
   = note: `#[warn(dead_code)]` on by default
if let Some(rate) = self.logging_rate.take() {
let rate_cln = rate.clone();
self.logging_rate = Some(rate);
return rate_cln;
}
self.logging_rate = Some(RadioRate::Slow);
return RadioRate::Slow;

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unneeded `return` statement 

warning: unneeded `return` statement
  --> boards/beacon/src/data_manager.rs:52:9
   |
52 |         return RadioRate::Slow;
   |         ^^^^^^^^^^^^^^^^^^^^^^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
   = note: `#[warn(clippy::needless_return)]` on by default
help: remove `return`
   |
52 -         return RadioRate::Slow;
52 +         RadioRate::Slow
   |
}

/// Do not clone instead take to reduce CPU load.
pub fn take_sensors(&mut self) -> [Option<Message>; 10] {
pub fn take_sensors(&mut self) -> [Option<Message>; 13] {
[
self.air.take(),
self.ekf_nav_1.take(),
self.ekf_nav_2.take(),
self.ekf_nav_acc.take(),
self.ekf_quat.take(),
self.imu_1.take(),
self.imu_2.take(),
self.utc_time.take(),
self.gps_vel.take(),
self.gps_vel_acc.take(),
self.gps_pos_1.take(),
self.gps_pos_2.take(),
self.gps_pos_acc.take(),
]
}

Expand All @@ -68,6 +77,12 @@
pub fn handle_data(&mut self, data: Message) {
match data.data {
messages::Data::Sensor(ref sensor) => match sensor.data {
messages::sensor::SensorData::EkfNavAcc(_) => {
self.ekf_nav_acc = Some(data);
}
messages::sensor::SensorData::GpsPosAcc(_) => {
self.gps_pos_acc = Some(data);
}
messages::sensor::SensorData::Air(_) => {
self.air = Some(data);
}
Expand All @@ -83,6 +98,9 @@
messages::sensor::SensorData::GpsVel(_) => {
self.gps_vel = Some(data);
}
messages::sensor::SensorData::GpsVelAcc(_) => {
self.gps_vel_acc = Some(data);
}
messages::sensor::SensorData::Imu1(_) => {
self.imu_1 = Some(data);
}
Expand Down
10 changes: 8 additions & 2 deletions boards/camera/src/data_manager.rs
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Expand Up @@ -61,7 +61,10 @@
}
pub fn is_launched(&self) -> bool {
match self.air.as_ref() {
Some(air) => air.altitude > HEIGHT_MIN,
Some(air) => match air.altitude {
Some(altitude) => altitude > HEIGHT_MIN,
None => false,
}
None => false,
}
}
Expand Down Expand Up @@ -100,18 +103,21 @@
}
pub fn is_below_main(&self) -> bool {
match self.air.as_ref() {
Some(air) => air.altitude < MAIN_HEIGHT,
Some(air) => match air.altitude {
Some(altitude) => altitude < MAIN_HEIGHT,
None => false
}
None => false,
}
}
pub fn handle_data(&mut self, data: Message) {
match data.data {
messages::Data::Sensor(sensor) => match sensor.data {
messages::sensor::SensorData::Air(air_data) => {
self.air = Some(air_data);
}
_ => {}
},

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you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let` 

warning: you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let`
   --> boards/camera/src/data_manager.rs:115:47
    |
115 |               messages::Data::Sensor(sensor) => match sensor.data {
    |  _______________________________________________^
116 | |                 messages::sensor::SensorData::Air(air_data) => {
117 | |                     self.air = Some(air_data);
118 | |                 }
119 | |                 _ => {}
120 | |             },
    | |_____________^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#single_match
help: try
    |
115 ~             messages::Data::Sensor(sensor) => if let messages::sensor::SensorData::Air(air_data) = sensor.data {
116 +                 self.air = Some(air_data);
117 ~             },
    |
_ => {}
}

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you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let` 

