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format: run cargo fmt #106

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merged 2 commits into from
May 11, 2024
Merged

format: run cargo fmt #106

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21c8390
format: run cargo fmt
seofernando25 May 4, 2024
0d5324f
ci:
seofernando25 May 4, 2024
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3 changes: 3 additions & 0 deletions .github/workflows/clippy.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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: |
Expand All @@ -31,3 +33,4 @@ jobs:
- uses: actions-rs/clippy-check@v1
with:
token: ${{ secrets.GITHUB_TOKEN }}

2 changes: 1 addition & 1 deletion boards/beacon/src/communication.rs
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@@ -1 +1 @@
//! Interface the SPI-based CAN device here.
//! Interface the SPI-based CAN device here.
29 changes: 14 additions & 15 deletions boards/beacon/src/main.rs
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Expand Up @@ -5,23 +5,26 @@
mod data_manager;
mod types;

use common_arm::SdManager;

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unused import: `common_arm::SdManager` 

warning: unused import: `common_arm::SdManager`
 --> boards/beacon/src/main.rs:8:5
  |
8 | use common_arm::SdManager;
  |     ^^^^^^^^^^^^^^^^^^^^^
  |
  = note: `#[warn(unused_imports)]` on by default
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;

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unused import: `messages::sensor::Sensor` 

warning: unused import: `messages::sensor::Sensor`
  --> boards/beacon/src/main.rs:21:5
   |
21 | 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.
Expand All @@ -30,7 +33,7 @@
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 {

Expand All @@ -39,7 +42,7 @@
#[shared]
struct Shared {
em: ErrorManager,
data_manager: DataManager,

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GitHub Actions / clippy

field `data_manager` is never read 

warning: field `data_manager` is never read
  --> boards/beacon/src/main.rs:45:9
   |
45 |         data_manager: DataManager,
   |         ^^^^^^^^^^^^
...
59 |     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
   |                                    ------ field in this struct
}

#[local]
Expand All @@ -56,14 +59,14 @@
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();

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variable does not need to be mutable 

warning: variable does not need to be mutable
  --> boards/beacon/src/main.rs:68:13
   |
68 |         let mut green_led = gpioa.pa9.into_push_pull_output();
   |             ----^^^^^^^^^
   |             |
   |             help: remove this `mut`
   |
   = note: `#[warn(unused_mut)]` on by default
let mut red_led = gpioa.pa10.into_push_pull_output();

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variable does not need to be mutable 

warning: variable does not need to be mutable
  --> boards/beacon/src/main.rs:69:13
   |
69 |         let mut red_led = gpioa.pa10.into_push_pull_output();
   |             ----^^^^^^^
   |             |
   |             help: remove this `mut`

/* Monotonic clock */
// implement the monotonic clock
Expand All @@ -73,12 +76,8 @@
Shared {
em: ErrorManager::new(),
data_manager: DataManager::new(),

},
Local {
green_led,
red_led,
},
Local { green_led, red_led },
init::Monotonics(mono),
)
}
Expand All @@ -86,19 +85,19 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
  --> boards/beacon/src/main.rs:88:9
   |
88 |         loop {}
   |         ^^^^^^^
   |
   = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
   = note: `#[warn(clippy::empty_loop)]` on by default
}

/**
* Sends a message over CAN.
*/
#[task(capacity = 10, local = [counter: u16 = 0], shared = [&em])]
fn send_internal(cx: send_internal::Context, m: Message) {

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unused variable: `m` 

warning: unused variable: `m`
  --> boards/beacon/src/main.rs:95:50
   |
95 |     fn send_internal(cx: send_internal::Context, m: Message) {
   |                                                  ^ help: if this is intentional, prefix it with an underscore: `_m`

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unused variable: `cx` 

warning: unused variable: `cx`
  --> boards/beacon/src/main.rs:95:22
   |
95 |     fn send_internal(cx: send_internal::Context, m: Message) {
   |                      ^^ help: if this is intentional, prefix it with an underscore: `_cx`
   |
   = note: `#[warn(unused_variables)]` on by default
todo!("Send messages over CAN");
}

#[task(capacity = 5)]
#[task(capacity = 5)]
fn send_external(cx: send_external::Context, m: Message) {

