Argus update (#4)

* Update boards, timestamp, and sender to node.

* Update attributes.

* Split SBG messages to radio based communication only.

* Format and remove ts bindings.

.github/workflows/build.yml

@@ -60,6 +60,6 @@ jobs:
         name: "Run Host Tests"
         with:
           command: make
-          args: test-messages
+          args: test
 
 

Cargo.toml

@@ -5,6 +5,10 @@ edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[lib]
+name = "messages"
+path = "src/lib.rs"
+
 [dependencies]
 derive_more = "0.99.17"
 serde = {version = "1.0.150", default-features = false, features = ["derive"]}
@@ -17,14 +21,16 @@ mavlink = { git = "https://github.com/uorocketry/rust-mavlink.git", features = [
 bitflags = { version = "2.3.1", features = ["serde"] }
 proptest = { version = "1.2.0", optional = true }
 proptest-derive = { version = "0.3.0", optional = true }
+proptest-arbitrary-interop = { version = "0.1.0", optional = true }
 messages-proc-macros-lib = { path = "messages-proc-macros-lib" }
-chrono = {version = "0.4.0", features = ["serde"], default-features = false}
+chrono = { git = "https://github.com/uorocketry/chrono", features = ["serde", "arbitrary"], default-features = false}
 
 [dev-dependencies]
 proptest = "1.2.0"
 proptest-derive = "0.3.0"
 postcard = { version = "1.0.4", features = ["alloc"] }
+proptest-arbitrary-interop = "0.1.0"
 
 [features]
 default = ["mavlink/embedded-hal-02", "mavlink/uorocketry"]
-std = ["chrono/std", "mavlink/std", "mavlink/tcp", "mavlink/udp", "mavlink/direct-serial", "mavlink/serde", "dep:proptest", "dep:proptest-derive"]
+std = ["chrono/std", "mavlink/std", "mavlink/tcp", "mavlink/udp", "mavlink/direct-serial", "mavlink/serde", "dep:proptest-arbitrary-interop", "dep:proptest", "dep:proptest-derive"]

Makefile.toml

@@ -1,14 +1,9 @@
-[env]
-CARGO_MAKE_EXTEND_WORKSPACE_MAKEFILE = true
-
-[config]
-default_to_workspace = false
 
 # -----------------------
 # Host Testing
 # -----------------------
 
-[tasks.test-messages]
+[tasks.test]
 command = "cargo"
-args = ["test", "-p", "messages", "--target", "${CARGO_MAKE_RUST_TARGET_TRIPLE}", "--features", "std", "--no-default-features"]
+args = ["test", "--target", "${CARGO_MAKE_RUST_TARGET_TRIPLE}", "--features", "std", "--no-default-features"]
 env = {RUST_MIN_STACK = "8388608"}

messages-proc-macros-lib/src/lib.rs

@@ -6,9 +6,7 @@ use quote::quote;
 pub fn  common_derives(args: TokenStream, input: TokenStream) -> TokenStream {
     let mut output = TokenStream::from(quote! {
         #[derive(serde::Serialize, serde::Deserialize, Clone, Debug)]
-        #[cfg_attr(feature = "ts", derive(ts_rs::TS))]
-        #[cfg_attr(feature = "ts", ts(export))]
-        #[cfg_attr(std, derive(proptest_derive::Arbitrary))]
+        #[cfg_attr(all(feature = "std", test), derive(proptest_derive::Arbitrary))]
     });
 
     // Allow to omit the defmt::Format derive. Useful if this should be manually implemented.

proptest-regressions/lib.txt

@@ -0,0 +1,9 @@
+# Seeds for failure cases proptest has generated in the past. It is
+# automatically read and these particular cases re-run before any
+# novel cases are generated.
+#
+# It is recommended to check this file in to source control so that
+# everyone who runs the test benefits from these saved cases.
+cc 61b4824c090c01db4b55ba9e9fcc0fb7bbb6843574b2b802fbc377e8f839c62d # shrinks to msg = Message { timestamp: FormattedNaiveDateTime(-0001-01-01T00:00:00.000000001), node: PressureBoard, data: Sensor(Sensor { data: EkfNavAcc(EkfNavAcc { status: EkfStatus { status: 268435456 }, velocity_std_dev: Some([0.0, 0.0, 0.0]), position_std_dev: Some([-0.0, 0.0, 0.0]) }) }) }
+cc 1b5e64b2da76dcb68777a6b6564de7a77d5f4b6ab26e1f36432e2df7d11f828b # shrinks to msg = Message { timestamp: FormattedNaiveDateTime(0000-01-01T00:00:00.000000001), node: PressureBoard, data: Sensor(Sensor { component_id: 0, data: Imu2(Imu2 { temperature: Some(0.0), delta_velocity: Some([0.0, 0.0, 0.0]), delta_angle: Some([0.0, 0.0, 0.0]) }) }) }
+cc dba5d5b40143101de3363dadb069654a4e5b62704479ee3824b993edba0b0efd # shrinks to msg = Message { timestamp: FormattedNaiveDateTime(0000-01-01T00:00:00), node: PressureBoard, data: Sensor(Sensor { component_id: 0, data: SbgData(EkfQuat(EkfQuat { time_stamp: 268435456, quaternion: Some([0.0, 0.0, 0.0, 0.0]), euler_std_dev: Some([0.0, 0.0, 0.0]), status: EkfStatus { status: 268435456 } })) }) }

src/lib.rs

@@ -1,5 +1,4 @@
 #![cfg_attr(all(not(feature = "std"), not(test)), no_std)]
-#![no_main]
 
