RIP v0.2 (to master)

.gitignore

@@ -88,6 +88,7 @@ Thumbs.db
 *.pyc
 
 build/
+build_armhf/
 doc/
 .idea/
 cmake-build-debug/

CMakeLists.txt

@@ -14,7 +14,13 @@ endif()
 # to correctly compile the codebase despite this line being in the
 # downstream CMake files.
 set (CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdiagnostics-color=always")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-psabi")
+
+option(GCC_DIAG_COLORS "Enable GCC Diagnostic Colors" ON)
+if (GCC_DIAG_COLORS)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdiagnostics-color=always")
+endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules)
 

appendages/CMakeLists.txt

@@ -5,11 +5,11 @@ project(appendages)
 file(GLOB_RECURSE ${PROJECT_NAME}_SOURCES "src/*.cpp")
 file(GLOB_RECURSE ${PROJECT_NAME}_HEADERS "include/*.hpp")
 
-add_library(${PROJECT_NAME} EXCLUDE_FROM_ALL ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
+add_library(${PROJECT_NAME} STATIC EXCLUDE_FROM_ALL ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
 target_link_libraries(${PROJECT_NAME}
     fmt json spdlog cppfs
-    cmd_messenger misc)
+    cmd_messenger units misc motor_controllers pid)
 target_include_directories(${PROJECT_NAME} PUBLIC include)
 
 set_property(GLOBAL PROPERTY AppendageRoot ${CMAKE_CURRENT_SOURCE_DIR})

appendages/include/appendages/bno055.hpp

@@ -0,0 +1,61 @@
+#ifndef BNO055_HPP
+#define BNO055_HPP
+
+#include <appendages/appendage.hpp>
+#include <pid/pid_input.hpp>
+
+namespace rip
+{
+    namespace appendages
+    {
+        class Bno055 : public Appendage, public pid::PidInput
+        {
+        public:
+
+            units::Angle getYaw();
+            units::Angle getPitch();
+            units::Angle getRoll();
+            bool isCalibrated();
+
+            double get() override;
+
+            void stop() override;
+
+            bool diagnostic() override;
+
+        protected:
+            friend class AppendageFactory;
+
+            /**
+             * Function wrapper for the constructor so it can be pointed to
+             *
+             * @param config The config from arduino gen
+             * @param command_map A map of the name of the commands to their enumerations
+             * @param device The connection to the device
+             */
+            static std::shared_ptr<Appendage> create(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device);
+
+        private:
+            /**
+             * Constructor
+             *
+             * @param config The config from arduino gen
+             * @param command_map A map of the name of the commands to their enumerations
+             * @param device The connection to the device
+             */
+            Bno055(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device);
+
+            std::shared_ptr<cmdmessenger::Command> m_yaw;
+            std::shared_ptr<cmdmessenger::Command> m_yaw_result;
+            std::shared_ptr<cmdmessenger::Command> m_pitch;
+            std::shared_ptr<cmdmessenger::Command> m_pitch_result;
+            std::shared_ptr<cmdmessenger::Command> m_roll;
+            std::shared_ptr<cmdmessenger::Command> m_roll_result;
+            std::shared_ptr<cmdmessenger::Command> m_calibrated;
+            std::shared_ptr<cmdmessenger::Command> m_caribrated_result;
+
+        };
+    }
+}
+
+#endif //BNO055_HPP

appendages/include/appendages/exceptions.hpp

@@ -17,8 +17,8 @@
  *  \$$    $$   | $$   | $$  \$$\      | $$  | $$|   $$ \| $$
  *   \$$$$$$     \$$    \$$   \$$       \$$   \$$ \$$$$$$ \$$
  */
-#ifndef EXCEPTIONS_HPP
-#define EXCEPTIONS_HPP
+#ifndef APPENDAGES_EXCEPTIONS_HPP
+#define APPENDAGES_EXCEPTIONS_HPP
 #include <misc/exception_base.hpp>
 
 namespace rip
@@ -28,7 +28,9 @@ namespace rip
         NEW_EX(CommandNotFound)
         NEW_EX(AppendageWithoutType)
         NEW_EX(AppendageWithoutLabel)
-        NEW_EX(AppendageWithId)
+        NEW_EX(AppendageWithoutId)
+        NEW_EX(AppendageMissingField)
+        NEW_EX(AppendageNotImplemented)
     }
 }
-#endif // EXCEPTIONS_HPP
+#endif // APPENDAGES_EXCEPTIONS_HPP

