Pull Request of All Time

.github/workflows/clang-format.yml

@@ -32,6 +32,7 @@ jobs:
             -not -path "*/zephyr/*" \
             -not -path "*/.git/*" \
             -not -path "*/CMakeFiles/*" \
+            -not -path "*/tools/autocoders/templates/*" \
             -exec clang-format-18 -i {} \;
 
       - name: Check for changes

app/.template-project-backplane/src/main.cpp

@@ -10,7 +10,7 @@ LOG_MODULE_REGISTER(main);
 
 int main() {
     LOG_INF("Application started");
-    
+
     while (true) {
         k_msleep(1000);
     }

app/.template-project/src/main.cpp

@@ -1,3 +1 @@
-int main() {
-  return 0;
-}
+int main() { return 0; }

app/backplane/deployment_module/include/c_deployment_module.h

@@ -3,12 +3,12 @@
 // F-Core Includes
 #include <c_pyro_control_observer.h>
 #include <f_core/c_project_configuration.h>
+#include <f_core/device/c_rtc.h>
+#include <f_core/net/application/c_udp_alert_tenant.h>
 #include <f_core/os/c_task.h>
 #include <f_core/os/flight_log.hpp>
 #include <f_core/os/tenants/c_datalogger_tenant.h>
-#include <f_core/net/application/c_udp_alert_tenant.h>
 #include <n_autocoder_network_defs.h>
-#include <f_core/device/c_rtc.h>
 
 class CDeploymentModule : public CProjectConfiguration {
   public:
@@ -39,7 +39,8 @@ class CDeploymentModule : public CProjectConfiguration {
     CRtc rtc{*DEVICE_DT_GET(DT_ALIAS(rtc))};
 
     std::string ipAddrStr = "10.4.1.1";
-    const char* sntpServerAddr = "10.2.1.1"; // TODO: Maybe we should look into hostnames? Also, still need to fix the create ip addr bug...
+    const char* sntpServerAddr =
+        "10.2.1.1"; // TODO: Maybe we should look into hostnames? Also, still need to fix the create ip addr bug...
 
     // Tenants
     CUdpAlertTenant alertTenant{"Alert Tenant", ipAddrStr.c_str(), NNetworkDefs::ALERT_PORT};
@@ -50,5 +51,3 @@ class CDeploymentModule : public CProjectConfiguration {
     // Observers
     CPyroControlObserver pyroControlObserver;
 };
-
-

app/backplane/deployment_module/include/c_pyro_control_observer.h

@@ -7,9 +7,8 @@
 #include <f_core/utils/c_observer.h>
 #include <f_core/utils/c_soft_timer.h>
 
-
 class CPyroControlObserver : public CObserver {
-public:
+  public:
     CPyroControlObserver();
 
     ~CPyroControlObserver() override = default;
@@ -25,48 +24,28 @@ class CPyroControlObserver : public CObserver {
      */
     void DisableCallback();
 
-private:
+  private:
     struct PyroTrio {
         CGpio sense;
         CGpio ctrl;
         CGpio debugLed;
     };
 
     std::array<CGpio, 4> de9Gpios{
-        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)),
-        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
-        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)),
-        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))
-    };
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio0), gpios)), CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio1), gpios)),
+        CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio2), gpios)), CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(gpio3), gpios))};
 
     // CFlightLog flightLog{"flight.log"};
     CSoftTimer chargeDisableTimer;
 
     std::array<PyroTrio, 4> pyroTrios{
-        PyroTrio{
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_0), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_0), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios))
-        },
-        PyroTrio{
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_1), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_1), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led1), gpios))
-        },
-        PyroTrio{
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_2), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_2), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led2), gpios))
-        },
-        PyroTrio{
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_3), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_3), gpios)),
-            CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led3), gpios))
-        },
+        PyroTrio{CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_0), gpios)),
+                 CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_0), gpios)), CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios))},
+        PyroTrio{CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_1), gpios)),
+                 CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_1), gpios)), CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led1), gpios))},
+        PyroTrio{CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_2), gpios)),
+                 CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_2), gpios)), CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led2), gpios))},
+        PyroTrio{CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_sns_3), gpios)),
+                 CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(pyro_ctrl_3), gpios)), CGpio(GPIO_DT_SPEC_GET(DT_ALIAS(led3), gpios))},
     };
-
-
 };
-
-
-

app/backplane/deployment_module/src/c_deployment_module.cpp

@@ -9,13 +9,11 @@
 
 LOG_MODULE_REGISTER(CDeploymentModule);
 
