test Cstyle writing/reading

.github/workflows/rocket_telem_proxy_build.yml

@@ -0,0 +1,118 @@
+name: Create and publish the Telemetry Proxy Docker image
+
+# Configures this workflow to run every time a change is pushed to the branch called `main` or a pull request to `main` is created
+on:
+  push:
+    branches: ['main']
+  pull_request:
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository_owner }}/rocket-telem-proxy
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        platform:
+          - linux/amd64
+          - linux/arm64
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Prepare
+        run: |
+          platform=${{ matrix.platform }}
+          echo "PLATFORM_PAIR=${platform//\//-}" >> $GITHUB_ENV          
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=latest,enable={{is_default_branch}}
+            type=ref,event=branch,enable=${{ github.ref != 'refs/heads/main' }}
+            type=ref,event=pr
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push by digest
+        id: build
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: go-proxies/rocket-telem-proxy/Dockerfile
+          platforms: ${{ matrix.platform }}
+          labels: ${{ steps.meta.outputs.labels }}
+          outputs: type=image,name=${{ env.REGISTRY }}/${{ env.IMAGE_NAME }},push-by-digest=true,name-canonical=true,push=true
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+
+      - name: Export digest
+        run: |
+          mkdir -p /tmp/digests
+          digest="${{ steps.build.outputs.digest }}"
+          touch "/tmp/digests/${digest#sha256:}"          
+
+      - name: Upload digest
+        uses: actions/upload-artifact@v4
+        with:
+          name: digests-${{ env.PLATFORM_PAIR }}
+          path: /tmp/digests/*
+          if-no-files-found: error
+          retention-days: 1
+
+  merge:
+    runs-on: ubuntu-latest
+    needs:
+      - build
+    steps:
+      - name: Download digests
+        uses: actions/download-artifact@v4
+        with:
+          path: /tmp/digests
+          pattern: digests-*
+          merge-multiple: true
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=latest,enable={{is_default_branch}}
+            type=ref,event=branch,enable=${{ github.ref != 'refs/heads/main' }}
+            type=ref,event=pr
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Create manifest list and push
+        working-directory: /tmp/digests
+        run: |
+          docker buildx imagetools create $(jq -cr '.tags | map("-t " + .) | join(" ")' <<< "$DOCKER_METADATA_OUTPUT_JSON") \
+            $(printf '${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}@sha256:%s ' *)          
+
+      - name: Inspect image
+        run: |
+          docker buildx imagetools inspect ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ steps.meta.outputs.version }} 

fill/BUILD

@@ -5,6 +5,7 @@ cc_binary(
         "//protos:command_cc_grpc",
         "//fill/actuators:qd",
         "//fill/actuators:ball_valve",
+        "//fill/umbilical:rocket_proto_builder",
         "//fill/actuators:sol_valve",
         "//fill/sensors:pt",
         "@abseil-cpp//absl/flags:flag",
@@ -13,4 +14,4 @@ cc_binary(
         "@com_github_grpc_grpc//:grpc++",
         "@com_github_grpc_grpc//:grpc++_reflection",
     ],
-)
+)

fill/actuators/sol_valve.cc

@@ -11,8 +11,6 @@ SolValve::SolValve(){
 
 SolValve::~SolValve(){}
 
-
-
 void SolValve::open(){
     pinMode(SV_SIGNAL, OUTPUT);
     digitalWrite(SV_SIGNAL, HIGH);
@@ -37,6 +35,4 @@ void SolValve::close(){
     pinMode(SV_SIGNAL, OUTPUT);
     digitalWrite(SV_SIGNAL, LOW);
     isOpen=false;
-}
-
-
+}

fill/fill_station.cc

@@ -12,6 +12,7 @@
 #include "actuators/sol_valve.h"
 
 #include "sensors/pt.h"
+#include "umbilical/proto_build.h"
 
 #include "wiringPi.h"
 
@@ -31,7 +32,10 @@ using command::Commander;
 using command::FillStationTelemeter;
 using command::CommandReply;
 using command::FillStationTelemetry;
-using command::TelemetryRequest;
+using command::FillStationTelemetryRequest;
+using command::RocketTelemetryRequest;
+using command::RocketTelemetry;
+using command::RocketTelemeter;
 using grpc::Channel;
 using grpc::ClientContext;
 using grpc::Server;
@@ -48,6 +52,8 @@ SolValve sv1;
 /* Sensors */
 PT pt1 = PT(0x48, 3);
 PT pt2 = PT(0x48, 2);
+/* Umblical Tools */
+RocketTelemetryProtoBuilder protoBuild;
 
 ABSL_FLAG(uint16_t, server_port, 50051, "Server port for the service");
 
@@ -115,23 +121,17 @@ class CommanderServiceImpl final : public Commander::Service
                 sv1.close();
             }
         }
-        if (request->sv2_close()){
-            // send TCP command to rocket_controller 
-        }
-        if (request->mav_open()){
-            // send TCP command to rocket_controller 
-        }
-        if (request->fire()){
-            // send TCP command to rocket_controller 
-        }
+
+        protoBuild.sendCommand(request);
+
         return Status::OK;
     }
 };
 
 // Fill Station service to stream telemetry.
 class TelemeterServiceImpl final : public FillStationTelemeter::Service
 {
-    Status StreamTelemetry(ServerContext *context, const TelemetryRequest *request,
+    Status StreamTelemetry(ServerContext *context, const FillStationTelemetryRequest *request,
                        ServerWriter<FillStationTelemetry> *writer) override
     {
         while (true) {
@@ -147,12 +147,29 @@ class TelemeterServiceImpl final : public FillStationTelemeter::Service
     }
 };
 
+class RocketTelemeterServiceImpl final : public RocketTelemeter::Service 
+{
+    Status StreamTelemetry(ServerContext *context, const RocketTelemetryRequest *request,
+                       ServerWriter<RocketTelemetry> *writer) override
+    {
+        while (true) {
+            auto now = std::chrono::high_resolution_clock::now();
+            RocketTelemetry t = protoBuild.buildProto();
+            if (!writer->Write(t)) {
+                // Broken stream
+                return Status::CANCELLED; 
+            }
+        }
+    }
+};
+
 // Server startup function
 void RunServer(uint16_t port, std::shared_ptr<Server> server)
 {
     std::string server_address = absl::StrFormat("0.0.0.0:%d", port);
     CommanderServiceImpl commander_service;
     TelemeterServiceImpl telemeter_service;
+    RocketTelemeterServiceImpl rocket_telemeter_service; 
 
     grpc::EnableDefaultHealthCheckService(true);
     grpc::reflection::InitProtoReflectionServerBuilderPlugin();
@@ -162,6 +179,7 @@ void RunServer(uint16_t port, std::shared_ptr<Server> server)
     // Register services.
     builder.RegisterService(&commander_service);
     builder.RegisterService(&telemeter_service);
+    builder.RegisterService(&rocket_telemeter_service);
     // Finally assemble the server.
     server = builder.BuildAndStart();
     // std::unique_ptr<Server> server(builder.BuildAndStart());

fill/umbilical/BUILD

@@ -0,0 +1,13 @@
+cc_library(
+    name = "rocket_proto_builder",
+    srcs = ["proto_build.cc"],
+    hdrs = ["proto_build.h"],
+    deps = [
+        "//protos:command_cc_grpc",
+        "@com_github_grpc_grpc//:grpc++",
+        "@com_github_grpc_grpc//:grpc++_reflection",
+    ],
+    visibility = [
+        "//fill:__subpackages__",
+        ],
+)