SNS - IMD

CMakeLists.txt

@@ -13,7 +13,7 @@ project(${project} CXX)
 enable_testing()
 
 find_package (Eigen3 REQUIRED NO_MODULE)
-find_package(Boost REQUIRED)
+# find_package(Boost REQUIRED)
 include(FetchContent)
 FetchContent_Declare(
   rapidjson

config/template.json

@@ -33,6 +33,11 @@
 				"enabled": false,
 				"bus": 2,
 				"device_address": 56
+			},
+			"low-power-current": {
+				"enabled": false,
+				"bus": 2,
+				"device_address": 64
 			}
 		}
 	}

lib/debug/repl.cpp

@@ -235,6 +235,33 @@ std::optional<std::unique_ptr<Repl>> Repl::fromFile(const std::string &path)
     const auto bus            = temperature["bus"].GetUint();
     repl->addTemperatureCommands(bus, device_address);
   }
+  if (!sensors.HasMember("low-power-current")) {
+    logger_.log(core::LogLevel::kFatal,
+                "Missing required field 'sensors.low_power_current' in configuration file");
+    return std::nullopt;
+  }
+  const auto low_power_current = sensors["low-power-current"].GetObject();
+  if (!low_power_current.HasMember("enabled")) {
+    logger_.log(core::LogLevel::kFatal,
+                "Missing required field 'sensors.low_power_current.enabled' in configuration file");
+    return std::nullopt;
+  }
+  if (low_power_current["enabled"].GetBool()) {
+    if (!low_power_current.HasMember("bus")) {
+      logger_.log(core::LogLevel::kFatal,
+                  "Missing required field 'sensors.low_power_current.bus' in configuration file");
+      return std::nullopt;
+    }
+    if (!low_power_current.HasMember("device_address")) {
+      logger_.log(
+        core::LogLevel::kFatal,
+        "Missing required field 'sensors.low_power_current.device_address' in configuration file");
+      return std::nullopt;
+    }
+    const auto device_address = low_power_current["device_address"].GetUint();
+    const auto bus            = low_power_current["bus"].GetUint();
+    repl->addLowPowerCurrentCommands(bus, device_address);
+  }
   return repl;
 }
 
@@ -609,4 +636,38 @@ void Repl::addTemperatureCommands(const std::uint8_t bus, const std::uint8_t dev
   addCommand(temperature_read_command);
 }
 
+void Repl::addLowPowerCurrentCommands(const std::uint8_t bus, const std::uint8_t device_address)
+{
+  const auto optional_i2c = io::HardwareI2c::create(logger_, bus);
+  if (!optional_i2c) {
+    logger_.log(core::LogLevel::kFatal, "Failed to create I2C instance on bus %d", bus);
+    return;
+  }
+  const auto i2c = std::move(*optional_i2c);
+  const auto optional_low_power_current
+    = sensors::LowPowerCurrent::create(logger_, i2c, device_address);
+  const auto low_power_current
+    = std::make_shared<sensors::LowPowerCurrent>(*optional_low_power_current);
+  Command low_power_current_read_command;
+  std::stringstream identifier;
+  identifier << "low power current 0x" << std::hex << static_cast<int>(device_address) << " read";
+  low_power_current_read_command.name = identifier.str();
+  std::stringstream description;
+  description << "Read low power current sensor 0x" << std::hex << static_cast<int>(device_address)
+              << " on "
+              << "I2C bus " << static_cast<int>(bus);
+  low_power_current_read_command.description = description.str();
+  low_power_current_read_command.handler     = [this, low_power_current, bus]() {
+    const auto value = low_power_current->readCurrent();
+    if (!value) {
+      logger_.log(core::LogLevel::kFatal, "Failed to read the low power current from bus %d", bus);
+    } else {
+      const core::Float low_power_current_result = *value;
+      logger_.log(
+        core::LogLevel::kInfo, "Acceleration in mg: \n x %.4f A\n", low_power_current_result);
+    }
+  };
+  addCommand(low_power_current_read_command);
+}
+
 }  // namespace hyped::debug

lib/debug/repl.hpp

@@ -16,6 +16,7 @@
 #include <io/hardware_uart.hpp>
 #include <io/pwm.hpp>
 #include <sensors/accelerometer.hpp>
+#include <sensors/low_power_current.hpp>
 #include <sensors/temperature.hpp>
 
 namespace hyped::debug {
@@ -45,6 +46,7 @@ class Repl {
   void addSpiCommands(const std::uint8_t bus);
   void addAccelerometerCommands(const std::uint8_t bus, const std::uint8_t device_address);
   void addTemperatureCommands(const std::uint8_t bus, const std::uint8_t device_address);
+  void addLowPowerCurrentCommands(const std::uint8_t bus, const std::uint8_t device_address);
   void addUartCommands(const std::uint8_t bus);
 
   core::ILogger &logger_;

lib/sensors/imd_processor.cpp

@@ -0,0 +1,5 @@
+#include <imd_processor.hpp>
+
+namespace hyped::sensors {
+
+}

lib/sensors/imd_processor.hpp

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <core/logger.hpp>
+#include <io/can.hpp>
+
+// Current plan: Make a processor based on ICanProcessor
+
+namespace hyped::sensors {
+class ImdProcessor : public io::ICanProcessor {
+ public:
+  ImdProcessor(core::ILogger &logger);
+  ImdProcessor();
+
+  void processMessage(const io::CanFrame &frame);
+
+ private:
+  const core::ILogger &logger_;
+};
+}  // namespace hyped::sensors

lib/sensors/low_power_current.hpp

@@ -20,9 +20,9 @@ constexpr std::uint8_t kLowPowerCurrentAddress4       = 0x45;
 // TODOLater: Test this code with hardware
 class LowPowerCurrent {
  public:
-  std::optional<LowPowerCurrent> create(core::ILogger &logger,
-                                        std::shared_ptr<io::II2c> i2c,
-                                        const std::uint8_t device_address);
+  static std::optional<LowPowerCurrent> create(core::ILogger &logger,
+                                               std::shared_ptr<io::II2c> i2c,
+                                               const std::uint8_t device_address);
   ~LowPowerCurrent();
 
   std::optional<core::Float> readCurrent();

test/core/CMakeLists.txt

@@ -11,6 +11,6 @@ target_link_libraries(${target}
     hyped_core
     hyped_utils
     Eigen3::Eigen
-    Boost::boost
+    # Boost::boost
 )
 gtest_discover_tests(${target})