format: run cargo fmt (#106)

* format: run cargo fmt

* ci:

.github/workflows/clippy.yml

@@ -19,6 +19,8 @@ jobs:
           components: clippy
           toolchain: stable
           target: thumbv7em-none-eabihf
+      - name: cargofmt
+        run: cargo fmt --check
       - uses: actions/cache@v3
         with:
           path: |
@@ -31,3 +33,4 @@ jobs:
       - uses: actions-rs/clippy-check@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
+

boards/beacon/src/communication.rs

@@ -1 +1 @@
-//! Interface the SPI-based CAN device here. 
+//! Interface the SPI-based CAN device here.

boards/beacon/src/main.rs

@@ -9,19 +9,22 @@ use common_arm::SdManager;
 use common_arm::*;
 use data_manager::DataManager;
 // use defmt::info;
-use messages::sensor::Sensor;
-use messages::*;
-use stm32l0xx_hal as hal;
 use hal::{
     gpio::*,
+    gpio::{
+        gpioa::{PA10, PA9},
+        Output, PushPull,
+    },
     prelude::*,
     rcc::Config,
-    gpio::{gpioa::{PA9, PA10}, Output, PushPull},
 };
+use messages::sensor::Sensor;
+use messages::*;
+use stm32l0xx_hal as hal;
 
 use systick_monotonic::*;
 
-// use https://github.com/lora-rs/lora-rs.git 
+// use https://github.com/lora-rs/lora-rs.git
 
 /// Custom panic handler.
 /// Reset the system if a panic occurs.
@@ -30,7 +33,7 @@ fn panic(_info: &core::panic::PanicInfo) -> ! {
     stm32l0xx_hal::pac::SCB::sys_reset();
 }
 
-// Add dispatchers 
+// Add dispatchers
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EXTI0_1, EXTI2_3, EXTI4_15])]
 mod app {
 
@@ -56,11 +59,11 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
         let device = cx.device;
         let core = cx.core;
-        
-        // configure the clock 
+
+        // configure the clock
         let mut rcc = device.RCC.freeze(Config::hse(64_000_000u32.Hz()));
 
-        // configure leds 
+        // configure leds
         let gpioa = device.GPIOA.split(&mut rcc);
         let mut green_led = gpioa.pa9.into_push_pull_output();
         let mut red_led = gpioa.pa10.into_push_pull_output();
@@ -73,12 +76,8 @@ mod app {
             Shared {
                 em: ErrorManager::new(),
                 data_manager: DataManager::new(),
-
-            },
-            Local { 
-                green_led,
-                red_led,
             },
+            Local { green_led, red_led },
             init::Monotonics(mono),
         )
     }
@@ -97,7 +96,7 @@ mod app {
         todo!("Send messages over CAN");
     }
 
-    #[task(capacity = 5)] 
+    #[task(capacity = 5)]
     fn send_external(cx: send_external::Context, m: Message) {
         todo!("Send messages over LORA");
     }

boards/beacon/src/types.rs

@@ -4,4 +4,4 @@ use messages::node::Node::BeaconBoard;
 // -------
 // Node ID
 // -------
-pub static COM_ID: Node = BeaconBoard;
+pub static COM_ID: Node = BeaconBoard;

boards/camera/src/communication.rs

@@ -103,8 +103,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));

boards/camera/src/data_manager.rs

@@ -64,7 +64,7 @@ impl DataManager {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude > HEIGHT_MIN,
                 None => false,
-            }
+            },
             None => false,
         }
     }
@@ -105,8 +105,8 @@ impl DataManager {
         match self.air.as_ref() {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude < MAIN_HEIGHT,
-                None => false
-            }
+                None => false,
+            },
             None => false,
         }
     }

boards/communication/src/communication.rs

@@ -120,17 +120,15 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Recovery filter"));
 
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));
@@ -146,8 +144,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Ground Station filter"));

boards/recovery/src/communication.rs

@@ -111,8 +111,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor Board filter"));

boards/recovery/src/data_manager.rs

@@ -78,7 +78,7 @@ impl DataManager {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude > HEIGHT_MIN,
                 None => false,
-            }
+            },
             None => false,
         }
     }
@@ -120,7 +120,7 @@ impl DataManager {
             Some(air) => match air.altitude {
                 Some(altitude) => altitude < MAIN_HEIGHT,
                 None => false,
-            }
+            },
             None => false,
         }
     }
@@ -132,11 +132,11 @@ impl DataManager {
             messages::Data::Sensor(sensor) => match sensor.data {
                 messages::sensor::SensorData::Air(air_data) => {
                     /*
-                        NOTE!!!
-                        There should be added a counter to check how many times 
-                        the alt is dropped, if the number is high switch to 
-                        the on board barometer. 
-                     */
+                       NOTE!!!
+                       There should be added a counter to check how many times
+                       the alt is dropped, if the number is high switch to
+                       the on board barometer.
+                    */
 
                     if let Some(alt) = air_data.altitude {
                         let tup_data: (f32, u32) = (alt, air_data.time_stamp);

boards/sensor/src/communication.rs

@@ -121,17 +121,15 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::RecoveryBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Recovery filter"));
 
