Updated test board for changes to data acquisition

include/board.h

@@ -71,46 +71,46 @@ class Board
   virtual uint16_t num_sensor_errors() = 0;
 
   // IMU
-  virtual uint8_t imu_has_new_data() = 0;
+  virtual bool imu_has_new_data() = 0;
   virtual bool imu_read(float accel[3], float *temperature, float gyro[3], uint64_t *time) = 0;
   virtual void imu_not_responding_error() = 0;
 
   // Mag
   virtual bool mag_present() = 0;
-  virtual uint8_t mag_has_new_data() = 0;
+  virtual bool mag_has_new_data() = 0;
   virtual bool mag_read(float mag[3]) = 0;
 
   // Baro
   virtual bool baro_present() = 0;
-  virtual uint8_t baro_has_new_data() = 0;
+  virtual bool baro_has_new_data() = 0;
   virtual bool baro_read(float *pressure, float *temperature) = 0;
 
   // Pitot
   virtual bool diff_pressure_present() = 0;
-  virtual uint8_t diff_pressure_has_new_data() = 0;
+  virtual bool diff_pressure_has_new_data() = 0;
   virtual bool diff_pressure_read(float *diff_pressure, float *temperature) = 0;
 
   // Sonar
   virtual bool sonar_present() = 0;
-  virtual uint8_t sonar_has_new_data() = 0;
+  virtual bool sonar_has_new_data() = 0;
   virtual bool sonar_read(float *range) = 0;
 
   // GPS
   virtual bool gnss_present() = 0;
-  virtual uint8_t gnss_has_new_data() = 0;
+  virtual bool gnss_has_new_data() = 0;
   virtual bool gnss_read(GNSSData *gnss, GNSSFull *gnss_full) = 0;
 
   // Battery
   virtual bool battery_present() = 0;
-  virtual uint8_t battery_has_new_data() = 0;
+  virtual bool battery_has_new_data() = 0;
   virtual bool battery_read(float *voltage, float *current) = 0;
   virtual void battery_voltage_set_multiplier(double multiplier) = 0;
   virtual void battery_current_set_multiplier(double multiplier) = 0;
 
   // RC
   virtual void rc_init(rc_type_t rc_type) = 0;
   virtual bool rc_lost() = 0;
-  virtual uint8_t rc_has_new_data() = 0;
+  virtual bool rc_has_new_data() = 0;
   virtual float rc_read(uint8_t chan) = 0;
 
   // PWM

src/rc.cpp

@@ -263,8 +263,6 @@ void RC::look_for_arm_disarm_signal()
 
 bool RC::run()
 {
-  uint32_t now = RF_.board_.clock_millis();
-
   // Check for rc lost
   if (check_rc_lost())
     return false;

test/CMakeLists.txt

@@ -1,7 +1,8 @@
-cmake_minimum_required(VERSION 2.6)
+cmake_minimum_required(VERSION 3.8)
+project(rosflight_tests)
 
 # C++ standard
-add_definitions(-std=c++11)
+add_definitions(-std=c++17)
 
 # Strict Compilation
 set(CMAKE_CXX_FLAGS "-pedantic -pedantic-errors -Werror -Wall -Wextra \

test/test_board.cpp

@@ -42,6 +42,7 @@ void testBoard::set_rc(uint16_t *values)
   {
     rc_values[i] = values[i];
   }
+  new_rc_ = true;
 }
 
 void testBoard::set_time(uint64_t time_us)
@@ -103,7 +104,7 @@ uint16_t testBoard::num_sensor_errors()
   return 0;
 }
 
-bool testBoard::new_imu_data()
+bool testBoard::imu_has_new_data()
 {
   if (new_imu_)
   {
@@ -158,76 +159,80 @@ bool testBoard::mag_present()
 {
   return false;
 }
-void testBoard::mag_update() {}
-void testBoard::mag_read(float mag[3]) {}
+bool testBoard::mag_has_new_data()
+{
+  return false;
+}
+bool testBoard::mag_read(float mag[3]) {
+  return false;
+}
 
 bool testBoard::baro_present()
 {
   return false;
 }
-void testBoard::baro_update() {}
-void testBoard::baro_read(float *pressure, float *temperature) {}
+bool testBoard::baro_has_new_data()
+{
+  return false;
+}
+bool testBoard::baro_read(float *pressure, float *temperature) 
+{
+  return false;
+}
 
 bool testBoard::diff_pressure_present()
 {
   return false;
 }
-void testBoard::diff_pressure_update() {}
-void testBoard::diff_pressure_read(float *diff_pressure, float *temperature) {}
-
-bool testBoard::sonar_present()
+bool testBoard::diff_pressure_has_new_data() 
 {
   return false;
 }
-void testBoard::sonar_update() {}
-float testBoard::sonar_read()
+bool testBoard::diff_pressure_read(float *diff_pressure, float *temperature) 
 {
-  return 0;
+  return false;
 }
 
