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Updated manifest. #55

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Feb 2, 2025
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Updated manifest. #55

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120 changes: 86 additions & 34 deletions src/RoveComm/RoveCommManifest.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
*
* @file RoveCommManifest.h
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
*
* @copyright Copyright Mars Rover Design Team 2025 - All Rights Reserved
******************************************************************************/
Expand All @@ -25,7 +25,7 @@ namespace manifest
* @brief Enumeration of Data Types to be used in RoveComm
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
enum DataTypes
{
Expand All @@ -44,7 +44,7 @@ namespace manifest
* @brief IP Address Object for RoveComm.
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
struct AddressEntry
{
Expand All @@ -60,7 +60,7 @@ namespace manifest
* @brief Manifest Entry Object for RoveComm.
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
struct ManifestEntry
{
Expand All @@ -74,7 +74,7 @@ namespace manifest
* @brief Core Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Core
{
Expand Down Expand Up @@ -134,7 +134,7 @@ namespace manifest
* @brief PMS Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace PMS
{
Expand Down Expand Up @@ -174,7 +174,7 @@ namespace manifest
* @brief Nav Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Nav
{
Expand Down Expand Up @@ -203,7 +203,7 @@ namespace manifest
* @brief BaseStationNav Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace BaseStationNav
{
Expand All @@ -222,7 +222,7 @@ namespace manifest
* @brief SignalStack Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace SignalStack
{
Expand Down Expand Up @@ -252,7 +252,7 @@ namespace manifest
* @brief Arm Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Arm
{
Expand All @@ -261,20 +261,24 @@ namespace manifest

// Commands
const std::map<std::string, ManifestEntry> COMMANDS = {
{"OPENLOOP", ManifestEntry{8000, 6, DataTypes::INT16_T}},
{"SETPOSITION", ManifestEntry{8001, 6, DataTypes::FLOAT_T}},
{"INCREMENTPOSITION", ManifestEntry{8002, 5, DataTypes::FLOAT_T}},
{"SETIK", ManifestEntry{8003, 5, DataTypes::FLOAT_T}},
{"INCREMENTIK_ROVERRELATIVE", ManifestEntry{8004, 5, DataTypes::FLOAT_T}},
{"INCREMENTIK_WRISTRELATIVE", ManifestEntry{8005, 5, DataTypes::FLOAT_T}},
{"LASER", ManifestEntry{8006, 1, DataTypes::UINT8_T}},
{"SOLENOID", ManifestEntry{8007, 1, DataTypes::UINT8_T}},
{"GRIPPER", ManifestEntry{8008, 1, DataTypes::INT16_T}},
{"WATCHDOGOVERRIDE", ManifestEntry{8009, 1, DataTypes::UINT8_T}},
{"LIMITSWITCHOVERRIDE", ManifestEntry{8010, 1, DataTypes::UINT16_T}},
{"CALIBRATEENCODER", ManifestEntry{8011, 1, DataTypes::UINT8_T}},
{"SELECTGRIPPER", ManifestEntry{8012, 1, DataTypes::UINT8_T}},
{"SOFTLIMITOVERRIDE", ManifestEntry{8013, 1, DataTypes::UINT8_T}},
{"SETINDIVIDUALSPEEDS", ManifestEntry{8000, 6, DataTypes::INT16_T}},
{"SETJOINTSPEED", ManifestEntry{8001, 2, DataTypes::INT16_T}},
{"SETINDIVIDUALTARGETANGLES", ManifestEntry{8002, 6, DataTypes::FLOAT_T}},
{"SETJOINTTARGETANGLE", ManifestEntry{8003, 2, DataTypes::FLOAT_T}},
{"INCREMENTINDIVIDUALTARGETANGLES", ManifestEntry{8004, 6, DataTypes::FLOAT_T}},
{"INCREMENTJOINTTARGETANGLE", ManifestEntry{8005, 2, DataTypes::FLOAT_T}},
{"SETIKPOSITION", ManifestEntry{8006, 6, DataTypes::FLOAT_T}},
{"INCREMENTIKPOSITION", ManifestEntry{8007, 6, DataTypes::FLOAT_T}},
{"SETLOCKMODEPOSITION", ManifestEntry{8008, 3, DataTypes::FLOAT_T}},
{"INCREMENTLOCKMODEPOSITION", ManifestEntry{8009, 3, DataTypes::FLOAT_T}},
{"LASER", ManifestEntry{8010, 1, DataTypes::UINT8_T}},
{"SOLENOID", ManifestEntry{8011, 1, DataTypes::UINT8_T}},
{"SETGRIPPERSPEED", ManifestEntry{8012, 1, DataTypes::INT16_T}},
{"WATCHDOGOVERRIDE", ManifestEntry{8013, 1, DataTypes::UINT8_T}},
{"LIMITSWITCHOVERRIDE", ManifestEntry{8014, 9, DataTypes::UINT16_T}},
{"CLOSEDLOOPOVERRIDE", ManifestEntry{8015, 6, DataTypes::UINT8_T}},
{"CALIBRATEENCODER", ManifestEntry{8016, 2, DataTypes::UINT8_T}},
{"SOFTLIMITOVERRIDE", ManifestEntry{8017, 10, DataTypes::UINT16_T}},
};

