Calculated data

README.md

@@ -1,4 +1,4 @@
-[![Giraffe Unit Tests](https://github.com/joshua-jerred/Giraffe/actions/workflows/unit_tests.yml/badge.svg?branch=main)](https://github.com/joshua-jerred/Giraffe/actions/workflows/unit_tests.yml)
+[![Giraffe Unit Tests](https://github.com/joshua-jerred/Giraffe/actions/workflows/giraffe_ci.yml/badge.svg)](https://github.com/joshua-jerred/Giraffe/actions/workflows/giraffe_ci.yml)
 
 # Giraffe <!-- omit from toc -->
 ### A Unified Flight Command and Control System <!-- omit from toc -->

src/data_link/include/gdl_transport_layer.hpp

@@ -143,7 +143,7 @@ class TransportLayer {
 
   GdlConfig config_;
 
-  BoosterSeat::Timer timer_;
+  bst::Timer timer_;
 
   Message current_message_{};
 

src/flight_system/extensions/adc_extension_base.hpp

@@ -119,7 +119,7 @@ template <uint32_t AdcResolution> class AdcExtensionBase : public Extension {
   const uint32_t adc_resolution_ = AdcResolution;
 
   AdcConfig adc_config_{};
-  BoosterSeat::Timer adc_watchdog_;
+  bst::Timer adc_watchdog_;
 };
 
 } // namespace extension

src/flight_system/extensions/bme280.cpp

@@ -42,7 +42,7 @@ void Bme280Extension::startup() {
   constexpr uint32_t kStartupTimeout = 5000;   // ms
   constexpr uint32_t kStartupRetryDelay = 100; // ms
 
-  BoosterSeat::Timer startup_timer(kStartupTimeout);
+  bst::Timer startup_timer(kStartupTimeout);
   startup_timer.reset();
 
   StartupState state = StartupState::I2C_CONNECT;

src/flight_system/extensions/bme280.hpp

@@ -143,12 +143,12 @@ class Bme280Extension : public Extension {
    * @brief A timer that is used to read the sensor's compensation data at a
    * configured interval.
    */
-  BoosterSeat::Timer compensation_timer_;
+  bst::Timer compensation_timer_;
 
   /**
    * @brief A timer used with loop() to verify that the sensor is functioning.
    */
-  BoosterSeat::Timer read_timer_;
+  bst::Timer read_timer_;
 
   uint32_t raw_temperature_ = 0;
   uint32_t raw_pressure_ = 0;

src/flight_system/extensions/ds18b20.hpp

@@ -36,8 +36,8 @@ class Ds18b20Extension : public Extension {
   bool init(DiagnosticId &fault);
   bool readData(DiagnosticId &fault);
 
-  BoosterSeat::Timer init_timer_;
-  BoosterSeat::Timer read_timer_;
+  bst::Timer init_timer_;
+  bst::Timer read_timer_;
 
   OneWireInterface device_{};
   double temperature_ = 0.0; // degrees C

src/flight_system/extensions/extension_base.cpp

@@ -61,7 +61,7 @@ void Extension::stop() {
   }
 
   stop_flag_ = true; // signal the stop
-  BoosterSeat::Timer timer(kExtensionStopTimeoutMs);
+  bst::Timer timer(kExtensionStopTimeoutMs);
 
   while (!timer.isDone()) {
     BoosterSeat::threadSleep(kExtensionStopCheckIntervalMs);
@@ -176,7 +176,7 @@ void Extension::sleep() {
       std::clamp(sleep_ms / 10, kMinimumSleepTimeMs, kMaximumCheckInterval);
 
   // Sleep for the specified amount of time
-  BoosterSeat::Timer timer(sleep_ms);
+  bst::Timer timer(sleep_ms);
   while (!timer.isDone()) {
     BoosterSeat::threadSleep(check_interval);
     if (stopRequested()) {

src/flight_system/extensions/i2c_extension_adapter.hpp

@@ -77,7 +77,7 @@ class I2cExtensionAdapter {
   I2cInterface i2c_;
 
 private:
-  BoosterSeat::Timer handshake_timer_;
+  bst::Timer handshake_timer_;
   uint32_t retry_delay_ms_;
 };
 

src/flight_system/extensions/samm8q.cpp

@@ -43,7 +43,7 @@ void SamM8qExtension::startup() {
   constexpr uint32_t kStartupTimeout = 5000;   // ms
   constexpr uint32_t kStartupRetryDelay = 400; // ms
 