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unused variable: `m` 

warning: unused variable: `m`
   --> boards/beacon/src/main.rs:100:50
    |
100 |     fn send_external(cx: send_external::Context, m: Message) {
    |                                                  ^ help: if this is intentional, prefix it with an underscore: `_m`

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unused variable: `cx` 

warning: unused variable: `cx`
   --> boards/beacon/src/main.rs:100:22
    |
100 |     fn send_external(cx: send_external::Context, m: Message) {
    |                      ^^ help: if this is intentional, prefix it with an underscore: `_cx`
todo!("Send messages over LORA");
}

Expand Down
2 changes: 1 addition & 1 deletion boards/beacon/src/types.rs
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Expand Up @@ -4,4 +4,4 @@
// -------
// Node ID
// -------
pub static COM_ID: Node = BeaconBoard;
pub static COM_ID: Node = BeaconBoard;

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static `COM_ID` is never used 

warning: static `COM_ID` is never used
 --> boards/beacon/src/types.rs:7:12
  |
7 | pub static COM_ID: Node = BeaconBoard;
  |            ^^^^^^
3 changes: 1 addition & 2 deletions boards/camera/src/communication.rs
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Expand Up @@ -45,26 +45,26 @@
}

pub struct CanDevice0 {
pub can: Can<
'static,
Can0,
Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
Capacities,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/camera/src/communication.rs:48:14
   |
48 |       pub can: Can<
   |  ______________^
49 | |         'static,
50 | |         Can0,
51 | |         Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
52 | |         Capacities,
53 | |     >,
   | |_____^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
   = note: `#[warn(clippy::type_complexity)]` on by default
line_interrupts: OwnedInterruptSet<Can0, EnabledLine0>,
}

impl CanDevice0 {
pub fn new<S>(
can_rx: Pin<PA23, AlternateI>,
can_tx: Pin<PA22, AlternateI>,
pclk_can: Pclk<Can0, Gclk0Id>,
ahb_clock: AhbClk<Can0>,
peripheral: CAN0,
gclk0: S,
can_memory: &'static mut SharedMemory<Capacities>,
loopback: bool,
) -> (Self, S::Inc)

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this function has too many arguments (8/7) 

warning: this function has too many arguments (8/7)
  --> boards/camera/src/communication.rs:58:5
   |
58 | /     pub fn new<S>(
59 | |         can_rx: Pin<PA23, AlternateI>,
60 | |         can_tx: Pin<PA22, AlternateI>,
61 | |         pclk_can: Pclk<Can0, Gclk0Id>,
...  |
66 | |         loopback: bool,
67 | |     ) -> (Self, S::Inc)
   | |_______________________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
   = note: `#[warn(clippy::too_many_arguments)]` on by default
where
S: Source<Id = Gclk0Id> + Increment,
{
Expand Down Expand Up @@ -103,8 +103,7 @@
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"));
Expand Down
6 changes: 3 additions & 3 deletions boards/camera/src/data_manager.rs
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Expand Up @@ -64,7 +64,7 @@
Some(air) => match air.altitude {
Some(altitude) => altitude > HEIGHT_MIN,
None => false,
}
},
None => false,
}
}
Expand Down Expand Up @@ -105,19 +105,19 @@
match self.air.as_ref() {
Some(air) => match air.altitude {
Some(altitude) => altitude < MAIN_HEIGHT,
None => false
}
None => false,
},
None => false,
}
}
pub fn handle_data(&mut self, data: Message) {
match data.data {
messages::Data::Sensor(sensor) => match sensor.data {
messages::sensor::SensorData::Air(air_data) => {
self.air = Some(air_data);
}
_ => {}
},

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you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let` 

warning: you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let`
   --> boards/camera/src/data_manager.rs:115:47
    |
115 |               messages::Data::Sensor(sensor) => match sensor.data {
    |  _______________________________________________^
116 | |                 messages::sensor::SensorData::Air(air_data) => {
117 | |                     self.air = Some(air_data);
118 | |                 }
119 | |                 _ => {}
120 | |             },
    | |_____________^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#single_match
help: try
    |
115 ~             messages::Data::Sensor(sensor) => if let messages::sensor::SensorData::Air(air_data) = sensor.data {
116 +                 self.air = Some(air_data);
117 ~             },
    |
_ => {}
}