// Telemetry
Expand All @@ -288,13 +292,25 @@ namespace manifest
const std::map<std::string, ManifestEntry> ERROR = {
{"WATCHDOGSTATUS", ManifestEntry{8200, 1, DataTypes::UINT8_T}},
};

// Enums
enum class JOINTS
{
X,
J2,
J3,
J4,
PITCH,
ROLL
};

} // namespace Arm

/******************************************************************************
* @brief ScienceActuation Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace ScienceActuation
{
Expand Down Expand Up @@ -337,7 +353,7 @@ namespace manifest
* @brief Autonomy Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Autonomy
{
Expand Down Expand Up @@ -402,7 +418,7 @@ namespace manifest
* @brief Camera1 Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Camera1
{
Expand Down Expand Up @@ -433,7 +449,7 @@ namespace manifest
* @brief Camera2 Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Camera2
{
Expand All @@ -459,7 +475,7 @@ namespace manifest
* @brief CameraServer Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace CameraServer
{
Expand Down Expand Up @@ -496,7 +512,7 @@ namespace manifest
* @brief IRSpectrometer Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace IRSpectrometer
{
Expand All @@ -515,7 +531,7 @@ namespace manifest
* @brief Instruments Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Instruments
{
Expand Down Expand Up @@ -545,11 +561,33 @@ namespace manifest
const std::map<std::string, ManifestEntry> ERROR = {};
} // namespace Instruments

/******************************************************************************
* @brief RoveSoSimulator Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-02-01
******************************************************************************/
namespace RoveSoSimulator
{
// IP Address
const AddressEntry IP_ADDRESS{127, 0, 0, 1};

// Commands
const std::map<std::string, ManifestEntry> COMMANDS = {};
// Telemetry
const std::map<std::string, ManifestEntry> TELEMETRY = {
{"ULTRASONIC1", ManifestEntry{99100, 2, DataTypes::FLOAT_T}},
};

// Error
const std::map<std::string, ManifestEntry> ERROR = {};
} // namespace RoveSoSimulator

/******************************************************************************
* @brief RoveComm General Information
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace General
{
Expand All @@ -564,7 +602,7 @@ namespace manifest
* @brief RoveComm System Information
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace System
{
Expand All @@ -580,7 +618,7 @@ namespace manifest
* @brief RoveComm Helper Functions
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2025-01-06
* @date 2025-02-01
******************************************************************************/
namespace Helpers
{
Expand Down Expand Up @@ -758,6 +796,20 @@ namespace manifest
return GetDataTypeFromMap(Instruments::ERROR, dataId);
}
break;
case 99: // RoveSoSimulator Board
if (dataTypeCode == 0)
{
return GetDataTypeFromMap(RoveSoSimulator::COMMANDS, dataId);
}
else if (dataTypeCode == 1)
{
return GetDataTypeFromMap(RoveSoSimulator::TELEMETRY, dataId);
}
else if (dataTypeCode == 2)
{
return GetDataTypeFromMap(RoveSoSimulator::ERROR, dataId);
}
break;
default:
// Invalid Board ID
break;
Expand Down