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::GroundStation.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Ground Station filter"));

boards/sensor/src/data_manager.rs

@@ -1,7 +1,8 @@
 use crate::app::sleep_system;
 use common_arm::{spawn, HydraError};
 use messages::sensor::{
-    Air, EkfNav1, EkfNav2, EkfQuat, GpsPos1, GpsPos2, GpsVel, Imu1, Imu2, SensorData, UtcTime, EkfNavAcc, GpsPosAcc, GpsVelAcc,
+    Air, EkfNav1, EkfNav2, EkfNavAcc, EkfQuat, GpsPos1, GpsPos2, GpsPosAcc, GpsVel, GpsVelAcc,
+    Imu1, Imu2, SensorData, UtcTime,
 };
 use messages::Message;
 

libraries/messages/src/lib.rs

@@ -75,7 +75,9 @@ impl Message {
 
 #[cfg(test)]
 mod test {
-    use crate::{Message, MAX_HEALTH_SIZE, MAX_COMMAND_SIZE, MAX_LOG_SIZE, MAX_SENSOR_SIZE, MAX_STATE_SIZE};
+    use crate::{
+        Message, MAX_COMMAND_SIZE, MAX_HEALTH_SIZE, MAX_LOG_SIZE, MAX_SENSOR_SIZE, MAX_STATE_SIZE,
+    };
     use proptest::prelude::*;
 
     proptest! {

libraries/sbg-rs/src/data_conversion.rs

@@ -1,11 +1,15 @@
 use crate::bindings::{
-    SbgLogAirData, SbgLogEkfNavData, SbgLogEkfQuatData, SbgLogGpsVel, SbgLogImuData, SbgLogUtcData, SbgLogGpsPos,
+    SbgLogAirData, SbgLogEkfNavData, SbgLogEkfQuatData, SbgLogGpsPos, SbgLogGpsVel, SbgLogImuData,
+    SbgLogUtcData,
 };
 use bitflags::Flags;
-use messages::sensor::{Air, EkfNav1, EkfNav2, EkfNavAcc, EkfQuat, GpsVel, Imu1, Imu2, UtcTime, GpsPos1, GpsPos2, GpsPosAcc, GpsVelAcc};
+use messages::sensor::{
+    Air, EkfNav1, EkfNav2, EkfNavAcc, EkfQuat, GpsPos1, GpsPos2, GpsPosAcc, GpsVel, GpsVelAcc,
+    Imu1, Imu2, UtcTime,
+};
 use messages::sensor_status::{
-    AirFlags, AirStatus, EkfFlags, EkfStatus, GpsVelStatus, GpsVelStatusE, ImuFlags, ImuStatus,
-    UtcStatus, UtcTimeStatus, GpsPositionStatus, GpsPositionStatusE
+    AirFlags, AirStatus, EkfFlags, EkfStatus, GpsPositionStatus, GpsPositionStatusE, GpsVelStatus,
+    GpsVelStatusE, ImuFlags, ImuStatus, UtcStatus, UtcTimeStatus,
 };
 