-CDeploymentModule::CDeploymentModule(): CProjectConfiguration() {}
+CDeploymentModule::CDeploymentModule() : CProjectConfiguration() {}
 
-void CDeploymentModule::AddTenantsToTasks() {
-}
+void CDeploymentModule::AddTenantsToTasks() {}
 
-void CDeploymentModule::AddTasksToRtos() {
-}
+void CDeploymentModule::AddTasksToRtos() {}
 
 void CDeploymentModule::SetupCallbacks() {
     alertTenant.Register();

app/backplane/deployment_module/src/c_pyro_control_observer.cpp

@@ -4,8 +4,8 @@
 
 #include <cstdio>
 #include <f_core/n_alerts.h>
-#include <zephyr/logging/log.h>
 #include <zephyr/drivers/rtc.h>
+#include <zephyr/logging/log.h>
 
 LOG_MODULE_REGISTER(CPyroControlObserver);
 
@@ -21,7 +21,6 @@ CPyroControlObserver::CPyroControlObserver() : chargeDisableTimer(chargeDisableT
     chargeDisableTimer.SetUserData(this);
 }
 
-
 void CPyroControlObserver::Notify(void* ctx) {
     uint8_t pyroCount = 0;
     LOG_INF("Notified");
@@ -34,9 +33,9 @@ void CPyroControlObserver::Notify(void* ctx) {
 
             for (auto& [sense, ctrl, led] : pyroTrios) {
                 // if (sense.GetPin() == 1) {
-                    ctrl.SetPin(1);
-                    led.SetPin(1);
-                    LOG_INF("Deployed charge %d", pyroCount);
+                ctrl.SetPin(1);
+                led.SetPin(1);
+                LOG_INF("Deployed charge %d", pyroCount);
                 // }
                 pyroCount++;
             }
@@ -50,7 +49,6 @@ void CPyroControlObserver::Notify(void* ctx) {
             break;
     }
 
-
     // flightLog.Sync();
 }
 

app/backplane/power_module/include/c_power_module.h

@@ -8,15 +8,14 @@
 #include <f_core/c_project_configuration.h>
 #include <f_core/device/c_rtc.h>
 #include <f_core/messaging/c_message_port.h>
-#include <f_core/os/c_task.h>
-#include <f_core/os/tenants/c_datalogger_tenant.h>
 #include <f_core/net/application/c_udp_alert_tenant.h>
 #include <f_core/net/application/c_udp_broadcast_tenant.h>
-
+#include <f_core/os/c_task.h>
+#include <f_core/os/tenants/c_datalogger_tenant.h>
 #include <n_autocoder_network_defs.h>
 
 class CPowerModule : public CProjectConfiguration {
-public:
+  public:
     /**
      * Constructor
      */
@@ -42,7 +41,7 @@ class CPowerModule : public CProjectConfiguration {
      */
     void Cleanup();
 
-private:
+  private:
     std::string ipAddrStr = CREATE_IP_ADDR(NNetworkDefs::POWER_MODULE_IP_ADDR_BASE, 2, CONFIG_MODULE_ID);
     const char* sntpServerAddr = "10.2.1.1";
     // TODO: Maybe we should look into hostnames?
@@ -58,29 +57,24 @@ class CPowerModule : public CProjectConfiguration {
     CMessagePort<NTypes::LoRaBroadcastSensorData>& sensorDataDownlinkMessagePort;
 
     // Tenants
-    CSensingTenant sensingTenant{
-        "Sensing Tenant", sensorDataBroadcastMessagePort, sensorDataLogMessagePort, sensorDataDownlinkMessagePort
-    };
-    CUdpBroadcastTenant<NTypes::SensorData> broadcastTenant{
-        "Broadcast Tenant", ipAddrStr.c_str(), telemetryBroadcastPort, telemetryBroadcastPort, sensorDataBroadcastMessagePort
-    };
+    CSensingTenant sensingTenant{"Sensing Tenant", sensorDataBroadcastMessagePort, sensorDataLogMessagePort,
+                                 sensorDataDownlinkMessagePort};
+    CUdpBroadcastTenant<NTypes::SensorData> broadcastTenant{"Broadcast Tenant", ipAddrStr.c_str(),
+                                                            telemetryBroadcastPort, telemetryBroadcastPort,
+                                                            sensorDataBroadcastMessagePort};
     CUdpBroadcastTenant<NTypes::LoRaBroadcastSensorData> downlinkBroadcastTenant{
-        "Broadcast Tenant", ipAddrStr.c_str(), downlinkBroadcastPort, downlinkBroadcastPort, sensorDataDownlinkMessagePort
-    };
+        "Broadcast Tenant", ipAddrStr.c_str(), downlinkBroadcastPort, downlinkBroadcastPort,
+        sensorDataDownlinkMessagePort};
 