-bool testBoard::battery_voltage_present() const
+bool testBoard::sonar_present()
 {
   return false;
 }
-float testBoard::battery_voltage_read() const
+bool testBoard::sonar_has_new_data() 
 {
-  return 0;
+  return false;
 }
-void testBoard::battery_voltage_set_multiplier(double multiplier)
+bool testBoard::sonar_read(float *range)
 {
-  (void)multiplier;
+  return false;
 }
 
-bool testBoard::battery_current_present() const
+bool testBoard::gnss_present()
 {
   return false;
 }
-float testBoard::battery_current_read() const
+bool testBoard::gnss_has_new_data()
 {
-  return 0;
+  return false;
 }
-void testBoard::battery_current_set_multiplier(double multiplier)
+bool testBoard::gnss_read(GNSSData *gnss, GNSSFull *gnss_full) 
 {
-  (void)multiplier;
+  return false;
 }
 
-// GNSS is not supported on the test board
-GNSSData testBoard::gnss_read()
+bool testBoard::battery_present()
 {
-  return {};
+  return false;
 }
-
-// GNSS is not supported on the test board
-GNSSFull testBoard::gnss_full_read()
+bool testBoard::battery_has_new_data()
 {
-  return {};
+  return false;
 }
-
-// GNSS is not supported on the test board
-bool testBoard::gnss_has_new_data()
+bool testBoard::battery_read(float *voltage, float *current)
 {
   return false;
 }
+void testBoard::battery_voltage_set_multiplier(double multiplier) {}
+void testBoard::battery_current_set_multiplier(double multiplier) {}
 
 // PWM
 // TODO make these deal in normalized (-1 to 1 or 0 to 1) values (not pwm-specific)
@@ -236,8 +241,13 @@ bool testBoard::rc_lost()
 {
   return rc_lost_;
 }
+bool testBoard::rc_has_new_data()
+{
+  return new_rc_;
+}
 float testBoard::rc_read(uint8_t channel)
 {
+  new_rc_ = false;
   return static_cast<float>(rc_values[channel] - 1000) / 1000.0;
 }
 void testBoard::pwm_write(uint8_t channel, float value) {}

test/test_board.h

@@ -41,6 +41,7 @@ class testBoard : public Board
 {
 private:
   uint16_t rc_values[8] = {1500, 1500, 1000, 1500, 1500, 1500, 1500, 1500};
+  bool new_rc_ = false;
   uint64_t time_us_ = 0;
   bool rc_lost_ = false;
   float acc_[3] = {0, 0, 0};
@@ -68,45 +69,42 @@ class testBoard : public Board
 
   // sensors
   void sensors_init() override;
-  uint16_t num_sensor_errors();
+  uint16_t num_sensor_errors() override;
 
-  bool new_imu_data() override;
+  bool imu_has_new_data() override;
   bool imu_read(float accel[3], float *temperature, float gyro[3], uint64_t *time) override;
   void imu_not_responding_error() override;
 
   bool mag_present() override;
-  void mag_update() override;
-  void mag_read(float mag[3]) override;
+  bool mag_has_new_data() override;
+  bool mag_read(float mag[3]) override;
 
   bool baro_present() override;
-  void baro_update() override;
-  void baro_read(float *pressure, float *temperature) override;
+  bool baro_has_new_data() override;
+  bool baro_read(float *pressure, float *temperature) override;
 
   bool diff_pressure_present() override;
-  void diff_pressure_update() override;
-  void diff_pressure_read(float *diff_pressure, float *temperature) override;
+  bool diff_pressure_has_new_data() override;
+  bool diff_pressure_read(float *diff_pressure, float *temperature) override;
 
   bool sonar_present() override;
-  void sonar_update() override;
-  float sonar_read() override;
+  bool sonar_has_new_data() override;
+  bool sonar_read(float *range) override;
 
-  bool gnss_present() override { return false; }
-  void gnss_update() override {}
-  GNSSData gnss_read() override;
-  GNSSFull gnss_full_read() override;
+  bool gnss_present() override;
   bool gnss_has_new_data() override;
+  bool gnss_read(GNSSData *gnss, GNSSFull *gnss_full) override;
 
-  bool battery_voltage_present() const override;
-  float battery_voltage_read() const override;
+  bool battery_present() override;
+  bool battery_has_new_data() override;
+  bool battery_read(float *voltage, float *current) override;
   void battery_voltage_set_multiplier(double multiplier) override;
-
-  bool battery_current_present() const override;
-  float battery_current_read() const override;
   void battery_current_set_multiplier(double multiplier) override;
 
   // RC
   void rc_init(rc_type_t rc_type) override;
   bool rc_lost() override;
+  bool rc_has_new_data() override;
   float rc_read(uint8_t channel) override;
 
   // PWM
@@ -135,8 +133,7 @@ class testBoard : public Board
   void backup_memory_clear(size_t len) override;
   void backup_memory_clear(); // Not an override
 
-  void set_imu(float *acc, float *gyro, uint64_t time_us);
-  void set_rc(uint16_t *values);
+  void set_imu(float *acc, float *gyro, uint64_t time_us); void set_rc(uint16_t *values);
   void set_time(uint64_t time_us);
   void set_pwm_lost(bool lost);
 };