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Minor fixes
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@TomLonergan03
TomLonergan03 committed Apr 5, 2022
1 parent bf038ca commit b7948a3
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Showing 5 changed files with 29 additions and 28 deletions.
3 changes: 2 additions & 1 deletion src/propulsion/can/can_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,9 @@ void CanReceiver::processNewData(utils::io::can::Frame &message)
}
}

bool CanReceiver::hasId(const uint32_t id, bool)
bool CanReceiver::hasId(const uint32_t id, const bool extended)
{
if (extended) { return false; }
for (uint32_t cobId : kCanIds) {
if (cobId + node_id_ == id) { return true; }
}
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2 changes: 1 addition & 1 deletion src/propulsion/can/can_receiver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ class CanReceiver : public utils::io::CanProccesor, public ICanReceiver {
utils::io::Can &can_;
IController &controller_;

static constexpr uint64_t kTimeout = 70000; // us
static constexpr uint32_t kTimeout = 70000; // us
};

} // namespace hyped::propulsion
4 changes: 2 additions & 2 deletions src/propulsion/rpm_regulator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@ uint32_t RpmRegulator::calculateRpm(const data::nav_t actual_velocity, const int
uint32_t RpmRegulator::calculateOptimalRpm(const data::nav_t actual_velocity)
{
// polynomial values from simulation
return std::round(0.32047 * actual_velocity * actual_velocity + 297.72578 * actual_velocity
+ 1024.30824);
return static_cast<uint32_t>(std::round(0.32047 * actual_velocity * actual_velocity
+ 297.72578 * actual_velocity + 1024.30824));
}

uint32_t RpmRegulator::step(const int32_t optimal_rpm, const int32_t actual_rpm)
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4 changes: 2 additions & 2 deletions src/utils/io/spi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -217,7 +217,7 @@ void SPI::transfer(uint8_t *tx, uint8_t *, uint16_t len)
}

#endif
}
} // namespace io

void SPI::read(uint8_t addr, uint8_t *rx, uint16_t len)
{
Expand Down Expand Up @@ -266,6 +266,6 @@ SPI::~SPI()

close(spi_fd_);
}
} // namespace io
} // namespace utils
} // namespace hyped
} // namespace hyped
44 changes: 22 additions & 22 deletions test/state_machine/transitions.test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ TEST_F(TransitionFunctionality, handlesNoEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, false) << "falsely detected emergency";
}
}
Expand Down Expand Up @@ -118,7 +118,7 @@ TEST_F(TransitionFunctionality, handlesBrakeEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect brake emergency";
}
}
Expand Down Expand Up @@ -149,7 +149,7 @@ TEST_F(TransitionFunctionality, handlesNavEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Navigation";
}
}
Expand Down Expand Up @@ -180,7 +180,7 @@ TEST_F(TransitionFunctionality, handlesBatteriesEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Batteries";
}
}
Expand Down Expand Up @@ -211,7 +211,7 @@ TEST_F(TransitionFunctionality, handlesTelemetryEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Telemetry";
}
}
Expand Down Expand Up @@ -242,7 +242,7 @@ TEST_F(TransitionFunctionality, handlesSensorsEmergency)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in Sensors";
}
}
Expand Down Expand Up @@ -273,7 +273,7 @@ TEST_F(TransitionFunctionality, handlesMotorsEmergency)
motors_data.module_status = data::ModuleStatus::kCriticalFailure;
telemetry_data.emergency_stop_command = false;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to detect emergency in motors";
}
}
Expand Down Expand Up @@ -304,7 +304,7 @@ TEST_F(TransitionFunctionality, handlesStopCommand)
motors_data.module_status = other;
telemetry_data.emergency_stop_command = true;
const bool has_emergency = state_machine::checkEmergency(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(has_emergency, true) << "failed to register stop command";
}
}
Expand Down Expand Up @@ -337,7 +337,7 @@ TEST_F(TransitionFunctionality, handlesAllInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, true) << "failed to detect all modules being initialised";
}
}
Expand Down Expand Up @@ -369,7 +369,7 @@ TEST_F(TransitionFunctionality, handlesBrakesNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect uninitialised brakes";
}
}
Expand Down Expand Up @@ -402,7 +402,7 @@ TEST_F(TransitionFunctionality, handlesNavigationNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Navigation not being initialised";
}
}
Expand Down Expand Up @@ -436,7 +436,7 @@ TEST_F(TransitionFunctionality, handlesBatteriesNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Batteries not being initialised";
}
}
Expand Down Expand Up @@ -470,7 +470,7 @@ TEST_F(TransitionFunctionality, handlesTelemetryNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Telemetry not being initialised";
}
}
Expand Down Expand Up @@ -504,7 +504,7 @@ TEST_F(TransitionFunctionality, handlesSensorsNotInitialised)
sensors_data.module_status = other;
motors_data.module_status = goal;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Sensors not being initialised";
}
}
Expand Down Expand Up @@ -538,7 +538,7 @@ TEST_F(TransitionFunctionality, handlesMotorsNotInitialised)
sensors_data.module_status = goal;
motors_data.module_status = other;
const bool all_initialised = state_machine::checkModulesInitialised(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_initialised, false) << "failed to detect Motors not being initialise";
}
}
Expand Down Expand Up @@ -566,7 +566,7 @@ TEST_F(TransitionFunctionality, handlesAllReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const auto all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, true) << "failed to detect that all modules are ready";
}

Expand Down Expand Up @@ -595,7 +595,7 @@ TEST_F(TransitionFunctionality, handlesBrakesNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Brakes not being ready";
}
}
Expand Down Expand Up @@ -625,7 +625,7 @@ TEST_F(TransitionFunctionality, handlesNavigationNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Navigation not being ready";
}
}
Expand Down Expand Up @@ -655,7 +655,7 @@ TEST_F(TransitionFunctionality, handlesBatteriesNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Batteries not being ready";
}
}
Expand Down Expand Up @@ -684,7 +684,7 @@ TEST_F(TransitionFunctionality, handlesTelemetryNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Telemetry not being ready";
}
}
Expand Down Expand Up @@ -714,7 +714,7 @@ TEST_F(TransitionFunctionality, handlesSensorsNotReady)
sensors_data.module_status = other;
motors_data.module_status = data::ModuleStatus::kReady;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Sensors not being ready";
}
}
Expand Down Expand Up @@ -744,7 +744,7 @@ TEST_F(TransitionFunctionality, handlesMotorsNotReady)
sensors_data.module_status = data::ModuleStatus::kReady;
motors_data.module_status = other;
const bool all_ready = state_machine::checkModulesReady(
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
log_, brakes_data, nav_data, batteries_data, telemetry_data, sensors_data, motors_data);
ASSERT_EQ(all_ready, false) << "failed to detect Motors not being ready";
}
}
Expand Down

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