     CDataLoggerTenant<NTypes::TimestampedSensorData> dataLoggerTenant{
-        "Data Logger Tenant", "/lfs/sensor_data.bin", LogMode::Growing, 0, sensorDataLogMessagePort, K_SECONDS(60), 5
-    };
+        "Data Logger Tenant", "/lfs/sensor_data.bin", LogMode::Growing, 0, sensorDataLogMessagePort, K_SECONDS(60), 5};
     CUdpAlertTenant alertTenant{"Alert Tenant", ipAddrStr.c_str(), NNetworkDefs::ALERT_PORT};
 
-
     // Tasks
-    static constexpr int ina219SampleTimeMillis = 69; // 68.1 ms based on our devicetree configuration, and we don't need to sample that quickly
+    // 68.1 ms based on our devicetree configuration, and we don't need to sample that quickly
+    static constexpr int ina219SampleTimeMillis = 69;
 
     CTask networkTask{"Networking Task", 15, 3072, ina219SampleTimeMillis};
     CTask sensingTask{"Sensing Task", 15, 2048, ina219SampleTimeMillis};
     CTask dataLoggingTask{"Data Logging Task", 15, 2048, 0};
 };
-
-
-

app/backplane/power_module/src/c_power_module.cpp

@@ -3,9 +3,9 @@
 #include <n_autocoder_types.h>
 
 // F-Core Tenant
-#include <f_core/os/n_rtos.h>
-#include <f_core/messaging/c_msgq_message_port.h>
 #include <f_core/messaging/c_latest_message_port.h>
+#include <f_core/messaging/c_msgq_message_port.h>
+#include <f_core/os/n_rtos.h>
 #include <f_core/utils/n_time_utils.h>
 
 static auto telemetryBroadcastMessagePort = CLatestMessagePort<NTypes::SensorData>();
@@ -14,10 +14,9 @@ static auto downlinkMessageMessagePort = CLatestMessagePort<NTypes::LoRaBroadcas
 K_MSGQ_DEFINE(dataLogQueue, sizeof(NTypes::TimestampedSensorData), 512, 4);
 static auto dataLogMsgQueue = CMsgqMessagePort<NTypes::TimestampedSensorData>(dataLogQueue);
 
-
-CPowerModule::CPowerModule() : CProjectConfiguration(), sensorDataBroadcastMessagePort(telemetryBroadcastMessagePort),
-                               sensorDataLogMessagePort(dataLogMsgQueue),
-                               sensorDataDownlinkMessagePort(downlinkMessageMessagePort) {}
+CPowerModule::CPowerModule()
+    : CProjectConfiguration(), sensorDataBroadcastMessagePort(telemetryBroadcastMessagePort),
+      sensorDataLogMessagePort(dataLogMsgQueue), sensorDataDownlinkMessagePort(downlinkMessageMessagePort) {}
 
 void CPowerModule::AddTenantsToTasks() {
     // Networking
@@ -52,7 +51,4 @@ void CPowerModule::SetupCallbacks() {
     NTimeUtils::SntpSynchronize(rtc, sntpServerAddr, 5, K_MSEC(100));
 }
 
-void CPowerModule::Cleanup() {
-    dataLoggerTenant.Cleanup();
-}
-
+void CPowerModule::Cleanup() { dataLoggerTenant.Cleanup(); }

app/backplane/power_module/src/c_sensing_tenant.cpp

@@ -1,8 +1,9 @@
 #include "c_sensing_tenant.h"
+
 #include "c_power_module.h"
 
-#include <f_core/n_alerts.h>
 #include <f_core/device/sensor/c_shunt.h>
+#include <f_core/n_alerts.h>
 #include <zephyr/logging/log.h>
 
