Dependency injection (#65)

Co-authored-by: larry-pan <[email protected]>

Author: Yaremadzulynsky

SystemManager/Inc/SystemManager.hpp

@@ -23,6 +23,8 @@ class SystemManager {
         /* Other managers*/
         TelemetryManager *telemetryManager;
 
+        TelemetryManager* setupTM();
+
         /* Class Functions */
         void startSystemManager(); 
 

SystemManager/Src/SystemManager.cpp

@@ -5,23 +5,26 @@
 
 #include "SystemManager.hpp"
 
+#include <iostream>
+
+#include "FreeRTOS.h"
+#include "GroundStationCommunication.hpp"
+#include "TelemetryManager.hpp"
+#include "cmsis_os.h"
 #include "drivers_config.hpp"
 #include "independent_watchdog.h"
 #include "rcreceiver_datatypes.h"
 #include "sbus_defines.h"
 #include "sbus_receiver.hpp"
 #include "tim.h"
-#include "cmsis_os.h"
-#include "FreeRTOS.h"
-#include <iostream>
 
 extern "C" {
-  #include "app_fatfs.h"
-  #include "log_util.h"
+#include "app_fatfs.h"
+#include "log_util.h"
 }
 
-#define TIMEOUT_CYCLES 250000 // 25k = 1 sec fro testing 10/14/2023 => 250k = 10 sec
-#define TIMOUT_MS      10000 // 10 sec
+#define TIMEOUT_CYCLES 250000  // 25k = 1 sec fro testing 10/14/2023 => 250k = 10 sec
+#define TIMOUT_MS 10000        // 10 sec
 
 // 0 - AM, 1 - TM, 2 - PM
 static TaskHandle_t taskHandles[3];
@@ -43,40 +46,88 @@ SystemManager::SystemManager()
     // VARIABLES FOR TELEMETRY MANAGER TO HAVE AS REFERENCES THEY OBV SHOULD BE PUT SOMEWHERE ELSE,
     // BUT I FEEL LIKE SM PM WOULD KNOW WHERE. MAYBE IN THE HPP FILE? IDK HOW YOU ARE PLANNING ON
     // GATHERING THE DATA. I JUST PUT THEM HERE FOR NOW
+
+   
+    this->telemetryManager = setupTM();
+    this->telemetryManager->init();
+
+    // IDK WHERE SM PLANS TO DO THIS, BUT telemetryManager.update() NEEDS TO BE CALLED AT A SEMI
+    // REGULAR INTERVAL AS IT DEALS WITH MESSAGE DECODING AND LOW PRIORITY DATA TRANSMISSION    
+}
+
+TelemetryManager* SystemManager::setupTM() {
+
+     // Struct containing the state of the drone
+    TMStateData stateData;
+
+    // values to be assigned to stateData
+    // THIS IS JUST A PLACEHOLDER, THE MEMORY ADDRESSES NEED TO LIVE LONGER THAN THE SM CONSTRUCTOR
+    int32_t alt = 0;
     int32_t lat = 0;
     int32_t lon = 0;
-    int32_t alt = 0;
     int32_t relative_alt = 0;
     int16_t vx = 0;
     int16_t vy = 0;
     int16_t vz = 0;
     uint16_t hdg = 0;
     int32_t time_boot_ms = 0;
-    MAV_STATE state = MAV_STATE::MAV_STATE_STANDBY;
-    MAV_MODE_FLAG mode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
     float roll = 0;
     float pitch = 0;
     float yaw = 0;
     float rollspeed = 0;
     float pitchspeed = 0;
     float yawspeed = 0;
 
-    this->telemetryManager =
-        new TelemetryManager(lat, lon, alt, relative_alt, vx, vy, vz, hdg, time_boot_ms, state,
-                             mode, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
-    this->telemetryManager->init();
-    // IDK WHERE SM PLANS TO DO THIS, BUT telemetryManager.update() NEEDS TO BE CALLED AT A SEMI
-    // REGULAR INTERVAL AS IT DEALS WITH MESSAGE DECODING AND LOW PRIORITY DATA TRANSMISSION
+    // use the memory address of the above, since stateData uses pointers
+    stateData.set_alt(&alt);
+    stateData.set_lat(&lat);
+    stateData.set_lon(&lon);
+    stateData.set_relative_alt(&relative_alt);
+    stateData.set_vx(&vx);
+    stateData.set_vy(&vy);
+    stateData.set_vz(&vz);
+    stateData.set_hdg(&hdg);
+    stateData.set_time_boot_ms(&time_boot_ms);
+    stateData.set_roll(&roll);
+    stateData.set_pitch(&pitch);
+    stateData.set_yaw(&yaw);
+    stateData.set_rollspeed(&rollspeed);
+    stateData.set_pitchspeed(&pitchspeed);
+    stateData.set_yawspeed(&yawspeed);
+
+    MAV_STATE mavState = MAV_STATE::MAV_STATE_STANDBY;
+    MAV_MODE_FLAG mavMode = MAV_MODE_FLAG::MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+
+    // Creating parameters for the GroundStationCommunication that will be passed to
+    // telemetryManager
+    TMCircularBuffer DMAReceiveBuffer = *(new TMCircularBuffer(rfd900_circular_buffer));
+
+    // the buffer that stores non_routine/low_priority bytes (ex. Battery Voltage) to be sent to the
+    // ground station.
+    uint8_t *lowPriorityTransmitBuffer = new uint8_t[RFD900_BUF_SIZE];
+
+    // the buffer that stores routine/high_priority bytes (ex. heading, general state data) to be
+    // sent to the ground station.
+    uint8_t *highPriorityTransmitBuffer = new uint8_t[RFD900_BUF_SIZE];
+
+    GroundStationCommunication GSC = *(new GroundStationCommunication(
+        DMAReceiveBuffer, lowPriorityTransmitBuffer, highPriorityTransmitBuffer, RFD900_BUF_SIZE));
+
+    // the buffer that stores the bytes received from the ground station.
+    MavlinkTranslator MT;
+
+    
+    return new TelemetryManager(stateData, mavState, mavMode, GSC, MT);
 }
 
