Fix Hilsim (#57)

MIDAS/.gitignore

@@ -3,3 +3,4 @@
 /src/log_checksum.h
 **/.DS_Store
 *.launch
+*.pyc

MIDAS/hilsim/hilsim_test.py

@@ -0,0 +1,167 @@
+import serial
+import pandas
+
+import glob
+import sys
+
+import hilsimpacket_pb2
+import os
+import time
+import rocketstate_pb2
+
+def serial_ports():
+    """ Lists serial port names
+
+        :raises EnvironmentError:
+            On unsupported or unknown platforms
+        :returns:
+            A list of the serial ports available on the system
+    """
+    if sys.platform.startswith('win'):
+        ports = ['COM%s' % (i + 1) for i in range(256)]
+    elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'):
+        # this excludes your current terminal "/dev/tty"
+        ports = glob.glob('/dev/tty[A-Za-z]*')
+    elif sys.platform.startswith('darwin'):
+        ports = glob.glob('/dev/tty.*')
+    else:
+        raise EnvironmentError('Unsupported platform')
+
+    for port in ports:
+        try:
+            s = serial.Serial(port)
+            #s.close()
+            return s
+            result.append(port)
+        except (OSError, serial.SerialException):
+            pass
+    return None
+
+def csv_to_protobuf(parsed_csv) -> hilsimpacket_pb2.HILSIMPacket:
+    hilsim_packet = hilsimpacket_pb2.HILSIMPacket()
+
+    hilsim_packet.imu_high_ax = parsed_csv['highg_ax']
+    hilsim_packet.imu_high_ay = parsed_csv["highg_ay"]
+    hilsim_packet.imu_high_az = parsed_csv["highg_az"]
+    hilsim_packet.barometer_altitude = parsed_csv["barometer_altitude"]
+    hilsim_packet.barometer_temperature = parsed_csv["temperature"]
+    hilsim_packet.barometer_pressure = parsed_csv["pressure"]
+    hilsim_packet.imu_low_lsm_ax = parsed_csv["ax"]
+    hilsim_packet.imu_low_lsm_ay = parsed_csv["ay"]
+    hilsim_packet.imu_low_lsm_az = parsed_csv["az"]
+    hilsim_packet.imu_low_lsm_gx = parsed_csv["gx"]
+    hilsim_packet.imu_low_lsm_gy = parsed_csv["gy"]
+    hilsim_packet.imu_low_lsm_gz = parsed_csv["gz"]
+    hilsim_packet.mag_x = parsed_csv["mx"]
+    hilsim_packet.mag_y = parsed_csv["my"]
+    hilsim_packet.mag_z = parsed_csv["mz"]
+
+    hilsim_packet.imu_low_ax = 0
+    hilsim_packet.imu_low_ay = 0
+    hilsim_packet.imu_low_az = 0
+    hilsim_packet.ornt_roll = 0
+    hilsim_packet.ornt_pitch = 0
+    hilsim_packet.ornt_yaw = 0
+    hilsim_packet.ornt_rollv = 0
+    hilsim_packet.ornt_pitchv = 0
+    hilsim_packet.ornt_yawv = 0
+    hilsim_packet.ornt_rolla = 0
+    hilsim_packet.ornt_pitcha = 0
+    hilsim_packet.ornt_yawa = 0
+    hilsim_packet.ornt_ax = 0
+    hilsim_packet.ornt_ay = 0
+    hilsim_packet.ornt_az = 0
+    hilsim_packet.ornt_gx = 0
+    hilsim_packet.ornt_gy = 0
+    hilsim_packet.ornt_gz = 0
+    hilsim_packet.ornt_mx = 0
+    hilsim_packet.ornt_my = 0
+    hilsim_packet.ornt_mz = 0
+    hilsim_packet.ornt_temp = 0
+    return hilsim_packet
+
+
+tmp = 0
+def new_protobuf() -> hilsimpacket_pb2.HILSIMPacket:
+    global tmp
+    hilsim_packet = hilsimpacket_pb2.HILSIMPacket()
+    tmp = tmp + 1
+    hilsim_packet.imu_high_ax = tmp
+    hilsim_packet.imu_high_ay = tmp
+    hilsim_packet.imu_high_az = tmp
+    hilsim_packet.barometer_altitude = tmp
+    hilsim_packet.barometer_temperature = tmp
+    hilsim_packet.barometer_pressure = tmp
+    hilsim_packet.imu_low_lsm_ax = tmp
+    hilsim_packet.imu_low_lsm_ay = tmp
+    hilsim_packet.imu_low_lsm_az = tmp
+    hilsim_packet.imu_low_lsm_gx = tmp
+    hilsim_packet.imu_low_lsm_gy = tmp
+    hilsim_packet.imu_low_lsm_gz = tmp
+    hilsim_packet.mag_x = tmp
+    hilsim_packet.mag_y = tmp
+    hilsim_packet.mag_z = tmp
+
+    hilsim_packet.imu_low_ax = tmp
+    hilsim_packet.imu_low_ay = tmp
+    hilsim_packet.imu_low_az = tmp
+    hilsim_packet.ornt_roll = tmp
+    hilsim_packet.ornt_pitch = tmp
+    hilsim_packet.ornt_yaw = tmp
+    hilsim_packet.ornt_rollv = tmp
+    hilsim_packet.ornt_pitchv = tmp
+    hilsim_packet.ornt_yawv = tmp
+    hilsim_packet.ornt_rolla = tmp
+    hilsim_packet.ornt_pitcha = tmp
+    hilsim_packet.ornt_yawa = tmp
+    hilsim_packet.ornt_ax = tmp
+    hilsim_packet.ornt_ay = tmp
+    hilsim_packet.ornt_az = tmp
+    hilsim_packet.ornt_gx = tmp
+    hilsim_packet.ornt_gy = tmp
+    hilsim_packet.ornt_gz = tmp
+    hilsim_packet.ornt_mx = tmp
+    hilsim_packet.ornt_my = tmp
+    hilsim_packet.ornt_mz = tmp
+    hilsim_packet.ornt_temp = tmp
+    return hilsim_packet
+
+
+# Get first serial port...
+if __name__ == "__main__":
+    MIDAS = serial_ports()
+    if MIDAS == None:
+        print("You need to connect MIDAS")
+        exit()
+
+    MIDAS.write(b'!')
+    print("Reading")
+
+    # Read input
+    print(MIDAS.read_until())
+    print(MIDAS.read_until())
+    print(MIDAS.read_until())
+    print(MIDAS.read_until())
+
+    # Read the csv
+    csv = pandas.read_csv(os.path.dirname(os.path.abspath(sys.argv[tmp])) + "/flight_computer.csv", index_col=0)
+    while True:
+        packet = new_protobuf()
+        data = packet.SerializeToString()
+        # Encode the length of package in 2 bytes and then output the the information
+
+        MIDAS.write(len(data).to_bytes(2, "big"))
+        byte_len = len(data).to_bytes(2, "big")
+        # print(int.from_bytes(byte_len))
+        MIDAS.write(data)
+        #output = MIDAS.read_all()
+        print(MIDAS.read_all())
+        # print("Dumping data...")
+        by = MIDAS.read()
+        data2 = MIDAS.read(int.from_bytes(by))
+        state = rocketstate_pb2.RocketState()
+        state.ParseFromString(data2)
+        print(state.rocket_state)
+        #print(len(data).to_bytes(2, "big"))
+        #print(data)
+        # print("More stuff")