 LOG_MODULE_REGISTER(CSensingTenant);
@@ -17,26 +18,11 @@ void CSensingTenant::PostStartup() {}
 void CSensingTenant::Run() {
     NTypes::TimestampedSensorData timestampedData{
         .timestamp = 0,
-        .data = {
-            .RailBattery = {
-                .Voltage = 0.0f,
-                .Current = 0.0f,
-                .Power = 0.0f
-            },
-            .Rail3v3 = {
-                .Voltage = 0.0f,
-                .Current = 0.0f,
-                .Power = 0.0f
-            },
-            .Rail5v0 = {
-                .Voltage = 0.0f,
-                .Current = 0.0f,
-                .Power = 0.0f
-            }
-        }
-    };
+        .data = {.RailBattery = {.Voltage = 0.0f, .Current = 0.0f, .Power = 0.0f},
+                 .Rail3v3 = {.Voltage = 0.0f, .Current = 0.0f, .Power = 0.0f},
+                 .Rail5v0 = {.Voltage = 0.0f, .Current = 0.0f, .Power = 0.0f}}};
 
-    NTypes::SensorData &data = timestampedData.data;
+    NTypes::SensorData& data = timestampedData.data;
 
 #ifndef CONFIG_ARCH_POSIX
     CShunt shuntBatt(*DEVICE_DT_GET(DT_ALIAS(shunt_batt)));
@@ -110,17 +96,12 @@ void CSensingTenant::Notify(void* ctx) {
 
 void CSensingTenant::sendDownlinkData(const NTypes::SensorData& data) {
     NTypes::LoRaBroadcastSensorData downlinkData{
-        .RailBattery = {
-            .Voltage = static_cast<int16_t>(data.RailBattery.Voltage),
-            .Current = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.RailBattery.Current)),
-            .Power = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.RailBattery.Power))
-        },
-        .Rail3v3 = {
-            .Voltage = static_cast<int16_t>(data.Rail3v3.Voltage),
-            .Current = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.Rail3v3.Current)),
-            .Power = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.Rail3v3.Power))
-        }
-    };
+        .RailBattery = {.Voltage = static_cast<int16_t>(data.RailBattery.Voltage),
+                        .Current = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.RailBattery.Current)),
+                        .Power = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.RailBattery.Power))},
+        .Rail3v3 = {.Voltage = static_cast<int16_t>(data.Rail3v3.Voltage),
+                    .Current = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.Rail3v3.Current)),
+                    .Power = static_cast<int16_t>(CSensorDevice::ToMilliUnits(data.Rail3v3.Power))}};
 
     dataToDownlink.Send(downlinkData, K_MSEC(5));
 }

app/backplane/radio_module/include/c_downlink_scheduler_tenant.h

@@ -1,15 +1,14 @@
 #pragma once
 
-#include <f_core/radio/c_lora_frame_handler.h>
 #include <f_core/os/c_runnable_tenant.h>
+#include <f_core/radio/c_lora_frame_handler.h>
 #include <f_core/state_machine/c_pad_flight_landing_state_machine.h>
 #include <f_core/utils/c_hashmap.h>
 #include <f_core/utils/c_soft_timer.h>
-
 #include <memory>
 
 class CDownlinkSchedulerTenant : public CRunnableTenant, public CPadFlightLandedStateMachine, public CLoraFrameHandler {
-public:
+  public:
     /**
      * Constructor
      * @param loraDownlinkMessagePort The message port to send downlink frames to
@@ -30,8 +29,7 @@ class CDownlinkSchedulerTenant : public CRunnableTenant, public CPadFlightLanded
      */
     void Run() override;
 
-protected:
-
+  protected:
     /**
      * See parent docs
      */
@@ -52,13 +50,10 @@ class CDownlinkSchedulerTenant : public CRunnableTenant, public CPadFlightLanded
      */
     void GroundRun() override;
 
-private:
+  private:
     CMessagePort<LaunchLoraFrame>& loraDownlinkMessagePort;
     CHashMap<uint16_t, CMessagePort<LaunchLoraFrame>*> telemetryMessagePortMap;
     CHashMap<uint16_t, std::unique_ptr<CSoftTimer>> telemetryDownlinkTimers;
 
     bool gnssDownlinkAvailable = false;
 };
-
-
-