HILTransceiver.h

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/* Copyright (c) 2020-2024 Skyward Experimental Rocketry
 * Author: 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
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <ActiveObject.h>
#include <drivers/timer/TimestampTimer.h>
#include <drivers/usart/USART.h>
#include <utils/Debug.h>
 
#include "HIL.h"
#include "drivers/usart/USART.h"
 
namespace Boardcore
{
 
template <class FlightPhases, class SimulatorData, class ActuatorData>
class HIL;
 
class HILTransceiverBase : public ActiveObject
{
public:
    explicit HILTransceiverBase(USART& hilSerial) : hilSerial(hilSerial) {}
 
    int getLostUpdates() const { return nLostUpdates; }
 
    int64_t getTimestampSimulatorData() const { return timestampSimulatorData; }
 
protected:
    void waitActuatorData()
    {
        miosix::Lock<miosix::FastMutex> l(mutex);
        while (!updated)
            condVar.wait(l);
        updated = false;
    }
 
    USART& hilSerial;
    bool receivedFirstPacket       = false;
    bool updated                   = false;
    int nLostUpdates               = 0;
    int64_t timestampSimulatorData = 0;  // timestamp of the last received
                                         // simulatorData [ns]
    miosix::FastMutex mutex;
    miosix::ConditionVariable condVar;
    PrintLogger logger = Logging::getLogger("HILTransceiver");
};
 
template <class FlightPhases, class SimulatorData, class ActuatorData>
class HILTransceiver : public HILTransceiverBase
{
public:
    explicit HILTransceiver(USART& hilSerial,
                            HILPhasesManager<FlightPhases, SimulatorData,
                                             ActuatorData>* hilPhasesManager)
        : HILTransceiverBase(hilSerial), actuatorData(),
          hilPhasesManager(hilPhasesManager)
    {
    }
 
    void setActuatorData(ActuatorData actuatorData)
    {
        miosix::Lock<miosix::FastMutex> l(mutex);
 
        // If already updated increment lost updates
        if (updated)
            nLostUpdates++;
 
        this->actuatorData = actuatorData;
        updated            = true;
        condVar.signal();
    }
 
    const SimulatorData* getSensorData() const { return &simulatorData; }
 
private:
    void run() override;
 
    SimulatorData simulatorData;
    ActuatorData actuatorData;
    HILPhasesManager<FlightPhases, SimulatorData, ActuatorData>*
        hilPhasesManager;
};
 
template <class FlightPhases, class SimulatorData, class ActuatorData>
void HILTransceiver<FlightPhases, SimulatorData, ActuatorData>::run()
{
    LOG_INFO(logger, "HIL Transceiver started");
    hilSerial.clearQueue();
 
    miosix::led2On();
    hilSerial.write(&actuatorData, sizeof(ActuatorData));
    miosix::led2Off();
 
    while (!shouldStop())
    {
        // Pausing the kernel in order to copy the data in the shared structure
        {
            SimulatorData tempData;
            nLostUpdates = 0;
            miosix::led3On();
            size_t nRead = 0;
            if (!hilSerial.readBlocking(&tempData, sizeof(SimulatorData),
                                        nRead))
            {
                LOG_ERR(logger, "Failed serial read");
            }
 
            assert(nRead == sizeof(SimulatorData) &&
                   "Read less then SimulatorData bytes");
 
            hilSerial.clearQueue();
            miosix::led3Off();
 
            miosix::PauseKernelLock kLock;
            simulatorData          = tempData;
            timestampSimulatorData = miosix::getTime();
        }
 
        // If this is the first packet to be received, then update the flight
        // phase manager
        if (!receivedFirstPacket)
        {
            receivedFirstPacket = true;
            hilPhasesManager->simulationStarted();
        }
 
        // Trigger events relative to the flight phases
        hilPhasesManager->processFlags(simulatorData);
 
        if (nLostUpdates > 0)
        {
            // This means also that the number of samples used for the mean sent
            // to the HIL simulator is made up of more than the number of
            // samples we though
            LOG_WARN(logger, "%d Lost updates", nLostUpdates);
        }
 
        waitActuatorData();
        miosix::led2On();
        hilSerial.write(&actuatorData, sizeof(ActuatorData));
        miosix::led2Off();
    }
}
}  // namespace Boardcore