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Add bluetooth clients to position message #216

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Add bluetooth clients to position message #216

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21e41ac
Add bluetooth clients to position message
mcm001 Oct 19, 2022
8dcde6f
Address review comment
mcm001 Oct 27, 2022
6b27c09
Address review comments
mcm001 Nov 6, 2022
da3b08b
Run lint
mcm001 Mar 13, 2023
b23a03a
Update desktop_hardware_manager.cpp
mcm001 Mar 13, 2023
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5 changes: 5 additions & 0 deletions desktop_sim/desktop_hardware_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -281,6 +281,11 @@ bool hm_bleClientSend(int bleClientId, const uint8_t *data, uint16_t numBytes) {
CircularBuffer_s *hm_bleClientGetRxBuffer(int bleClientId) { return nullptr; }
void hm_bleTick() {}

uint8_t hm_bleGetAllClientsConnected(int chipId) {
// todo
return 0;
}

LineCutterData_s dummyData[2] = {{
.lineCutterNumber = 1,
},
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9 changes: 9 additions & 0 deletions system/hardware_manager.c
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Original file line number Diff line number Diff line change
Expand Up @@ -765,6 +765,15 @@ bool hm_bleClientConnected(int bleClientId) {
return false;
}

uint8_t hm_bleGetAllClientsConnected(int chipId) {
#if HAS_DEV(BLE_CHIP_NRF)
if (IS_DEVICE(chipId, BLE_CHIP_NRF)) {
return bleChipNrf[chipId - FIRST_ID_BLE_CHIP_NRF].connectedClients;
}
#endif // HAS_DEV(BLE_CLIENT_STD)
return 0;
}

bool hm_bleClientSend(int bleClientId, const uint8_t *data, uint16_t numBytes) {
#if HAS_DEV(BLE_CLIENT_STD)
if (IS_DEVICE(bleClientId, BLE_CLIENT_STD)) {
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1 change: 1 addition & 0 deletions system/hardware_manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ CircularBuffer_s* hm_usbGetRxBuffer(int usbId);

/* Bluetooth functions */
bool hm_bleClientConnected(int bleClientId);
uint8_t hm_bleGetAllClientsConnected(int chipId);
bool hm_bleClientSend(int bleClientId, const uint8_t* data, uint16_t numBytes);
CircularBuffer_s* hm_bleClientGetRxBuffer(int bleClientId);

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21 changes: 16 additions & 5 deletions system/tasks/radio_manager.c
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ void radioManager_transmitData(int radioId, SensorData_s *sensorData,
0,
#endif // HAS_DEV(GPS)
state,
0 // TODO bluetooth clients
hm_bleGetAllClientsConnected(FIRST_ID_BLE_CHIP_NRF)
};

transmitPacket[radioId].packetType = TELEMETRY_ID_POSITION;
Expand Down Expand Up @@ -214,8 +214,15 @@ void radioManager_transmitData(int radioId, SensorData_s *sensorData,
if (currentTime - lastSent[radioId].lineCutterLastSent >= 1000) {
for (int i = 0; i < NUM_LINE_CUTTER; i++) {
transmitPacket[radioId].packetType = TELEMETRY_ID_LINECUTTER;
transmitPacket[radioId].payload.lineCutter.data =
*hm_getLineCutterData(i);

// As long as we give the hardwaremanager a valid ID, we
// should be guaranteed a non-null pointer. That
// feels a bit sketch to me (Matt), but if it fails it'll
// fail right at boot
LineCutterData_s *data = hm_getLineCutterData(i);
transmitPacket[radioId].payload.lineCutter.data = *data;
transmitPacket[radioId].payload.lineCutter.bleId = i;

lastSent[radioId].lineCutterLastSent = currentTime;

radioManager_sendInternal(radioId);
Expand All @@ -225,8 +232,12 @@ void radioManager_transmitData(int radioId, SensorData_s *sensorData,
if (currentTime - lastSent[radioId].lineCutterVarsLastSent >= 10000) {
for (int i = 0; i < NUM_LINE_CUTTER; i++) {
transmitPacket[radioId].packetType = TELEMETRY_ID_LINECUTTER_VARS;
transmitPacket[radioId].payload.lineCutterFlightVars.data =
*hm_getLineCutterFlightVariables(i);

// See comment above
LineCutterFlightVars_s *data = hm_getLineCutterFlightVariables(i);
transmitPacket[radioId].payload.lineCutterFlightVars.data = *data;
transmitPacket[radioId].payload.lineCutterFlightVars.bleId = i;

lastSent[radioId].lineCutterVarsLastSent = currentTime;

radioManager_sendInternal(radioId);
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17 changes: 13 additions & 4 deletions system/tasks/radio_packet_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,13 +37,19 @@ PACKED_STRUCT {
float temp, pos_z, vel_z, lat, lon, gps_alt, batt_volts, speedKnots,
courseDeg;
uint32_t gpsTime;
uint8_t sats, state, btClients;
// etc
uint8_t sats, state;

// bitfield showing ble clients connected to FCB
// TODO we don't really need this at 10hz do we? lol
uint8_t bleClients;
}
PositionPacket_s;

#define TELEMETRY_ID_LINECUTTER 4
PACKED_STRUCT { LineCutterData_s data; }
PACKED_STRUCT {
LineCutterData_s data;
uint8_t bleId;
}
LineCutterPacket_s;

// Uplinked string (not necessarily null-terminated)
Expand Down Expand Up @@ -74,7 +80,10 @@ PACKED_STRUCT {
HardwareStatusPacket_s;

#define TELEMETRY_ID_LINECUTTER_VARS 8
PACKED_STRUCT { LineCutterFlightVars_s data; }
PACKED_STRUCT {
LineCutterFlightVars_s data;
uint8_t bleId;
}
LineCutterVarsPacket_s;

typedef union {
Expand Down