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you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let` 

warning: you seem to be trying to use `match` for destructuring a single pattern. Consider using `if let`
   --> boards/camera/src/data_manager.rs:114:9
    |
114 | /         match data.data {
115 | |             messages::Data::Sensor(sensor) => match sensor.data {
116 | |                 messages::sensor::SensorData::Air(air_data) => {
117 | |                     self.air = Some(air_data);
...   |
121 | |             _ => {}
122 | |         }
    | |_________^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#single_match
    = note: `#[warn(clippy::single_match)]` on by default
help: try
    |
114 ~         if let messages::Data::Sensor(sensor) = data.data { match sensor.data {
115 +             messages::sensor::SensorData::Air(air_data) => {
116 +                 self.air = Some(air_data);
117 +             }
118 +             _ => {}
119 +         } }
    |
}
Expand Down
9 changes: 3 additions & 6 deletions boards/communication/src/communication.rs
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Expand Up @@ -59,26 +59,26 @@
}

pub struct CanDevice0 {
pub can: Can<
'static,
Can0,
Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
Capacities,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/communication/src/communication.rs:62:14
   |
62 |       pub can: Can<
   |  ______________^
63 | |         'static,
64 | |         Can0,
65 | |         Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
66 | |         Capacities,
67 | |     >,
   | |_____^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
   = note: `#[warn(clippy::type_complexity)]` on by default
line_interrupts: OwnedInterruptSet<Can0, EnabledLine0>,
}

impl CanDevice0 {
pub fn new<S>(
can_rx: Pin<PA23, AlternateI>,
can_tx: Pin<PA22, AlternateI>,
pclk_can: Pclk<Can0, Gclk0Id>,
ahb_clock: AhbClk<Can0>,
peripheral: CAN0,
gclk0: S,
can_memory: &'static mut SharedMemory<Capacities>,
loopback: bool,
) -> (Self, S::Inc)

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this function has too many arguments (8/7) 

warning: this function has too many arguments (8/7)
  --> boards/communication/src/communication.rs:72:5
   |
72 | /     pub fn new<S>(
73 | |         can_rx: Pin<PA23, AlternateI>,
74 | |         can_tx: Pin<PA22, AlternateI>,
75 | |         pclk_can: Pclk<Can0, Gclk0Id>,
...  |
80 | |         loopback: bool,
81 | |     ) -> (Self, S::Inc)
   | |_______________________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
   = note: `#[warn(clippy::too_many_arguments)]` on by default
where
S: Source<Id = Gclk0Id> + Increment,
{
Expand Down Expand Up @@ -120,17 +120,15 @@
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"));
Expand All @@ -146,8 +144,7 @@
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"));
Expand Down Expand Up @@ -299,16 +296,16 @@
// Do we need the header?
match msg {
mavlink::uorocketry::MavMessage::POSTCARD_MESSAGE(msg) => {
return Ok(postcard::from_bytes::<Message>(&msg.message)?);

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:299:21
    |
299 |                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
    |                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
    = note: `#[warn(clippy::needless_return)]` on by default
help: remove `return`
    |
299 -                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
299 +                     Ok(postcard::from_bytes::<Message>(&msg.message)?)
    |
// weird Ok syntax to coerce to hydra error type.
}
_ => {
herror!(Error, ErrorContext::UnkownPostcardMessage);
return Err(mavlink::error::MessageReadError::Io.into());

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:304:21
    |
304 |                     return Err(mavlink::error::MessageReadError::Io.into());
    |                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
    |
304 -                     return Err(mavlink::error::MessageReadError::Io.into());
304 +                     Err(mavlink::error::MessageReadError::Io.into())
    |
}
}
} else {
return Err(mavlink::error::MessageReadError::Io.into());

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:308:13
    |
308 |             return Err(mavlink::error::MessageReadError::Io.into());
    |             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
    |
308 -             return Err(mavlink::error::MessageReadError::Io.into());
308 +             Err(mavlink::error::MessageReadError::Io.into())
    |
}
}
}
Expand Down
3 changes: 1 addition & 2 deletions boards/recovery/src/communication.rs
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Expand Up @@ -49,26 +49,26 @@
}

pub struct CanDevice0 {
pub can: Can<
'static,
Can0,
Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
Capacities,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/recovery/src/communication.rs:52:14
   |
52 |       pub can: Can<
   |  ______________^
53 | |         'static,
54 | |         Can0,
55 | |         Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
56 | |         Capacities,
57 | |     >,
   | |_____^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
   = note: `#[warn(clippy::type_complexity)]` on by default
line_interrupts: OwnedInterruptSet<Can0, EnabledLine0>,
}

impl CanDevice0 {
pub fn new<S>(
can_rx: Pin<PA23, AlternateI>,
can_tx: Pin<PA22, AlternateI>,
pclk_can: Pclk<Can0, Gclk0Id>,
ahb_clock: AhbClk<Can0>,
peripheral: CAN0,
gclk0: S,
can_memory: &'static mut SharedMemory<Capacities>,
loopback: bool,
) -> (Self, S::Inc)