-  BoosterSeat::Timer startup_timer(kStartupTimeout);
+  bst::Timer startup_timer(kStartupTimeout);
   startup_timer.reset();
 
   StartupState start_state = StartupState::I2C_CONNECT;

src/flight_system/extensions/samm8q.hpp

@@ -87,18 +87,18 @@ class SamM8qExtension : public Extension {
   /**
    * @brief This timer should have the largest value of all timers.
    */
-  BoosterSeat::Timer primary_watchdog_timer_;
+  bst::Timer primary_watchdog_timer_;
 
   /**
    * @brief
    */
-  BoosterSeat::Timer read_watchdog_timer_;
+  bst::Timer read_watchdog_timer_;
 
   /**
    * @brief The timer used to give the sensor time to reset after the reset
    * command is sent.
    */
-  BoosterSeat::Timer reset_wait_timer_;
+  bst::Timer reset_wait_timer_;
 
   /**
    * @brief Use to keep track of how many times we have attempted to configure

src/flight_system/extensions/simulated_extensions.hpp

@@ -94,28 +94,33 @@ class SimGpsSensor : public Extension {
 public:
   SimGpsSensor(ExtensionResources &resources, cfg::ExtensionMetadata metadata)
       : Extension(resources, metadata) {
+    gps_frame.gps_utc_time = BoosterSeat::clck::now();
+    gps_frame.is_valid = true;
+    gps_frame.fix = data::GpsFix::FIX_3D;
+    gps_frame.num_satellites = 10;
+    gps_frame.latitude = 40.0;
+    gps_frame.longitude = -80.0;
+    gps_frame.horz_accuracy = 5.0;
+    gps_frame.altitude = 1000.0;
+    gps_frame.vert_accuracy = 1.0;
+    gps_frame.vertical_speed = 1.0;
+    gps_frame.horizontal_speed = 1.0;
+    gps_frame.speed_accuracy = 1.0;
+    gps_frame.heading_of_motion = 1.0;
+    gps_frame.heading_accuracy = 1.0;
   }
 
   void loop() override {
-    data::GpsFrame frame;
-    frame.gps_utc_time = BoosterSeat::clck::now();
-    frame.fix = data::GpsFix::FIX_3D;
-    frame.num_satellites = 10;
-    frame.latitude = 40.0;
-    frame.longitude = -80.0;
-    frame.horz_accuracy = 5.0;
-    frame.altitude = 1000.0;
-    frame.vert_accuracy = 5.0;
-    frame.vertical_speed = 0.0;
-    frame.horizontal_speed = 0.0;
-    frame.speed_accuracy = 0.0;
-    frame.heading_of_motion = 0.0;
-    frame.heading_accuracy = 0.0;
-    data(frame);
+    gps_frame.gps_utc_time = BoosterSeat::clck::now();
+    gps_frame.latitude += increasing_ ? 0.0001 : -0.0001;
+    gps_frame.longitude += increasing_ ? 0.0001 : -0.0001;
+    gps_frame.altitude += increasing_ ? 0.1 : -0.1;
+    data(gps_frame);
   }
 
 private:
-  bool increasing_ = false;
+  data::GpsFrame gps_frame{};
+  bool increasing_ = true;
 };
 
 class SimImuSensor : public Extension {

src/flight_system/interface/ubx/ubx_protocol.cpp

@@ -184,7 +184,7 @@ bool readNextUBX(I2cInterface &i2c, UBXMessage &message) {
   bool found_sync = false;
   I2cInterface::Result result;
 