warning: you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let`
   --> boards/camera/src/data_manager.rs:114:9
    |
114 | /         match data.data {
115 | |             messages::Data::Sensor(sensor) => match sensor.data {
116 | |                 messages::sensor::SensorData::Air(air_data) => {
117 | |                     self.air = Some(air_data);
...   |
121 | |             _ => {}
122 | |         }
    | |_________^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#single_match
    = note: `#[warn(clippy::single_match)]` on by default
help: try
    |
114 ~         if let messages::Data::Sensor(sensor) = data.data { match sensor.data {
115 +             messages::sensor::SensorData::Air(air_data) => {
116 +                 self.air = Some(air_data);
117 +             }
118 +             _ => {}
119 +         } }
    |
}
Expand Down
20 changes: 19 additions & 1 deletion boards/communication/src/data_manager.rs
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Expand Up @@ -7,13 +7,16 @@
pub air: Option<Message>,
pub ekf_nav_1: Option<Message>,
pub ekf_nav_2: Option<Message>,
pub ekf_nav_acc: Option<Message>,
pub ekf_quat: Option<Message>,
pub imu_1: Option<Message>,
pub imu_2: Option<Message>,
pub utc_time: Option<Message>,
pub gps_vel: Option<Message>,
pub gps_vel_acc: Option<Message>,
pub gps_pos_1: Option<Message>,
pub gps_pos_2: Option<Message>,
pub gps_pos_acc: Option<Message>,
pub state: Option<StateData>,
pub logging_rate: Option<RadioRate>,
}
Expand All @@ -24,13 +27,16 @@
air: None,
ekf_nav_1: None,
ekf_nav_2: None,
ekf_nav_acc: None,
ekf_quat: None,
imu_1: None,
imu_2: None,
utc_time: None,
gps_vel: None,
gps_vel_acc: None,
gps_pos_1: None,
gps_pos_2: None,
gps_pos_acc: None,
state: None,
logging_rate: Some(RadioRate::Slow), // start slow.
}
Expand All @@ -43,22 +49,25 @@
return rate_cln;
}
self.logging_rate = Some(RadioRate::Slow);
return RadioRate::Slow;

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unneeded `return` statement 

warning: unneeded `return` statement
  --> boards/communication/src/data_manager.rs:52:9
   |
52 |         return RadioRate::Slow;
   |         ^^^^^^^^^^^^^^^^^^^^^^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
   |
52 -         return RadioRate::Slow;
52 +         RadioRate::Slow
   |
}

/// Do not clone instead take to reduce CPU load.
pub fn take_sensors(&mut self) -> [Option<Message>; 10] {
pub fn take_sensors(&mut self) -> [Option<Message>; 13] {
[
self.air.take(),
self.ekf_nav_1.take(),
self.ekf_nav_2.take(),
self.ekf_nav_acc.take(),
self.ekf_quat.take(),
self.imu_1.take(),
self.imu_2.take(),
self.utc_time.take(),
self.gps_vel.take(),
self.gps_vel_acc.take(),
self.gps_pos_1.take(),
self.gps_pos_2.take(),
self.gps_pos_acc.take(),
]
}

Expand All @@ -68,6 +77,12 @@
pub fn handle_data(&mut self, data: Message) {
match data.data {
messages::Data::Sensor(ref sensor) => match sensor.data {
messages::sensor::SensorData::EkfNavAcc(_) => {
self.ekf_nav_acc = Some(data);
}
messages::sensor::SensorData::GpsPosAcc(_) => {
self.gps_pos_acc = Some(data);
}
messages::sensor::SensorData::Air(_) => {
self.air = Some(data);
}
Expand All @@ -83,6 +98,9 @@
messages::sensor::SensorData::GpsVel(_) => {
self.gps_vel = Some(data);
}
messages::sensor::SensorData::GpsVelAcc(_) => {
self.gps_vel_acc = Some(data);
}
messages::sensor::SensorData::Imu1(_) => {
self.imu_1 = Some(data);
}
Expand Down
2 changes: 1 addition & 1 deletion boards/power/src/data_manager.rs
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Expand Up @@ -7,7 +7,7 @@
pub fn new() -> Self {
Self {}
}
pub fn handle_data(&mut self, data: Message) {
pub fn handle_data(&mut self, _data: Message) {

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method `handle_data` is never used 

warning: method `handle_data` is never used
  --> boards/power/src/data_manager.rs:10:12
   |
6  | impl DataManager {
   | ---------------- method in this implementation
...
10 |     pub fn handle_data(&mut self, _data: Message) {
   |            ^^^^^^^^^^^
// to do
}
}
Expand Down
31 changes: 23 additions & 8 deletions boards/recovery/src/data_manager.rs
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Expand Up @@ -75,7 +75,10 @@ impl DataManager {
}
pub fn is_launched(&self) -> bool {
match self.air.as_ref() {
Some(air) => air.altitude > HEIGHT_MIN,
Some(air) => match air.altitude {
Some(altitude) => altitude > HEIGHT_MIN,
None => false,
}
None => false,
}
}
Expand Down Expand Up @@ -114,7 +117,10 @@ impl DataManager {
}
pub fn is_below_main(&self) -> bool {
match self.air.as_ref() {
Some(air) => air.altitude < MAIN_HEIGHT,
Some(air) => match air.altitude {
Some(altitude) => altitude < MAIN_HEIGHT,
None => false,
}
None => false,
}
}
Expand All @@ -125,14 +131,23 @@ impl DataManager {
match data.data {
messages::Data::Sensor(sensor) => match sensor.data {
messages::sensor::SensorData::Air(air_data) => {
let tup_data = (air_data.altitude, air_data.time_stamp);
self.air = Some(air_data);
if let Some(recent) = self.historical_barometer_altitude.recent() {
if recent.1 != tup_data.1 {
/*
NOTE!!!
There should be added a counter to check how many times
the alt is dropped, if the number is high switch to
the on board barometer.
*/

