HILSensor.h

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Authors: Davide Mor, Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <miosix.h>
 
#include <type_traits>
 
#include "HILSimulatorData.h"
#include "Sensor.h"
 
namespace Boardcore
{
 
template <class T>
class HILSensor : public T
{
public:
    // A requirement is that the class T must be move constructible
    static_assert(std::is_move_constructible<T>::value,
                  "T must be move constructible!");
    // A requirement is that the class T must be a Sensor
    static_assert(std::is_base_of<Sensor<typename T::DataType>, T>::value,
                  "T must inherit from Sensor<T::DataType>");
 
    using UpdateFn = std::function<typename T::DataType(void)>;
 
    HILSensor(T&& sensor, bool enableHw, UpdateFn updateData)
        : T{std::move(sensor)}, enableHw{enableHw},
          updateData{std::move(updateData)}
    {
    }
 
    bool init() override { return (enableHw ? T::init() : true); }
 
    bool selfTest() override { return (enableHw ? T::selfTest() : true); }
 
    typename T::DataType sampleImpl() override
    {
        if (enableHw)
        {
            auto realSample = T::sampleImpl();
            {
                miosix::Lock<miosix::FastMutex> l(mutexRealData);
                lastRealSample = realSample;
            }
        }
 
        return updateData();
    }
 
    typename T::DataType getRealLastSample()
    {
        miosix::Lock<miosix::FastMutex> l(mutexRealData);
        return lastRealSample;
    }
 
protected:
    typename T::DataType lastRealSample;  // Last sample of the real sensor
    bool enableHw;                        // Flag to enable hardware sampling
    UpdateFn updateData;  // Function to get the lastSample from simulatorData
 
    // Thread safe mutex to synchronize writes and reads on lastRealSample
    miosix::FastMutex mutexRealData;
};
 
template <typename T>
static void hillificator(std::unique_ptr<T>& sensor, bool enableHw,
                         typename HILSensor<T>::UpdateFn updateData)
{
    if (sensor)
    {
        sensor = std::make_unique<Boardcore::HILSensor<T>>(
            std::move(*sensor), enableHw, std::move(updateData));
    }
}
 
}  // namespace Boardcore