MIDAS/src/hilsim/.gitignore

@@ -0,0 +1,2 @@
+/__pycache__/*
+*.pyc

MIDAS/src/hilsim/README.md

@@ -1,2 +1,11 @@
 # HILSIM
-Protobuf to be added
+To communicate with HILSIM server, we use protobuf to go back and forth.
+Important links:
+ - Protobuf: https://protobuf.dev/
+ - Nanopb: https://github.com/nanopb/nanopb
+
+You can run `generate_protobuf.sh` or `generate_protobuf.bat` to generate the protobuf files.
+
+Do note that you will need the command protoc to run it. It can be found here: <https://github.com/protocolbuffers/protobuf#protobuf-compiler-installation>
+
+Protoc is only used to generate the python files, and the C++ files have to be generated by nanopb.

MIDAS/src/hilsim/generate_protobuf.bat

@@ -0,0 +1,11 @@
+@echo off
+REM Generate hilsim packet
+protoc -I=. --python_out=. hilsimpacket.proto
+python nanopb_generator/nanopb_generator.py hilsimpacket.proto
+
+python nanopb_generator/nanopb_generator.py rocketstate.proto
+protoc -I=. --python_out=. rocketstate.proto
+
+cp hilsimpacket_pb2.py ../../hilsim/hilsimpacket_pb2.py
+cp rocketstate_pb2.py ../../hilsim/rocketstate_pb2.py
+REM Get the size of the packets and automatically dump it to a header file

MIDAS/src/hilsim/generate_size.py

@@ -0,0 +1,24 @@
+import hilsimpacket_pb2
+
+def main():
+    hilsim_packet = hilsimpacket_pb2.HILSIMPacket()
+    hilsim_packet.imu_high_ax = 0
+    hilsim_packet.imu_high_ay = 0
+    hilsim_packet.imu_high_az = 0
+    hilsim_packet.barometer_altitude = 0
+    hilsim_packet.barometer_temperature = 0
+    hilsim_packet.barometer_pressure = 0
+    hilsim_packet.imu_low_ax = 0
+    hilsim_packet.imu_low_ay = 0
+    hilsim_packet.imu_low_az = 0
+    hilsim_packet.imu_low_gx = 0
+    hilsim_packet.imu_low_gy = 0
+    hilsim_packet.imu_low_gz = 0
+    hilsim_packet.mag_x = 0
+    hilsim_packet.mag_y = 0
+    hilsim_packet.mag_z = 0
+    print(vars(hilsimpacket_pb2.HILSIMPacket))
+    print(len(hilsim_packet.SerializeToString()))
+
+if __name__ == '__main__':
+    main()

MIDAS/src/hilsim/global_packet.h

@@ -0,0 +1,5 @@
+#pragma once
+#include "hilsim/hilsimpacket.pb.h"
+#include "hilsim/rocketstate.pb.h"
+
+extern HILSIMPacket global_packet;

MIDAS/src/hilsim/hilsimpacket.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.7 */
+
+#include "hilsimpacket.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(HILSIMPacket, HILSIMPacket, AUTO)
+
+
+