Serial Thrusters

.github/ISSUE_TEMPLATE.md

@@ -1,12 +1,51 @@
-## Summary
+<!-- You can erase any parts of this template not applicable to your Issue. -->
 
-[summary]
+## Bug report
 
-## Acceptance Criteria
+Please replace this line with a brief summary of your issue **AND** if reporting a build issue include relevant terminal output.
 
-When [external actor] does [action], [module]
-- [ ] [Statement 1]
+#### Context
 
-## Non-functional Criteria
+[this project is split into many parts, what part of the project contains the bug? Examples: Vision, Arduino Controller...] 
 
-[other non-functional criteria]
+#### Process
+
+[in an ordered list explain the process to finding and recreating the issue, example below]
+
+1. User goes to delete a dataset (to save space or whatever)
+2. User gets popup modal warning
+3. User deletes and it's lost forever
+
+#### Expected result
+
+[describe what you would expect to have resulted from this process]
+
+#### Current result
+
+[describe what you currently experience from this process, and thereby explain the bug]
+
+#### Possible Fix
+
+[not obligatory, but suggest fixes or reasons for the bug]
+
+* Modal tells the user what dataset is being deleted, like “You are about to delete this dataset: car_crashes_2014.”
+* A temporary "Trashcan" where you can recover a just deleted dataset if you mess up (maybe it's only good for a few hours, and then it cleans the cache assuming you made the right decision).
+
+
+## New feature request
+
+[We will consider your request but it may be closed if it's something we're not actively planning to work on.]
+
+Please replace this line with a summary of your suggested feature.
+
+#### Requirements
+
+[explain the concrete changes to the project needed for your feature, example below]
+
+- [ ] Add a "Delete" button to the dataset management page.
+- [ ] **Non concrete change:** Create system for showing messages to user.
+- [ ] Add delete function to dataset interface.
+
+#### Other thoughts
+
+[explain any other ideas or thoughts you have about this feature.]

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,20 @@
+<!-- Checkboxes can be deleted if you have completed them. -->
+
+### All Submissions:
+
+- [ ] Have you checked to ensure there aren't other open [Pull Requests](../../pulls) for the same update/change?
+- [ ] Have you selected someone, with knowledge of what you changed, to review this pull request?
+
+<!-- You can erase any parts of this template not applicable to your Pull Request. -->
+
+### New Feature Submissions:
+
+1. [ ] Does your submission contain new tests, as applicable?
+2. [ ] Does your submission pass all tests?
+3. [ ] Have you lint your code locally prior to submission?
+
+### Changes to Current Features:
+
+- [ ] Have you added an explanation of what your changes do and why they should be included?
+- [ ] Have you edited/written tests for your core changes, as applicable?
+- [ ] Have you successfully ran tests with your changes locally?

.gitignore

@@ -1,26 +1,222 @@
-###Git Ignore Filetypes###
+Release/
+Debug/
+Build/
+Drivers/
+Catch/
+googletest/
+json/
+TestFootage
+
 
-# JetBrains
-.idea/
 
-#compiled source#
-#################
+
+# Created by https://www.gitignore.io/api/macos,windows,linux,jetbrains,cmake,c++,node
+
+### C++ ###
+# Prerequisites
+*.d
+*.cbp
+
+# Compiled Object files
+*.slo
+*.lo
 *.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
 *.so
+*.dylib
+*.dll
 
-Release/
-Debug/
-Build/
+# Fortran module files
+*.mod
+*.smod
 
-#cmake-generated files#
-.cmake
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CMake ###
 CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake-build-*
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+
+### JetBrains ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff:
+.idea/
+
+## File-based project format:
+*.iws
+
+## Plugin-specific files:
+
+# IntelliJ
+/out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+### JetBrains Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
 
-# NPM
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+*.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### Node ###
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (http://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (http://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
 node_modules/
+jspm_packages/
 
-# Submodules
-Drivers/
-googletest/
+# Typescript v1 declaration files
+typings/
 
