Split SBG messages to radio based communication only.

uorocketry · Oct 26, 2024 · df6b6db · df6b6db
1 parent 1923447
commit df6b6db
Show file tree

Hide file tree

Showing 3 changed files with 47 additions and 9 deletions.
diff --git a/proptest-regressions/lib.txt b/proptest-regressions/lib.txt
@@ -5,3 +5,5 @@
 # It is recommended to check this file in to source control so that
 # everyone who runs the test benefits from these saved cases.
 cc 61b4824c090c01db4b55ba9e9fcc0fb7bbb6843574b2b802fbc377e8f839c62d # shrinks to msg = Message { timestamp: FormattedNaiveDateTime(-0001-01-01T00:00:00.000000001), node: PressureBoard, data: Sensor(Sensor { data: EkfNavAcc(EkfNavAcc { status: EkfStatus { status: 268435456 }, velocity_std_dev: Some([0.0, 0.0, 0.0]), position_std_dev: Some([-0.0, 0.0, 0.0]) }) }) }
+cc 1b5e64b2da76dcb68777a6b6564de7a77d5f4b6ab26e1f36432e2df7d11f828b # shrinks to msg = Message { timestamp: FormattedNaiveDateTime(0000-01-01T00:00:00.000000001), node: PressureBoard, data: Sensor(Sensor { component_id: 0, data: Imu2(Imu2 { temperature: Some(0.0), delta_velocity: Some([0.0, 0.0, 0.0]), delta_angle: Some([0.0, 0.0, 0.0]) }) }) }
+cc dba5d5b40143101de3363dadb069654a4e5b62704479ee3824b993edba0b0efd # shrinks to msg = Message { timestamp: FormattedNaiveDateTime(0000-01-01T00:00:00), node: PressureBoard, data: Sensor(Sensor { component_id: 0, data: SbgData(EkfQuat(EkfQuat { time_stamp: 268435456, quaternion: Some([0.0, 0.0, 0.0, 0.0]), euler_std_dev: Some([0.0, 0.0, 0.0]), status: EkfStatus { status: 268435456 } })) }) }
diff --git a/src/lib.rs b/src/lib.rs
@@ -23,7 +23,8 @@ pub mod sensor;
 pub mod sensor_status;
 pub mod state;
 
-pub const MAX_SIZE: usize = 64;
+pub const MAX_SIZE_CAN: usize = 64;
+pub const MAX_SIZE_RADIO: usize = 255;
 
 pub use logging::{ErrorContext, Event, Log, LogLevel};
 use defmt::Format;
@@ -78,16 +79,32 @@ impl Message {
 
 #[cfg(all(test, feature = "std"))]
 mod test {
-    use crate::{Message, MAX_SIZE};
+    use crate::{Message, MAX_SIZE_CAN, MAX_SIZE_RADIO};
     use proptest::prelude::*;
 
     proptest! {
         #[test]
         fn message_size(msg: Message) {
             let bytes = postcard::to_allocvec(&msg).unwrap();
 
-            dbg!(msg);
-            assert!(dbg!(bytes.len()) <= MAX_SIZE);
+            dbg!(msg.clone());
+
+            match msg.data {
+                crate::Data::Sensor(sensor) => {
+                    match sensor.data {
+                        crate::sensor::SensorData::SbgData(_) => {
+                            assert!(bytes.len() <= MAX_SIZE_RADIO);
+                        }
+                        _ => {
+                            assert!(bytes.len() <= MAX_SIZE_CAN);
+                        }
+                    }
+                }
+                _ => {
+                    assert!(bytes.len() <= MAX_SIZE_CAN);
+                }
+
+            }
         }
     }
 }
diff --git a/src/sensor.rs b/src/sensor.rs
@@ -7,13 +7,35 @@ use messages_proc_macros_lib::common_derives;
 #[common_derives]
 pub struct Sensor {
     /// Used to differentiate between multiple components on the same sender. Unused right now.
-    // pub component_id: u8,
+    pub component_id: u8,
     pub data: SensorData,
 }
 
 #[common_derives]
 #[derive(From)]
 pub enum SensorData {
+    // UtcTime(UtcTime),
+    // Air(Air),
+    // EkfQuat(EkfQuat),
+    // EkfNav1(EkfNav1),
+    // EkfNav2(EkfNav2),
+    // EkfNavAcc(EkfNavAcc),
+    // Imu1(Imu1),
+    // Imu2(Imu2),
+    NavPosLlh(NavPosLlh),
+    // GpsVel(GpsVel),
+    // GpsVelAcc(GpsVelAcc),
+    // GpsPos1(GpsPos1),
+    // GpsPos2(GpsPos2),
+    // GpsPosAcc(GpsPosAcc),
+    ResetReason(ResetReason),
+    RecoverySensing(RecoverySensing),
+    SbgData(SbgData),
+}
+
+#[common_derives]
+#[derive(From)]
+pub enum SbgData {
     UtcTime(UtcTime),
     Air(Air),
     EkfQuat(EkfQuat),
@@ -22,14 +44,11 @@ pub enum SensorData {
     EkfNavAcc(EkfNavAcc),
     Imu1(Imu1),
     Imu2(Imu2),
-    NavPosLlh(NavPosLlh),
     GpsVel(GpsVel),
     GpsVelAcc(GpsVelAcc),
     GpsPos1(GpsPos1),
     GpsPos2(GpsPos2),
     GpsPosAcc(GpsPosAcc),
-    ResetReason(ResetReason),
-    RecoverySensing(RecoverySensing),
 }
 
 #[common_derives]
@@ -245,7 +264,7 @@ pub struct RecoverySensing {
 impl Sensor {
     pub fn new(data: impl Into<SensorData>) -> Self {
         Sensor {
-            // component_id: 0,
+            component_id: 0,
             data: data.into(),
         }
     }