-  BoosterSeat::Timer timer(kTimeoutMs);
+  bst::Timer timer(kTimeoutMs);
   while (!timer.isDone()) {
     stream_size = getStreamSize(i2c);
     if (stream_size <= 8) {
@@ -539,7 +539,7 @@ ACK setDynamicModel(I2cInterface &i2c, const DYNAMIC_MODEL model) {
 bool pollMessage(I2cInterface &i2c, UBXMessage &message,
                  const uint8_t msg_class, const uint8_t msg_id,
                  const int expected_size, const unsigned int timeout_ms) {
-  BoosterSeat::Timer timer(timeout_ms);
+  bst::Timer timer(timeout_ms);
 
   while (!timer.isDone()) {
     // Check if the stream is empty, if not, flush it.

src/flight_system/modules/console/console_pages.cpp

@@ -312,6 +312,7 @@ void console_pages::Pages::location() {
   auto data = shared_data_.blocks.location_data.get();
   // auto last_valid = data.last_valid_gps_frame;
   auto cur = data.last_gps_frame;
+  auto last_valid = data.last_valid_gps_frame;
   // clang-format off
   content_ = {
     " -- Most Recent GPS Frame -- ",
@@ -326,7 +327,21 @@ void console_pages::Pages::location() {
     "Accuracy - Hor, Vert, H/S: " + 
       BoosterSeat::string::f2s(cur.horz_accuracy, 1) + " m, " +
       BoosterSeat::string::f2s(cur.vert_accuracy, 1) + " m, " +
-      BoosterSeat::string::f2s(cur.horizontal_speed, 1) + " m/s"
+      BoosterSeat::string::f2s(cur.horizontal_speed, 1) + " m/s",
+    "",
+    " -- Last Valid GPS Frame -- ",
+    "Fix, Num Sats, UTC:   " + data::K_GPS_FIX_TO_STRING_MAP.at(last_valid.fix) + ", " +
+      std::to_string(last_valid.num_satellites) + ", utc time",
+    "Lat, Lon, H/S:   " + BoosterSeat::string::f2s(last_valid.latitude, 6) + ", "
+      + BoosterSeat::string::f2s(last_valid.longitude, 6) + ", " +
+      BoosterSeat::string::f2s(last_valid.horizontal_speed, 1) + " m/s",
+    "ALT, V/S, HDG:   " + BoosterSeat::string::f2s(last_valid.altitude, 1)
+      + " m" + ", " + BoosterSeat::string::f2s(last_valid.heading_of_motion, 1) +
+      " deg",
+    "Accuracy - Hor, Vert, H/S: " +
+      BoosterSeat::string::f2s(last_valid.horz_accuracy, 1) + " m, " +
+      BoosterSeat::string::f2s(last_valid.vert_accuracy, 1) + " m, " +
+      BoosterSeat::string::f2s(last_valid.horizontal_speed, 1) + " m/s"
   };
   // clang-format on
 }

src/flight_system/modules/data/data_formatting.cpp

@@ -34,6 +34,7 @@ std::string DataFormatter::fullFrame() {
   addComponent(DataFrameComponent::SYSTEM_INFO, frame);
   addComponent(DataFrameComponent::ENVIRONMENTAL_DATA, frame);
   addComponent(DataFrameComponent::TELEMETRY_DATA, frame);
+  addComponent(DataFrameComponent::CALCULATED_DATA, frame);
   return frame.dump();
 }
 
@@ -86,6 +87,9 @@ void DataFormatter::addComponent(DataFrameComponent component, Json &frame) {
     frame["data"]["telemetry"] =
         shared_data_.blocks.telemetry_module_stats.get().toJson();
     break;
+  case DataFrameComponent::CALCULATED_DATA:
+    frame["data"]["calculated"] =
+        shared_data_.blocks.calculated_data.get().toJson();
   }
 }
 

src/flight_system/modules/data/data_formatting.hpp

@@ -31,7 +31,8 @@ enum class DataFrameComponent {
   SERVER_STATS,
   SYSTEM_INFO,
   ENVIRONMENTAL_DATA,
-  TELEMETRY_DATA
+  TELEMETRY_DATA,
+  CALCULATED_DATA
 };
 
 class DataFormatter {