-TestFootage
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variables file
+.env
+
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+# End of https://www.gitignore.io/api/macos,windows,linux,jetbrains,cmake,c++,node

.gitmodules

@@ -4,3 +4,9 @@
 [submodule "googletest"]
 	path = Libraries/googletest
 	url = https://github.com/google/googletest.git
+[submodule "Libraries/Catch"]
+	path = Libraries/Catch
+	url = https://github.com/philsquared/Catch.git
+[submodule "Libraries/json"]
+	path = Libraries/json
+	url = https://github.com/nlohmann/json.git

ArduinoController/ArduinoController.ino

@@ -7,41 +7,43 @@
 #include "VoltageController.h"
 #include "StartController.h"
 
-const uint8_t KILLPIN = 50;
-const uint8_t KILL_ADDR = 10;
 const uint32_t CONTROLLER_CNT = 13u;
 class IController* controllers[CONTROLLER_CNT];
 
 void setup() {
+  delay(1);
   Serial.begin(115200);
-  Serial.print('R');
+  Serial1.begin(9600);
+  DMSGN("Due Ready!");
+  SerialTools::writeString("Ready!", 6);
 
-  controllers[0] = new ThrustController(LEFT_FORWARD, 50);
-  controllers[1] = new ThrustController(RIGHT_FORWARD, 50);
-  controllers[2] = new ThrustController(LEFT_STRAFE, 50);
-  controllers[3] = new ThrustController(RIGHT_STRAFE, 50);
-  controllers[4] = new ThrustController(FRONT_DIVE);
-  controllers[5] = new ThrustController(BACK_DIVE);
-  controllers[6] = new EscController();
-  controllers[7] = new LedController();
-  controllers[8] = new PingController();
-  controllers[9] = new LightController();
-  controllers[11]= new VoltageController();
-  controllers[12]= new StartController();
-  controllers[KILL_ADDR]= new KillSwitchController(controllers, CONTROLLER_CNT, KILL_ADDR);
+  controllers[0]= new KillSwitchController(controllers, CONTROLLER_CNT);
   attachInterrupt(
-    digitalPinToInterrupt(KILLPIN), 
-    [](){((KillSwitchController*)controllers[KILL_ADDR])->isr(KILLPIN);},
+    digitalPinToInterrupt(GpioPin::KILLSWITCH_PIN), 
+    [](){((KillSwitchController*)controllers[0])->isr(GpioPin::KILLSWITCH_PIN);},
     CHANGE
   );
- while((!Serial.available())||(Serial.read()==0));
+  controllers[1]  = new ThrustController(PwmPin::MOVE_PIN);
+  controllers[2]  = new ThrustController(PwmPin::STRAFE_PIN);
+  controllers[3]  = new ThrustController(PwmPin::DIVE_PIN);
+  controllers[4]  = new ThrustController(PwmPin::YAW_PIN);
+  controllers[5]  = new ThrustController(PwmPin::PITCH_PIN);
+  controllers[6]  = new ThrustController(PwmPin::ROLL_PIN);
+  controllers[7]  = new EscController();
+  controllers[8]  = new LedController();
+  controllers[9]  = new PingController();
+  controllers[10] = new LightController();
+  controllers[11] = new VoltageController();
+  controllers[12] = new StartController();
+
+  while((!Serial.available())||(Serial.read()==0));
 }
 
 void loop() {
-  if(Serial.available()) {
-    uint8_t controllerNumber = Serial.read();
-    if(controllerNumber < CONTROLLER_CNT)
-      // only execute if a command exists
-      controllers[controllerNumber]->execute();
+  uint8_t controllerIndex = SerialTools::readByte();
+  if(controllerIndex < CONTROLLER_CNT) {
+    // only execute if a command exists
+    DMSG("Controller: "); DMSGN(controllerIndex);
+    controllers[controllerIndex]->execute();
   }
-}
+}