 /// Simple helper function to work with the flags structure and set the fields as needed.
@@ -23,40 +27,63 @@ where
 impl From<SbgLogGpsPos> for (GpsPos1, GpsPos2, GpsPosAcc) {
     fn from(value: SbgLogGpsPos) -> Self {
         let status = GpsPositionStatus::new(value.status);
-        
+
         let valid = matches!(status.get_status(), Some(GpsPositionStatusE::SolComputed));
-        
+
         (
             GpsPos1 {
-                latitude: if valid {Some(value.latitude)} else {None},
-                longitude: if valid {Some(value.longitude)} else {None},
+                latitude: if valid { Some(value.latitude) } else { None },
+                longitude: if valid { Some(value.longitude) } else { None },
             },
             GpsPos2 {
-                altitude: if valid {Some(value.altitude)} else {None},
-                undulation: if valid {Some(value.undulation)} else {None},
-                time_of_week: if valid {Some(value.timeOfWeek)} else {None},
+                altitude: if valid { Some(value.altitude) } else { None },
+                undulation: if valid { Some(value.undulation) } else { None },
+                time_of_week: if valid { Some(value.timeOfWeek) } else { None },
             },
             GpsPosAcc {
                 status,
                 time_stamp: value.timeStamp,
-                latitude_accuracy: if valid {Some(value.latitudeAccuracy)} else {None},
-                longitude_accuracy: if valid {Some(value.longitudeAccuracy)} else {None},
-                altitude_accuracy: if valid {Some(value.altitudeAccuracy)} else {None},
-                num_sv_used: if valid {Some(value.numSvUsed)} else {None},
-                base_station_id: if valid {Some(value.baseStationId)} else {None},
-                differential_age: if valid {Some(value.differentialAge)} else {None},
-            }
+                latitude_accuracy: if valid {
+                    Some(value.latitudeAccuracy)
+                } else {
+                    None
+                },
+                longitude_accuracy: if valid {
+                    Some(value.longitudeAccuracy)
+                } else {
+                    None
+                },
+                altitude_accuracy: if valid {
+                    Some(value.altitudeAccuracy)
+                } else {
+                    None
+                },
+                num_sv_used: if valid { Some(value.numSvUsed) } else { None },
+                base_station_id: if valid {
+                    Some(value.baseStationId)
+                } else {
+                    None
+                },
+                differential_age: if valid {
+                    Some(value.differentialAge)
+                } else {
+                    None
+                },
+            },
         )
     }
 }
 
 impl From<SbgLogUtcData> for UtcTime {
     fn from(value: SbgLogUtcData) -> Self {
         let status = UtcTimeStatus::new(value.status);
-        let valid = matches!(status.get_utc_status(), Some(UtcStatus::Valid | UtcStatus::NoLeapSec));
+        let valid = matches!(
+            status.get_utc_status(),
+            Some(UtcStatus::Valid | UtcStatus::NoLeapSec)
+        );
 
         Self {
-            time_stamp: value.timeStamp, // not convinced this is matched valid to the Utc Status bitmask. 
+            time_stamp: value.timeStamp, // not convinced this is matched valid to the Utc Status bitmask.
             status,
             year: if valid { Some(value.year) } else { None },
             month: if valid { Some(value.month) } else { None },
@@ -114,7 +141,6 @@ impl From<SbgLogEkfNavData> for (EkfNav1, EkfNav2, EkfNavAcc) {
             EkfNav1 {
                 time_stamp: value.timeStamp,
                 velocity: check(&flags, EkfFlags::VelocityValid, value.velocity),
-
             },
             EkfNav2 {
                 undulation: check(&flags, EkfFlags::AttitudeValid, value.undulation),
@@ -124,7 +150,7 @@ impl From<SbgLogEkfNavData> for (EkfNav1, EkfNav2, EkfNavAcc) {
                 velocity_std_dev: check(&flags, EkfFlags::VelocityValid, value.velocityStdDev),
                 position_std_dev: check(&flags, EkfFlags::PositionValid, value.positionStdDev),
                 status,
-            }
+            },
         )
     }
 }
@@ -142,7 +168,7 @@ impl From<SbgLogImuData> for (Imu1, Imu2) {
                 accelerometers: check(&flags, ImuFlags::AccelsInRange, value.accelerometers),
             },
             Imu2 {
-                temperature: Some(value.temperature), // we cannot check since no flag exists. Keep in option for uniformity. 
+                temperature: Some(value.temperature), // we cannot check since no flag exists. Keep in option for uniformity.
                 delta_velocity: check(&flags, ImuFlags::AccelsInRange, value.deltaVelocity),
                 delta_angle: check(&flags, ImuFlags::GyrosInRange, value.deltaAngle),
             },
@@ -159,16 +185,15 @@ impl From<SbgLogGpsVel> for (GpsVel, GpsVelAcc) {
         (
             GpsVel {
                 time_stamp: value.timeStamp,
-                time_of_week: if valid {Some(value.timeOfWeek) } else {None}, 
+                time_of_week: if valid { Some(value.timeOfWeek) } else { None },
                 status,
                 velocity: if valid { Some(value.velocity) } else { None },
                 course: if valid { Some(value.course) } else { None },
-            }, 
+            },
             GpsVelAcc {
                 velocity_acc: if valid { Some(value.velocityAcc) } else { None },
                 course_acc: if valid { Some(value.courseAcc) } else { None },
-            }
-
+            },
         )
     }
 }