Updated test built

CMakeLists.txt

@@ -6,7 +6,7 @@
 # cmake --build . -j
 # to run test:
 #   cmake . -DBOARD_TO_BUILD=test -DCMAKE_BUILD_TYPE=Release
-#   cmake
+#   make
 
 cmake_minimum_required(VERSION 3.8)
 project(rosflight_firmware C CXX ASM)

test/test_board.cpp

@@ -56,6 +56,8 @@ void testBoard::set_imu(float * acc, float * gyro, uint64_t time_us)
   new_imu_ = true;
 }
 
+
+
 // setup
 void testBoard::init_board() { backup_memory_clear(); }
 void testBoard::board_reset(bool bootloader) {}
@@ -79,28 +81,18 @@ uint16_t testBoard::sensors_init_message_count() { return 0; }
 uint16_t testBoard::sensors_init_message(char * message, uint16_t size, uint16_t i) { return 0; }
 bool testBoard::sensors_init_message_good(uint16_t i) { return false; }
 
-bool testBoard::imu_present() { return false; }
-
-bool testBoard::imu_has_new_data()
-{
-  if (new_imu_) {
-    new_imu_ = false;
-    return true;
-  }
-  return false;
-}
-
-bool testBoard::imu_read(float accel[3], float * temperature, float gyro[3], uint64_t * time)
+bool testBoard::imu_read(rosflight_firmware::ImuStruct * imu)
 {
   for (int i = 0; i < 3; i++) {
-    accel[i] = acc_[i];
-    gyro[i] = gyro_[i];
+    imu->accel[i] = acc_[i];
+    imu->gyro[i] = gyro_[i];
   }
-  *temperature = 25.0;
-  *time = time_us_;
+  imu->temperature = 25.0;
+  imu->timestamp = time_us_;
   return true;
 }
 
+void testBoard::backup_memory_init() {}
 bool testBoard::backup_memory_read(void * dest, size_t len)
 {
   bool success = true;
@@ -117,51 +109,36 @@ void testBoard::backup_memory_write(const void * src, size_t len)
   if (len > BACKUP_MEMORY_SIZE) { len = BACKUP_MEMORY_SIZE; }
   memcpy(backup_memory_, src, len);
 }
+
 void testBoard::backup_memory_clear(size_t len) { memset(backup_memory_, 0, len); }
 void testBoard::backup_memory_clear() { backup_memory_clear(BACKUP_MEMORY_SIZE); }
 
-void testBoard::imu_not_responding_error() {}
-
-bool testBoard::mag_present() { return false; }
-bool testBoard::mag_has_new_data() { return false; }
-bool testBoard::mag_read(float mag[3]) { return false; }
+bool testBoard::mag_read(rosflight_firmware::MagStruct * mag) { (void)mag; return false; }
 
-bool testBoard::baro_present() { return false; }
-bool testBoard::baro_has_new_data() { return false; }
-bool testBoard::baro_read(float * pressure, float * temperature) { return false; }
+bool testBoard::baro_read(rosflight_firmware::PressureStruct * baro) { (void)baro; return false; }
 
-bool testBoard::diff_pressure_present() { return false; }
-bool testBoard::diff_pressure_has_new_data() { return false; }
-bool testBoard::diff_pressure_read(float * diff_pressure, float * temperature) { return false; }
+bool testBoard::diff_pressure_read(rosflight_firmware::PressureStruct * diff_pressure) { (void)diff_pressure; return false; }
 
-bool testBoard::sonar_present() { return false; }
-bool testBoard::sonar_has_new_data() { return false; }
-bool testBoard::sonar_read(float * range) { return false; }
+bool testBoard::sonar_read(rosflight_firmware::RangeStruct * sonar) { (void) sonar; return false; }
 
-bool testBoard::gnss_present() { return false; }
-bool testBoard::gnss_has_new_data() { return false; }
-bool testBoard::gnss_read(GNSSData * gnss, GNSSFull * gnss_full) { return false; }
+bool testBoard::gnss_read(rosflight_firmware::GnssStruct * gnss) { return false; }
 
-bool testBoard::battery_present() { return false; }
-bool testBoard::battery_has_new_data() { return false; }
-bool testBoard::battery_read(float * voltage, float * current) { return false; }
+bool testBoard::battery_read(rosflight_firmware::BatteryStruct * batt) { (void)batt; return false; }
 void testBoard::battery_voltage_set_multiplier(double multiplier) {}
 void testBoard::battery_current_set_multiplier(double multiplier) {}
 
