| 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/FlowManager.hpp" | ||
| 18 | |||
| 19 | #include "NodeData/General/UartPacket.hpp" | ||
| 20 | |||
| 21 | 114 | NAV::EspressifSensor::EspressifSensor() | |
| 22 |
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114 | : Node(typeStatic()), _sensor(typeStatic()) |
| 23 | { | ||
| 24 | LOG_TRACE("{}: called", name); | ||
| 25 | |||
| 26 | 114 | _onlyRealTime = true; | |
| 27 | 114 | _hasConfig = true; | |
| 28 | 114 | _guiConfigDefaultWindowSize = { 360, 70 }; | |
| 29 | |||
| 30 | // TODO: Update the library to handle different baudrates | ||
| 31 |
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114 | _selectedBaudrate = baudrate2Selection(Baudrate::BAUDRATE_115200); |
| 32 |
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114 | _sensorPort = "/dev/ttyACM0"; |
| 33 | |||
| 34 |
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456 | CreateOutputPin("UartPacket", Pin::Type::Flow, { NAV::UartPacket::type() }); |
| 35 | 228 | } | |
| 36 | |||
| 37 | 228 | NAV::EspressifSensor::~EspressifSensor() | |
| 38 | { | ||
| 39 | LOG_TRACE("{}: called", nameId()); | ||
| 40 | 228 | } | |
| 41 | |||
| 42 | 342 | std::string NAV::EspressifSensor::typeStatic() | |
| 43 | { | ||
| 44 |
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684 | return "EspressifSensor"; |
| 45 | } | ||
| 46 | |||
| 47 | ✗ | std::string NAV::EspressifSensor::type() const | |
| 48 | { | ||
| 49 | ✗ | return typeStatic(); | |
| 50 | } | ||
| 51 | |||
| 52 | 114 | std::string NAV::EspressifSensor::category() | |
| 53 | { | ||
| 54 |
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228 | return "Data Provider"; |
| 55 | } | ||
| 56 | |||
| 57 | ✗ | void NAV::EspressifSensor::guiConfig() | |
| 58 | { | ||
| 59 | ✗ | if (ImGui::InputTextWithHint("SensorPort", "/dev/ttyACM0", &_sensorPort)) | |
| 60 | { | ||
| 61 | ✗ | LOG_DEBUG("{}: SensorPort changed to {}", nameId(), _sensorPort); | |
| 62 | ✗ | flow::ApplyChanges(); | |
| 63 | ✗ | doDeinitialize(); | |
| 64 | } | ||
| 65 | ✗ | ImGui::SameLine(); | |
| 66 | ✗ | gui::widgets::HelpMarker("COM port where the sensor is attached to\n" | |
| 67 | "- \"COM1\" (Windows format for physical and virtual (USB) serial port)\n" | ||
| 68 | "- \"/dev/ttyS1\" (Linux format for physical serial port)\n" | ||
| 69 | "- \"/dev/ttyUSB0\" (Linux format for virtual (USB) serial port)\n" | ||
| 70 | "- \"/dev/tty.usbserial-FTXXXXXX\" (Mac OS X format for virtual (USB) serial port)\n" | ||
| 71 | "- \"/dev/ttyS0\" (CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1)"); | ||
| 72 | ✗ | } | |
| 73 | |||
| 74 | ✗ | [[nodiscard]] json NAV::EspressifSensor::save() const | |
| 75 | { | ||
| 76 | LOG_TRACE("{}: called", nameId()); | ||
| 77 | |||
| 78 | ✗ | json j; | |
| 79 | |||
| 80 | ✗ | j["UartSensor"] = UartSensor::save(); | |
| 81 | |||
| 82 | ✗ | return j; | |
| 83 | ✗ | } | |
| 84 | |||
| 85 | ✗ | void NAV::EspressifSensor::restore(json const& j) | |
| 86 | { | ||
| 87 | LOG_TRACE("{}: called", nameId()); | ||
| 88 | |||
| 89 | ✗ | if (j.contains("UartSensor")) | |
| 90 | { | ||
| 91 | ✗ | UartSensor::restore(j.at("UartSensor")); | |
| 92 | } | ||
| 93 | ✗ | } | |
| 94 | |||
| 95 | ✗ | bool NAV::EspressifSensor::resetNode() | |
| 96 | { | ||
| 97 | ✗ | return true; | |
| 98 | } | ||
| 99 | |||
| 100 | ✗ | bool NAV::EspressifSensor::initialize() | |
| 101 | { | ||
| 102 | LOG_TRACE("{}: called", nameId()); | ||
| 103 | |||
| 104 | // connect to the sensor | ||
| 105 | try | ||
| 106 | { | ||
| 107 | ✗ | _sensor->connect(_sensorPort, BAUDRATE_115200); // change Baudrate here | |
| 108 | |||
| 109 | ✗ | LOG_DEBUG("{} connected on port {} with baudrate {}", nameId(), _sensorPort, sensorBaudrate()); | |
| 110 | } | ||
| 111 | ✗ | catch (...) | |
| 112 | { | ||
| 113 | ✗ | LOG_ERROR("{} could not connect", nameId()); | |
| 114 | ✗ | return false; | |
| 115 | ✗ | } | |
| 116 | |||
| 117 | ✗ | _sensor->registerAsyncPacketReceivedHandler(this, binaryAsyncMessageReceived); | |
| 118 | |||
| 119 | ✗ | return true; | |
| 120 | } | ||
| 121 | |||
| 122 | ✗ | void NAV::EspressifSensor::deinitialize() | |
| 123 | { | ||
| 124 | LOG_TRACE("{}: called", nameId()); | ||
| 125 | |||
| 126 | ✗ | if (_sensor->isConnected()) | |
| 127 | { | ||
| 128 | try | ||
| 129 | { | ||
| 130 | ✗ | _sensor->unregisterAsyncPacketReceivedHandler(); | |
| 131 | } | ||
| 132 | ✗ | catch (...) // NOLINT(bugprone-empty-catch) | |
| 133 | ✗ | {} | |
| 134 | |||
| 135 | ✗ | _sensor->disconnect(); | |
| 136 | } | ||
| 137 | ✗ | } | |
| 138 | |||
| 139 | ✗ | void NAV::EspressifSensor::binaryAsyncMessageReceived(void* userData, uart::protocol::Packet& p, [[maybe_unused]] size_t index) | |
| 140 | { | ||
| 141 | LOG_DATA("binaryAsyncMessageReceived"); | ||
| 142 | ✗ | auto* ubSensor = static_cast<EspressifSensor*>(userData); | |
| 143 | |||
| 144 | ✗ | auto obs = std::make_shared<UartPacket>(p); | |
| 145 | ✗ | obs->insTime = util::time::GetCurrentInsTime(); | |
| 146 | |||
| 147 | ✗ | ubSensor->invokeCallbacks(OUTPUT_PORT_INDEX_WIFI_OBS, obs); | |
| 148 | ✗ | } | |
| 149 |