appendages/include/appendages/ir_2018.hpp

@@ -0,0 +1,67 @@
+#ifndef IR_2018_HPP
+#define IR_2018_HPP
+
+#include <memory>
+#include <map>
+#include <string>
+
+
+#include <cmd_messenger/command.hpp>
+
+#include "appendages/appendage.hpp"
+#include "appendages/appendage_factory.hpp"
+
+#include <json.hpp>
+
+namespace rip
+{
+    namespace appendages
+    {
+        class Ir2018 : public Appendage
+        {
+        public:
+            /**
+             * Reads the ir receiver for the 2018 challenge
+             * @returns Whether A, B, and C are right or left
+             */
+            std::array<bool, 5> read();
+
+            bool calibrate();
+
+            /**
+             * Stop
+             */
+            virtual void stop() override;
+
+            virtual bool diagnostic() override;
+
+        protected:
+            friend class AppendageFactory;
+
+            /**
+             * Function wrapper for the constructor so it can be pointed to
+             *
+             * @param config The config from arduino gen
+             * @param command_map A map of the name of the commands to their enumerations
+             * @param device The connection to the device
+             */
+            static std::shared_ptr<Appendage> create(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device);
+
+        private:
+            /**
+             * Constructor
+             *
+             * @param config The config from arduino gen
+             * @param command_map A map of the name of the commands to their enumerations
+             * @param device The connection to the device
+             */
+            Ir2018(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device);
+
+            std::shared_ptr<cmdmessenger::Command> m_read;
+            std::shared_ptr<cmdmessenger::Command> m_read_result;
+            std::shared_ptr<cmdmessenger::Command> m_calibrate;
+            std::shared_ptr<cmdmessenger::Command> m_calibrate_result;
+        };
+    }
+}
+#endif // IR_2018_HPP

appendages/include/appendages/navx.hpp

@@ -0,0 +1,84 @@
+#ifndef NAVX_APPENDAGE_HPP
+#define NAVX_APPENDAGE_HPP
+
+#include <tuple>
+#include <misc/logger.hpp>
+#include <fmt/format.h>
+#include <cmd_messenger/command.hpp>
+#include "appendages/appendage.hpp"
+#include "appendages/appendage_factory.hpp"
+#include <json.hpp>
+#include <units/units.hpp>
+
+namespace rip
+{
+	namespace appendages
+	{
+		class NavX : public Appendage
+		{
+		public:
+            /**
+             * @brief returns yaw
+             * @return float
+             */
+            units::Angle getYaw();
+            /**
+             * @brief reports the pitch of the device
+             * @return float
+             */
+			units::Angle getPitch();
+            /**
+             * @brief reports the roll of the device
+             * @return float
+             */
+			units::Angle getRoll();
+            /**
+             * @brief gets the status of the device.
+             * @return code representing status of device
+             */
+            char getStatus();
+			/**
+			* Stop! ^0^
+			*/
+			virtual void stop() override;
+
+			virtual bool diagnostic() override;
+
+        protected:
+            friend class AppendageFactory;
+            /**
+            * Function wrapper for the constructor so it can be pointed to
+            *
+            * @param config The config from arduino gen
+            * @param command_map A map of the name of the commands to their enumerations
+            * @param device The connection to the device
+            */
+            static std::shared_ptr<Appendage> create(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device);
+
+        private:
+			/**
+			* Constructor
+			*
+			* @param config The config from arduino gen
+			* @param command_map A map of the name of the commands to their enumerations
+			* @param device The connection to the device
+			*/
+			NavX(const nlohmann::json& config, const std::map<std::string, int>& command_map, std::shared_ptr<cmdmessenger::Device> device);
+
+            std::shared_ptr<cmdmessenger::Command> m_get_yaw;
+            std::shared_ptr<cmdmessenger::Command> m_get_yaw_result;
+
+            std::shared_ptr<cmdmessenger::Command> m_get_pitch;
+            std::shared_ptr<cmdmessenger::Command> m_get_pitch_result;
+
+            std::shared_ptr<cmdmessenger::Command> m_get_roll;
+            std::shared_ptr<cmdmessenger::Command> m_get_roll_result;
+
+            std::shared_ptr<cmdmessenger::Command> m_get_status;
+            std::shared_ptr<cmdmessenger::Command> m_get_status_result;
+
+        };
+    }
+}
+
+#endif // NAVX_APPENDAGE_HPP