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this function has too many arguments (8/7) 

warning: this function has too many arguments (8/7)
  --> boards/recovery/src/communication.rs:62:5
   |
62 | /     pub fn new<S>(
63 | |         can_rx: Pin<PA23, AlternateI>,
64 | |         can_tx: Pin<PA22, AlternateI>,
65 | |         pclk_can: Pclk<Can0, Gclk0Id>,
...  |
70 | |         loopback: bool,
71 | |     ) -> (Self, S::Inc)
   | |_______________________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
   = note: `#[warn(clippy::too_many_arguments)]` on by default
where
S: Source<Id = Gclk0Id> + Increment,
{
Expand Down Expand Up @@ -111,8 +111,7 @@
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"));
Expand Down
14 changes: 7 additions & 7 deletions boards/recovery/src/data_manager.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ impl DataManager {
Some(air) => match air.altitude {
Some(altitude) => altitude > HEIGHT_MIN,
None => false,
}
},
None => false,
}
}
Expand Down Expand Up @@ -120,7 +120,7 @@ impl DataManager {
Some(air) => match air.altitude {
Some(altitude) => altitude < MAIN_HEIGHT,
None => false,
}
},
None => false,
}
}
Expand All @@ -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);
Expand Down
6 changes: 2 additions & 4 deletions boards/sensor/src/communication.rs
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Expand Up @@ -51,26 +51,26 @@
}

pub struct CanDevice0 {
pub can: Can<
'static,
Can0,
Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
Capacities,
>,

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GitHub Actions / clippy

very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/sensor/src/communication.rs:54:14
   |
54 |       pub can: Can<
   |  ______________^
55 | |         'static,
56 | |         Can0,
57 | |         Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
58 | |         Capacities,
59 | |     >,
   | |_____^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
   = note: `#[warn(clippy::type_complexity)]` on by default
line_interrupts: OwnedInterruptSet<Can0, EnabledLine0>,
}

impl CanDevice0 {
pub fn new<S>(
can_rx: Pin<PA23, AlternateI>,
can_tx: Pin<PA22, AlternateI>,
pclk_can: Pclk<Can0, Gclk0Id>,
ahb_clock: AhbClk<Can0>,
peripheral: CAN0,
gclk0: S,
can_memory: &'static mut SharedMemory<Capacities>,
loopback: bool,
) -> (Self, S::Inc)

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this function has too many arguments (8/7) 

warning: this function has too many arguments (8/7)
  --> boards/sensor/src/communication.rs:64:5
   |
64 | /     pub fn new<S>(
65 | |         can_rx: Pin<PA23, AlternateI>,
66 | |         can_tx: Pin<PA22, AlternateI>,
67 | |         pclk_can: Pclk<Can0, Gclk0Id>,
...  |
72 | |         loopback: bool,
73 | |     ) -> (Self, S::Inc)
   | |_______________________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
   = note: `#[warn(clippy::too_many_arguments)]` on by default
where
S: Source<Id = Gclk0Id> + Increment,
{
Expand Down Expand Up @@ -121,17 +121,15 @@
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"));
Expand Down
3 changes: 2 additions & 1 deletion boards/sensor/src/data_manager.rs
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@@ -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;

Expand Down
4 changes: 3 additions & 1 deletion libraries/messages/src/lib.rs
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Expand Up @@ -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! {
Expand Down
79 changes: 52 additions & 27 deletions libraries/sbg-rs/src/data_conversion.rs
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Original file line number Diff line number Diff line change
@@ -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.
Expand All @@ -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 },
Expand Down Expand Up @@ -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),
Expand All @@ -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,
}
},
)
}
}
Expand All @@ -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),
},
Expand All @@ -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 },
}

},
)
}
}
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