 // PWM
 // TODO make these deal in normalized (-1 to 1 or 0 to 1) values (not pwm-specific)
-void testBoard::rc_init(rc_type_t rc_type) {}
+void testBoard::rc_init(rc_type_t rc_type) {(void)rc_type;}
 bool testBoard::rc_lost() { return rc_lost_; }
-bool testBoard::rc_has_new_data() { return new_rc_; }
-float testBoard::rc_read(uint8_t channel)
+
+bool testBoard::rc_read(rosflight_firmware::RcStruct * rc_struct)
 {
-  new_rc_ = false;
-  return static_cast<float>(rc_values[channel] - 1000) / 1000.0;
+  // ???? what goes here ???
+  return true;
 }
-void testBoard::pwm_write(uint8_t channel, float value) {}
-void testBoard::pwm_write_multi(float * value, uint32_t channels) {}
-void testBoard::pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) {}
-void testBoard::pwm_init_multi(const float * rate, uint32_t channels) {}
+void testBoard::pwm_write(float * value, uint32_t channels) {}
+void testBoard::pwm_init(const float * rate, uint32_t channels) {}
 void testBoard::pwm_disable() {}
 
 // non-volatile memory

test/test_board.h

@@ -52,7 +52,8 @@ class testBoard : public Board
 
 public:
   // setup
-  void init_board() override;
+
+  void init_board(void) override;
   void board_reset(bool bootloader) override;
 
   // clock
@@ -74,49 +75,33 @@ class testBoard : public Board
   uint16_t sensors_init_message(char * message, uint16_t size, uint16_t i) override;
   bool sensors_init_message_good(uint16_t i) override;
 
-  bool imu_present() override;
-  bool imu_has_new_data() override;
-  bool imu_read(float accel[3], float * temperature, float gyro[3], uint64_t * time) override;
-  void imu_not_responding_error() override;
-
-  bool mag_present() override;
-  bool mag_has_new_data() override;
-  bool mag_read(float mag[3]) override;
+  bool imu_read(rosflight_firmware::ImuStruct * imu) override;
 
-  bool baro_present() override;
-  bool baro_has_new_data() override;
-  bool baro_read(float * pressure, float * temperature) override;
+  bool mag_read(rosflight_firmware::MagStruct * mag) override;
 
-  bool diff_pressure_present() override;
-  bool diff_pressure_has_new_data() override;
-  bool diff_pressure_read(float * diff_pressure, float * temperature) override;
+  bool baro_read(rosflight_firmware::PressureStruct * baro) override;
 
-  bool sonar_present() override;
-  bool sonar_has_new_data() override;
-  bool sonar_read(float * range) override;
+  bool diff_pressure_read(rosflight_firmware::PressureStruct * diff_pressure) override;
 
-  bool gnss_present() override;
-  bool gnss_has_new_data() override;
-  bool gnss_read(GNSSData * gnss, GNSSFull * gnss_full) override;
+  bool sonar_read(rosflight_firmware::RangeStruct * sonar) override;
 
-  bool battery_present() override;
-  bool battery_has_new_data() override;
-  bool battery_read(float * voltage, float * current) override;
+  // Battery
+  bool battery_read(rosflight_firmware::BatteryStruct * bat) override;
   void battery_voltage_set_multiplier(double multiplier) override;
   void battery_current_set_multiplier(double multiplier) override;
 
+  // GNSS
+  bool gnss_read(rosflight_firmware::GnssStruct * gnss) override;
+
   // RC
   void rc_init(rc_type_t rc_type) override;
   bool rc_lost() override;
-  bool rc_has_new_data() override;
-  float rc_read(uint8_t channel) override;
+  bool rc_read(rosflight_firmware::RcStruct * rc) override;
 
   // PWM
-  void pwm_init(uint32_t refresh_rate, uint16_t idle_pwm) override;
-  void pwm_init_multi(const float * rate, uint32_t channels) override;
+  void pwm_init(const float * rate, uint32_t channels) override;
   void pwm_disable() override;
-  void pwm_write(uint8_t channel, float value) override;
-  void pwm_write_multi(float * value, uint32_t channels) override;
+  void pwm_write(float * value, uint32_t channels) override;
 
   // non-volatile memory
   void memory_init() override;
@@ -132,12 +117,12 @@ class testBoard : public Board
   void led1_off() override;
   void led1_toggle() override;
 
-  // Backup memory
-  void backup_memory_init() override {}
+  // Backup Data
+  void backup_memory_init() override;
   bool backup_memory_read(void * dest, size_t len) override;
   void backup_memory_write(const void * src, size_t len) override;
   void backup_memory_clear(size_t len) override;
-  void backup_memory_clear(); // Not an override
+  void backup_memory_clear();
 
   void set_imu(float * acc, float * gyro, uint64_t time_us);
   void set_rc(uint16_t * values);