-
-//wrapper functions are needed as FreeRTOS xTaskCreate function does not accept functions that have "this" pointers
-void SystemManager::attitudeManagerTaskWrapper(void* pvParameters){
-    SystemManager *systemManagerInstance = static_cast<SystemManager *>(pvParameters);  
+// wrapper functions are needed as FreeRTOS xTaskCreate function does not accept functions that have
+// "this" pointers
+void SystemManager::attitudeManagerTaskWrapper(void *pvParameters) {
+    SystemManager *systemManagerInstance = static_cast<SystemManager *>(pvParameters);
     systemManagerInstance->attitudeManagerTask();
 }
 
-void SystemManager::telemetryManagerTaskWrapper(void* pvParameters){
+void SystemManager::telemetryManagerTaskWrapper(void *pvParameters) {
     SystemManager *systemManagerInstance = static_cast<SystemManager *>(pvParameters);
     systemManagerInstance->telemetryManagerTask();
 }
@@ -86,13 +137,13 @@ void SystemManager::pathManagerTaskWrapper(void *pvParameters) {
     systemManagerInstance->pathManagerTask();
 }
 
-void SystemManager::systemManagerTask(){
+void SystemManager::systemManagerTask() {
     TickType_t xNextWakeTime = xTaskGetTickCount();
     uint16_t frequency = 5;
 
-    for(;;){
+    for (;;) {
         printf("SM called\r\n");
-        HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_7); // toggle led light for testing
+        HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_7);  // toggle led light for testing
 
         this->rcInputs_ = rcController_->GetRCControl();
 
@@ -134,42 +185,42 @@ void SystemManager::systemManagerTask(){
             this->invertedRollMotorChannel_.set(SBUS_MAX / 2);
         }
 
-        vTaskDelayUntil(&xNextWakeTime, 1000 / frequency); 
+        vTaskDelayUntil(&xNextWakeTime, 1000 / frequency);
     }
 }
 
-void SystemManager::attitudeManagerTask(){
+void SystemManager::attitudeManagerTask() {
     TickType_t xNextWakeTime = xTaskGetTickCount();
     uint16_t frequency = 5;
 
-    for(;;){
-        //call AM
+    for (;;) {
+        // call AM
 
         printf("AM called\r\n");
-        HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_7); // toggle led light for testing
-        vTaskDelayUntil(&xNextWakeTime, 1000 / frequency);  
+        HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_7);  // toggle led light for testing
+        vTaskDelayUntil(&xNextWakeTime, 1000 / frequency);
     }
 }
 
-void SystemManager::telemetryManagerTask(){
+void SystemManager::telemetryManagerTask() {
     TickType_t xNextWakeTime = xTaskGetTickCount();
     uint16_t frequency = 5;
 
-    for(;;){
-        //call TM
+    for (;;) {
+        // call TM
 
         printf("TM called\r\n");
-        HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_9); // toggle led light for testing
-        vTaskDelayUntil(&xNextWakeTime, 1000 / frequency);  
+        HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_9);  // toggle led light for testing
+        vTaskDelayUntil(&xNextWakeTime, 1000 / frequency);
     }
 }
 
-void SystemManager::pathManagerTask(){
+void SystemManager::pathManagerTask() {
     TickType_t xNextWakeTime = xTaskGetTickCount();
     uint16_t frequency = 5;
 
-    for(;;){
-        //call PM
+    for (;;) {
+        // call PM
 
         printf("PM called\r\n");
         vTaskDelayUntil(&xNextWakeTime, 1000 / frequency);
@@ -183,14 +234,18 @@ void SystemManager::startSystemManager() {
     if (MX_FATFS_Init() != APP_OK) {
         Error_Handler();
     }
-    logInit();  
-
-    //BaseType_t xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName, configSTACK_DEPTH_TYPE usStackDepth, void * pvParameters, UBaseType_t uxPriority, TaskHandle_t * pxCreatedTask ); 
-    //                          function's name             description                 size of stack to allocate        parameters for task        priority                    handler 
+    logInit();
+
+    // BaseType_t xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName,
+    // configSTACK_DEPTH_TYPE usStackDepth, void * pvParameters, UBaseType_t uxPriority,
+    // TaskHandle_t * pxCreatedTask );
+    //                           function's name             description                 size of
+    //                           stack to allocate        parameters for task        priority
+    //                           handler
     xTaskCreate(attitudeManagerTaskWrapper, "AM TASK", 800U, this, osPriorityNormal, taskHandles);
-    xTaskCreate(telemetryManagerTaskWrapper, "TM TASK", 800U, this, osPriorityNormal, taskHandles + 1);
+    xTaskCreate(telemetryManagerTaskWrapper, "TM TASK", 800U, this, osPriorityNormal,
+                taskHandles + 1);
     // xTaskCreate(pathManagerTaskWrapper, "PM TASK", 800U, this, osPriorityNormal, taskHandles +2);
 
     systemManagerTask();
-
 }