 //! # Messages
 //!
@@ -10,10 +9,11 @@ use crate::command::Command;
 use crate::node::Node;
 use crate::sensor::Sensor;
 use crate::state::State;
+use chrono::NaiveDateTime;
 use derive_more::From;
 /// This is to help control versions.
 pub use mavlink;
-use chrono::NaiveDateTime;
+
 use messages_proc_macros_lib::common_derives;
 
 pub mod command;
@@ -23,15 +23,28 @@ pub mod sensor;
 pub mod sensor_status;
 pub mod state;
 
-pub const MAX_SIZE: usize = 64;
+pub const MAX_SIZE_CAN: usize = 64;
+pub const MAX_SIZE_RADIO: usize = 255;
 
+use defmt::Format;
 pub use logging::{ErrorContext, Event, Log, LogLevel};
 
+#[derive(serde::Serialize, serde::Deserialize, Clone, Debug)]
+#[cfg_attr(all(feature = "std", test), derive(proptest_derive::Arbitrary))]
+pub struct FormattedNaiveDateTime(pub NaiveDateTime);
+
+impl Format for FormattedNaiveDateTime {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "");
+    }
+}
+
 /// Topmost message. Encloses all the other possible messages, and is the only thing that should
 /// be sent over the wire.
-#[common_derives(NoFormat)]
+#[derive(serde::Serialize, serde::Deserialize, Clone, Debug)]
+#[cfg_attr(all(feature = "std", test), derive(proptest_derive::Arbitrary))]
 pub struct Message {
-    pub timestamp: NaiveDateTime,
+    pub timestamp: FormattedNaiveDateTime,
 
     /// The original sender of this message.
     pub node: Node,
@@ -51,7 +64,7 @@ pub enum Data {
 }
 
 impl Message {
-    pub fn new(timestamp: NaiveDateTime, node: Node, data: impl Into<Data>) -> Self {
+    pub fn new(timestamp: FormattedNaiveDateTime, node: Node, data: impl Into<Data>) -> Self {
         Message {
             timestamp,
             node,
@@ -60,18 +73,34 @@ impl Message {
     }
 }
 
-#[cfg(test)]
+#[cfg(all(test, feature = "std"))]
 mod test {
-    use crate::{Message, MAX_SIZE};
+    use crate::{Message, MAX_SIZE_CAN, MAX_SIZE_RADIO};
     use proptest::prelude::*;
 
     proptest! {
         #[test]
         fn message_size(msg: Message) {
             let bytes = postcard::to_allocvec(&msg).unwrap();
 
-            dbg!(msg);
-            assert!(dbg!(bytes.len()) <= MAX_SIZE);
+            dbg!(msg.clone());
+
+            match msg.data {
+                crate::Data::Sensor(sensor) => {
+                    match sensor.data {
+                        crate::sensor::SensorData::SbgData(_) => {
+                            assert!(bytes.len() <= MAX_SIZE_RADIO);
+                        }
+                        _ => {
+                            assert!(bytes.len() <= MAX_SIZE_CAN);
+                        }
+                    }
+                }
+                _ => {
+                    assert!(bytes.len() <= MAX_SIZE_CAN);
+                }
+
+            }
         }
     }
 }

src/node.rs

@@ -5,7 +5,7 @@ use messages_proc_macros_lib::common_derives;
 pub enum Node {
     PressureBoard,
     TemperatureBoard,
-    StrainBoard, 
+    StrainBoard,
 }
 
 impl From<Node> for u16 {

src/sensor.rs

@@ -7,13 +7,35 @@ use messages_proc_macros_lib::common_derives;
 #[common_derives]
 pub struct Sensor {
     /// Used to differentiate between multiple components on the same sender. Unused right now.
-    // pub component_id: u8,
+    pub component_id: u8,
     pub data: SensorData,
 }
 
 #[common_derives]
 #[derive(From)]
 pub enum SensorData {
+    // UtcTime(UtcTime),
+    // Air(Air),
+    // EkfQuat(EkfQuat),
+    // EkfNav1(EkfNav1),
+    // EkfNav2(EkfNav2),
+    // EkfNavAcc(EkfNavAcc),
+    // Imu1(Imu1),
+    // Imu2(Imu2),
+    NavPosLlh(NavPosLlh),
+    // GpsVel(GpsVel),
+    // GpsVelAcc(GpsVelAcc),
+    // GpsPos1(GpsPos1),
+    // GpsPos2(GpsPos2),
+    // GpsPosAcc(GpsPosAcc),
+    ResetReason(ResetReason),
+    RecoverySensing(RecoverySensing),
+    SbgData(SbgData),
+}
+
+#[common_derives]
+#[derive(From)]
+pub enum SbgData {
     UtcTime(UtcTime),
     Air(Air),
     EkfQuat(EkfQuat),
@@ -22,14 +44,11 @@ pub enum SensorData {
     EkfNavAcc(EkfNavAcc),
     Imu1(Imu1),
     Imu2(Imu2),
-    NavPosLlh(NavPosLlh),
     GpsVel(GpsVel),
     GpsVelAcc(GpsVelAcc),
     GpsPos1(GpsPos1),
     GpsPos2(GpsPos2),
     GpsPosAcc(GpsPosAcc),
-    ResetReason(ResetReason),
-    RecoverySensing(RecoverySensing),
 }
 
 #[common_derives]
@@ -245,7 +264,7 @@ pub struct RecoverySensing {
 impl Sensor {
     pub fn new(data: impl Into<SensorData>) -> Self {
         Sensor {
-            // component_id: 0,
+            component_id: 0,
             data: data.into(),
         }
     }