Merge pull request #434 from rosflight/ptt/init_reporting

Ptt/init reporting
rosflight · Sep 4, 2024 · a8cccf7 · a8cccf7
2 parents b84cdf7 + b7e4ee6
commit a8cccf7
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Showing 7 changed files with 30 additions and 16 deletions.
diff --git a/boards/varmint_h7 b/boards/varmint_h7
diff --git a/include/board.h b/include/board.h
@@ -54,6 +54,13 @@ class Board
   virtual void init_board() = 0;
   virtual void board_reset(bool bootloader) = 0;
 
+  virtual void sensors_init(void) = 0;
+  virtual uint16_t sensors_errors_count() = 0;
+
+  virtual uint16_t sensors_init_message_count() =  0;
+  virtual bool sensors_init_message_good(uint16_t i) = 0;
+  virtual uint16_t sensors_init_message(char *message, uint16_t size, uint16_t i) = 0;
+
   // clock
   virtual uint32_t clock_millis() = 0;
   virtual uint64_t clock_micros() = 0;
@@ -67,11 +74,8 @@ class Board
   virtual uint8_t serial_read() = 0;
   virtual void serial_flush() = 0;
 
-  // sensors
-  virtual void sensors_init() = 0;
-  virtual uint16_t num_sensor_errors() = 0;
-
   // IMU
+  virtual bool imu_present() = 0;
   virtual bool imu_has_new_data() = 0;
   virtual bool imu_read(float accel[3], float * temperature, float gyro[3], uint64_t * time) = 0;
   virtual void imu_not_responding_error() = 0;

diff --git a/include/comm_manager.h b/include/comm_manager.h
@@ -162,7 +162,6 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
 
   // Debugging Utils
   void send_named_value_int(const char * const name, int32_t value);
-  //    void send_named_command_struct(const char *const name, control_t command_struct);
 
   void send_next_param(void);
 
@@ -180,8 +179,8 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
   void send_param_value(uint16_t param_id);
   void update_status();
   void log(CommLinkInterface::LogSeverity severity, const char * fmt, ...);
+  void log_message(CommLinkInterface::LogSeverity severity, char * text);
 
-  void send_parameter_list();
   void send_named_value_float(const char * const name, float value);
 
   void send_backup_data(const StateManager::BackupData & backup_data);

diff --git a/include/interface/comm_link.h b/include/interface/comm_link.h
@@ -32,7 +32,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_COMM_LINK_H
 #define ROSFLIGHT_FIRMWARE_COMM_LINK_H
 
-#include "board.h"
 #include "param.h"
 #include "sensors.h"
 #include "state_manager.h"

diff --git a/src/comm_manager.cpp b/src/comm_manager.cpp
@@ -129,8 +129,6 @@ void CommManager::param_request_list_callback(uint8_t target_system)
   if (target_system == sysid_) { send_params_index_ = 0; }
 }
 
-void CommManager::send_parameter_list() { send_params_index_ = 0; }
-
 void CommManager::param_request_read_callback(uint8_t target_system, const char * const param_name,
                                               int16_t param_index)
 {
@@ -329,10 +327,15 @@ void CommManager::log(CommLinkInterface::LogSeverity severity, const char * fmt,
   // Convert the format string to a raw char array
   va_list args;
   va_start(args, fmt);
-  char text[LOG_MSG_SIZE];
-  vsnprintf(text, LOG_MSG_SIZE, fmt, args);
+  char message[LOG_MSG_SIZE];
+  vsnprintf(message, LOG_MSG_SIZE, fmt, args);
   va_end(args);
 
+  log_message(severity, message);
+}
+
+void CommManager::log_message(CommLinkInterface::LogSeverity severity, char * text)
+{
   if (initialized_ && connected_) {
     comm_link_.send_log_message(sysid_, severity, text);
   } else {
@@ -361,7 +364,7 @@ void CommManager::send_status(void)
   comm_link_.send_status(
     sysid_, RF_.state_manager_.state().armed, RF_.state_manager_.state().failsafe,
     RF_.command_manager_.rc_override_active(), RF_.command_manager_.offboard_control_active(),
-    RF_.state_manager_.state().error_codes, control_mode, RF_.board_.num_sensor_errors(),
+    RF_.state_manager_.state().error_codes, control_mode, RF_.board_.sensors_errors_count(),
     RF_.get_loop_time_us());
 }
 

diff --git a/test/test_board.cpp b/test/test_board.cpp
@@ -73,8 +73,13 @@ uint8_t testBoard::serial_read() { return 0; }
 void testBoard::serial_flush() {}
 
 // sensors
-void testBoard::sensors_init() {}
-uint16_t testBoard::num_sensor_errors() { return 0; }
+void testBoard::sensors_init() {};
+uint16_t testBoard::sensors_errors_count() {return 0;}
+uint16_t testBoard::sensors_init_message_count() {return 0;}
+uint16_t testBoard::sensors_init_message(char * message, uint16_t size, uint16_t i) {return 0;}
+bool testBoard::sensors_init_message_good(uint16_t i) {return false;}
+
+bool testBoard::imu_present() {return false;}
 
 bool testBoard::imu_has_new_data()
 {

diff --git a/test/test_board.h b/test/test_board.h
@@ -69,8 +69,12 @@ class testBoard : public Board
 
   // sensors
   void sensors_init() override;
-  uint16_t num_sensor_errors() override;
+  uint16_t sensors_errors_count() override;
+  uint16_t sensors_init_message_count() override;
+  uint16_t sensors_init_message(char * message, uint16_t size, uint16_t i) override;
+  bool sensors_init_message_good(uint16_t i) override;
 
+  bool imu_present() override;
   bool imu_has_new_data() override;
   bool imu_read(float accel[3], float * temperature, float gyro[3], uint64_t * time) override;
   void imu_not_responding_error() override;