INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/WiFi/Sensors/EspressifSensor.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 15 58 25.9%
Functions: 4 12 33.3%
Branches: 12 62 19.4%
Line Branch Exec Source
1 // This file is part of INSTINCT, the INS Toolkit for Integrated
2 // Navigation Concepts and Training by the Institute of Navigation of
3 // the University of Stuttgart, Germany.
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9 #include "EspressifSensor.hpp"
10
11 #include "util/Logger.hpp"
12
13 #include "util/Time/TimeBase.hpp"
14
15 #include "internal/gui/widgets/HelpMarker.hpp"
16
17 #include "internal/NodeManager.hpp"
18 namespace nm = NAV::NodeManager;
19 #include "internal/FlowManager.hpp"
20
21 #include "NodeData/General/UartPacket.hpp"
22
23 114 NAV::EspressifSensor::EspressifSensor()
24
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 114 : Node(typeStatic()), _sensor(typeStatic())
25 {
26 LOG_TRACE("{}: called", name);
27
28 114 _onlyRealTime = true;
29 114 _hasConfig = true;
30 114 _guiConfigDefaultWindowSize = { 360, 70 };
31
32 // TODO: Update the library to handle different baudrates
33
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 114 _selectedBaudrate = baudrate2Selection(Baudrate::BAUDRATE_115200);
34
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 114 _sensorPort = "/dev/ttyACM0";
35
36
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 456 nm::CreateOutputPin(this, "UartPacket", Pin::Type::Flow, { NAV::UartPacket::type() });
37 228 }
38
39 228 NAV::EspressifSensor::~EspressifSensor()
40 {
41 LOG_TRACE("{}: called", nameId());
42 228 }
43
44 342 std::string NAV::EspressifSensor::typeStatic()
45 {
46
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 684 return "EspressifSensor";
47 }
48
49 ✗ std::string NAV::EspressifSensor::type() const
50 {
51 ✗ return typeStatic();
52 }
53
54 114 std::string NAV::EspressifSensor::category()
55 {
56
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 228 return "Data Provider";
57 }
58
59 ✗ void NAV::EspressifSensor::guiConfig()
60 {
61 ✗ if (ImGui::InputTextWithHint("SensorPort", "/dev/ttyACM0", &_sensorPort))
62 {
63 ✗ LOG_DEBUG("{}: SensorPort changed to {}", nameId(), _sensorPort);
64 ✗ flow::ApplyChanges();
65 ✗ doDeinitialize();
66 }
67 ✗ ImGui::SameLine();
68 ✗ gui::widgets::HelpMarker("COM port where the sensor is attached to\n"
69 "- \"COM1\" (Windows format for physical and virtual (USB) serial port)\n"
70 "- \"/dev/ttyS1\" (Linux format for physical serial port)\n"
71 "- \"/dev/ttyUSB0\" (Linux format for virtual (USB) serial port)\n"
72 "- \"/dev/tty.usbserial-FTXXXXXX\" (Mac OS X format for virtual (USB) serial port)\n"
73 "- \"/dev/ttyS0\" (CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1)");
74 ✗ }
75
76 ✗ [[nodiscard]] json NAV::EspressifSensor::save() const
77 {
78 LOG_TRACE("{}: called", nameId());
79
80 ✗ json j;
81
82 ✗ j["UartSensor"] = UartSensor::save();
83
84 ✗ return j;
85 ✗ }
86
87 ✗ void NAV::EspressifSensor::restore(json const& j)
88 {
89 LOG_TRACE("{}: called", nameId());
90
91 ✗ if (j.contains("UartSensor"))
92 {
93 ✗ UartSensor::restore(j.at("UartSensor"));
94 }
95 ✗ }
96
97 ✗ bool NAV::EspressifSensor::resetNode()
98 {
99 ✗ return true;
100 }
101
102 ✗ bool NAV::EspressifSensor::initialize()
103 {
104 LOG_TRACE("{}: called", nameId());
105
106 // connect to the sensor
107 try
108 {
109 ✗ _sensor->connect(_sensorPort, BAUDRATE_115200); // change Baudrate here
110
111 ✗ LOG_DEBUG("{} connected on port {} with baudrate {}", nameId(), _sensorPort, sensorBaudrate());
112 }
113 ✗ catch (...)
114 {
115 ✗ LOG_ERROR("{} could not connect", nameId());
116 ✗ return false;
117 ✗ }
118
119 ✗ _sensor->registerAsyncPacketReceivedHandler(this, binaryAsyncMessageReceived);
120
121 ✗ return true;
122 }
123
124 ✗ void NAV::EspressifSensor::deinitialize()
125 {
126 LOG_TRACE("{}: called", nameId());
127
128 ✗ if (_sensor->isConnected())
129 {
130 try
131 {
132 ✗ _sensor->unregisterAsyncPacketReceivedHandler();
133 }
134 ✗ catch (...) // NOLINT(bugprone-empty-catch)
135 ✗ {}
136
137 ✗ _sensor->disconnect();
138 }
139 ✗ }
140
141 ✗ void NAV::EspressifSensor::binaryAsyncMessageReceived(void* userData, uart::protocol::Packet& p, [[maybe_unused]] size_t index)
142 {
143 LOG_DATA("binaryAsyncMessageReceived");
144 ✗ auto* ubSensor = static_cast<EspressifSensor*>(userData);
145
146 ✗ auto obs = std::make_shared<UartPacket>(p);
147 ✗ obs->insTime = util::time::GetCurrentInsTime();
148
149 ✗ ubSensor->invokeCallbacks(OUTPUT_PORT_INDEX_WIFI_OBS, obs);
150 ✗ }
151