if let Some(alt) = air_data.altitude {
let tup_data: (f32, u32) = (alt, air_data.time_stamp);
self.air = Some(air_data);
if let Some(recent) = self.historical_barometer_altitude.recent() {
if recent.1 != tup_data.1 {
self.historical_barometer_altitude.write(tup_data);
}
} else {
self.historical_barometer_altitude.write(tup_data);
}
} else {
self.historical_barometer_altitude.write(tup_data);
}
}
messages::sensor::SensorData::EkfNav1(nav1_data) => {
Expand Down
15 changes: 9 additions & 6 deletions boards/sensor/src/data_manager.rs
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@@ -1,19 +1,19 @@
use crate::app::sleep_system;
use common_arm::{spawn, HydraError};
use messages::sensor::{
Air, EkfNav1, EkfNav2, EkfQuat, GpsPos1, GpsPos2, GpsVel, Imu1, Imu2, SensorData, UtcTime,
Air, EkfNav1, EkfNav2, EkfQuat, GpsPos1, GpsPos2, GpsVel, Imu1, Imu2, SensorData, UtcTime, EkfNavAcc, GpsPosAcc, GpsVelAcc,
};
use messages::Message;

#[derive(Clone)]
pub struct DataManager {
pub air: Option<Air>,
pub ekf_nav: Option<(EkfNav1, EkfNav2)>,
pub ekf_nav: Option<(EkfNav1, EkfNav2, EkfNavAcc)>,
pub ekf_quat: Option<EkfQuat>,
pub imu: Option<(Imu1, Imu2)>,
pub utc_time: Option<UtcTime>,
pub gps_vel: Option<GpsVel>,
pub gps_pos: Option<(GpsPos1, GpsPos2)>,
pub gps_vel: Option<(GpsVel, GpsVelAcc)>,
pub gps_pos: Option<(GpsPos1, GpsPos2, GpsPosAcc)>,
}

impl DataManager {
Expand All @@ -29,18 +29,21 @@ impl DataManager {
}
}

pub fn clone_sensors(&self) -> [Option<SensorData>; 10] {
pub fn clone_sensors(&self) -> [Option<SensorData>; 13] {
[
self.air.clone().map(|x| x.into()),
self.ekf_nav.clone().map(|x| x.0.into()),
self.ekf_nav.clone().map(|x| x.1.into()),
self.ekf_nav.clone().map(|x| x.2.into()),
self.ekf_quat.clone().map(|x| x.into()),
self.imu.clone().map(|x| x.0.into()),
self.imu.clone().map(|x| x.1.into()),
self.utc_time.clone().map(|x| x.into()),
self.gps_vel.clone().map(|x| x.into()),
self.gps_vel.clone().map(|x| x.0.into()),
self.gps_vel.clone().map(|x| x.1.into()),
self.gps_pos.clone().map(|x| x.0.into()),
self.gps_pos.clone().map(|x| x.1.into()),
self.gps_pos.clone().map(|x| x.2.into()),
]
}

Expand Down
8 changes: 6 additions & 2 deletions libraries/messages/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,11 @@ defmt = "0.3.2"
fugit = "0.3.6"
heapless = "0.7.16"
ts-rs = { version = "6.2.1", optional = true }
mavlink = { git = "https://github.com/uorocketry/rust-mavlink", default-features = false}
mavlink = { git = "https://github.com/uorocketry/rust-mavlink", default-features = false }
bitflags = { version = "2.3.1", features = ["serde"] }
proptest = { version = "1.2.0", optional = true }
proptest-derive = { version = "0.3.0", optional = true }
messages-proc-macros-lib = { path = "messages-proc-macros-lib" }

[dev-dependencies]
proptest = "1.2.0"
Expand All @@ -21,5 +25,5 @@ postcard = { version = "1.0.4", features = ["alloc"] }

[features]
default = ["mavlink/embedded", "mavlink/uorocketry"]
std = ["mavlink/default"]
std = ["mavlink/default", "dep:proptest", "dep:proptest-derive"]
ts = ["std", "dep:ts-rs"]
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