From 42552668c3c8c4f4085b6392f1817c292df22d86 Mon Sep 17 00:00:00 2001
From: TheSpaceDragon <developerskytech@gmail.com>
Date: Wed, 12 Jul 2023 23:25:54 -0400
Subject: [PATCH] Added basic SBUS implementation

- Added a function to RCControls struct to assign values from an existing object
- Implemented basic SBUS input taking with SM
- Updated CMAKE
---
 .../rc_receiver/Inc/rcreceiver_datatypes.h    | 18 +++++++++++++
 SystemManager/{ => Inc}/SystemManager.hpp     | 12 ++++-----
 SystemManager/{ => Src}/SystemManager.cpp     | 25 ++++++++-----------
 Tools/Firmware/CMakeLists.txt                 |  2 ++
 4 files changed, 37 insertions(+), 20 deletions(-)
 rename SystemManager/{ => Inc}/SystemManager.hpp (66%)
 rename SystemManager/{ => Src}/SystemManager.cpp (51%)

diff --git a/Drivers/rc_receiver/Inc/rcreceiver_datatypes.h b/Drivers/rc_receiver/Inc/rcreceiver_datatypes.h
index dcc6563c..773e7808 100644
--- a/Drivers/rc_receiver/Inc/rcreceiver_datatypes.h
+++ b/Drivers/rc_receiver/Inc/rcreceiver_datatypes.h
@@ -37,6 +37,24 @@ struct RCControl{
 
     float &operator[] (int i) { return ControlSignals[i]; }
 
+    void assignValues(RCControl const  &original){
+        this->roll = original.roll;
+        this->pitch = original.pitch;
+        this->throttle = original.throttle;
+        this->yaw = original.yaw;
+        this->aux1 = original.aux1;
+        this->aux2 = original.aux2;
+        this->aux3 = original.aux3;
+        this->aux4 =  original.aux4;
+        this->aux5 = original.aux5;
+        this->aux6 = original.aux6;
+        this->aux7 = original.aux7;
+        this->aux8 = original.aux8;
+        this->aux9 = original.aux9;
+        this->aux10 = original.aux10;
+        this->aux11 = original.aux11;
+    }
+
     /*  initial values*/
     RCControl()
     {
diff --git a/SystemManager/SystemManager.hpp b/SystemManager/Inc/SystemManager.hpp
similarity index 66%
rename from SystemManager/SystemManager.hpp
rename to SystemManager/Inc/SystemManager.hpp
index d4557a7e..d8cbf53b 100644
--- a/SystemManager/SystemManager.hpp
+++ b/SystemManager/Inc/SystemManager.hpp
@@ -5,9 +5,9 @@
 #ifndef ZEROPILOT_3_5_SYSTEMMANAGER_HPP
 #define ZEROPILOT_3_5_SYSTEMMANAGER_HPP
 
-#include "global_config.hpp"
-#include "sbus_reciever.hpp"
-#include "rcreceiver_datatypes.h"
+#include "../../Models/global_config.hpp"
+#include "../../Drivers/rc_receiver/Inc/sbus_receiver.hpp"
+#include "../../Drivers/rc_receiver/Inc/rcreceiver_datatypes.h"
 
 
 class SystemManager {
@@ -20,8 +20,8 @@ class SystemManager {
     void flyManually();
 
     /* Getters and Setters */
-    Flightmode getCurrentFlightMode();
-    void setCurrentFlightMode(Flightmode flightmode);
+    config::Flightmode* getCurrentFlightMode();
+    void setCurrentFlightMode(config::Flightmode *flightmode);
 private:
     /* Private helper functions */
     void updateRCInputs();
@@ -30,7 +30,7 @@ class SystemManager {
     /* SBUS and AM variables to follow */
     
     /* State-keeping variables to follow */
-    Flightmode *currentFlightMode_;
+    config::Flightmode *currentFlightMode_;
     SBUSReceiver rcController_;
     RCControl rcInputs_;
 
diff --git a/SystemManager/SystemManager.cpp b/SystemManager/Src/SystemManager.cpp
similarity index 51%
rename from SystemManager/SystemManager.cpp
rename to SystemManager/Src/SystemManager.cpp
index 2c78f500..2adaa5e2 100644
--- a/SystemManager/SystemManager.cpp
+++ b/SystemManager/Src/SystemManager.cpp
@@ -2,32 +2,29 @@
 // Created by Gagan Deep Singh on 2023-07-08.
 //
 
-#include "SystemManager.hpp"
-#include "global_config.hpp"
-#include "config.hpp"
-#include "sbus_reciever.hpp"
-#include "drivers_config.hpp"
-
+#include "../Inc/SystemManager.hpp"
+#include "../../Models/testmodel1/config.hpp"
+#include "../../Models/global_config.hpp"
+#include "../../Drivers/rc_receiver/Inc/sbus_receiver.hpp"
+#include "../../Drivers/rc_receiver/Inc/sbus_defines.h"
+#include "../../Drivers/rc_receiver/Inc/rcreceiver_datatypes.h"
+#include "../../Drivers/Common/Inc/drivers_config.hpp"
 
 SystemManager::SystemManager():
     currentFlightMode_(config::flightmodes[0]),
+    rcController_(sbus_uart)
     {}/* Would need to instantiate SBUS, IWDG, and AM */
 SystemManager::~SystemManager() {}
 
 void SystemManager::flyManually() {
     for(;;){
-        try{
             updateRCInputs();
             executeInputs();
-        }
-        catch{
-            break;
-        }
     }
 }
 
 void SystemManager::updateRCInputs() {
-    /* Get Inputs from SBUS and update corresponding private variable (also monitors Watchdog) */
+    this->rcInputs_.assignValues(rcController_.GetRCControl());
     return;
 }
 
@@ -36,11 +33,11 @@ void SystemManager::executeInputs() {
     return;
 }
 
-Flightmode SystemManager::getCurrentFlightMode() {
+config::Flightmode* SystemManager::getCurrentFlightMode() {
     return this->currentFlightMode_;
 }
 
-void SystemManager::setCurrentFlightMode(config::Flightmode flightmode) {
+void SystemManager::setCurrentFlightMode(config::Flightmode *flightmode) {
     this->currentFlightMode_ = flightmode;
 }
 
diff --git a/Tools/Firmware/CMakeLists.txt b/Tools/Firmware/CMakeLists.txt
index 65ef8f8a..8be5454a 100644
--- a/Tools/Firmware/CMakeLists.txt
+++ b/Tools/Firmware/CMakeLists.txt
@@ -95,10 +95,12 @@ file(GLOB_RECURSE C_SOURCES ${HAL_DRIVERS_C_SOURCES}
                             ${FREE_RTOS_C_SOURCES}
                             ${HAL_CORE_C_SOURCES}
                             ${ATTITUDE_MANAGER_C_SOURCES}
+                            ${SYSTEM_MANAGER_C_SOURCES}
                             ${DRIVERS_C_SOURCES})
 message("C Sources: ${C_SOURCES}")
 file(GLOB_RECURSE CXX_SOURCES ${HAL_CORE_CXX_SOURCES}
                               ${ATTITUDE_MANAGER_CXX_SOURCES}
+                              ${SYSTEM_MANAGER_CXX_SOURCES}
                               ${DRIVERS_RcReceiver_CXX_SOURCES}
                               ${DRIVERS_Common_CXX_SOURCES}
                               ${DRIVERS_CXX_SOURCES})