Merge pull request #15 from OpenStratos/feature/temperature

Fixed #30. Tests in Raspberry Pi pass.

.travis.yml

@@ -1,19 +1,18 @@
-language: erlang # We are creating ARM emulation on travis, so no need for language features
-
-env: GUEST_DEPENDENCIES="git g++ make sudo autoconf automake m4"
+language: cpp
+compiler: gcc
 
 before_install:
-  - git submodule update --init --recursive
+  - git submodule update --init --recursive > /dev/null
+  - sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
   - sudo apt-get update -qq
-  - sudo apt-get install -qq -y qemu-user-static binfmt-support sbuild
-  - wget https://launchpad.net/ubuntu/+archive/primary/+files/debootstrap_1.0.59ubuntu0.2_all.deb
-  - sudo dpkg -i debootstrap_1.0.59ubuntu0.2_all.deb
 
 install:
-  - "bash -ex ./testing/travis-install.sh"
+  - sudo apt-get install -qq autoconf automake m4 gcc-4.9 g++-4.9 > /dev/null
+  - sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.9 90
+  - "bash -ex ./install-wiringpi.sh"
 
 script:
-  - "bash -ex ./testing/travis-test.sh"
+  - "bash -ex ./build.sh"
 
 branches:
   only:

Makefile.am

@@ -1,11 +1,11 @@
 bin_PROGRAMS = openstratos
-openstratos_SOURCES = openstratos.cpp camera/Camera.cpp gps/GPS.cpp serial/Serial.cpp battery/Battery.cpp
+openstratos_SOURCES = openstratos.cpp camera/Camera.cpp gps/GPS.cpp serial/Serial.cpp battery/Battery.cpp temperature/Temperature.cpp
 openstratos_LDADD = -lwiringPi
 openstratos_CPPFLAGS = -std=c++11 -Wno-unused-result
 
 EXTRA_PROGRAMS = openstratosRoot utesting
-openstratosRoot_SOURCES = openstratos-root.cpp camera/Camera.cpp gps/GPS.cpp serial/Serial.cpp battery/Battery.cpp
+openstratosRoot_SOURCES = openstratos-root.cpp camera/Camera.cpp gps/GPS.cpp serial/Serial.cpp battery/Battery.cpp temperature/Temperature.cpp
 openstratosRoot_CPPFLAGS = -std=c++11 -Wno-unused-result
 
-utesting_SOURCES = testing/testing.cpp camera/Camera.cpp gps/GPS.cpp serial/Serial.cpp battery/Battery.cpp
+utesting_SOURCES = testing/testing.cpp camera/Camera.cpp gps/GPS.cpp serial/Serial.cpp battery/Battery.cpp temperature/Temperature.cpp
 utesting_CPPFLAGS = -std=c++11 -Itesting/bandit -Wno-unused-result -DOS_TESTING

build.sh

@@ -6,4 +6,6 @@ automake --add-missing
 autoconf
 ./configure
 make utesting
+
+printf "\n\n----- Starting unit tests -----\n\n"
 ./utesting

camera/Camera.cpp

@@ -33,6 +33,7 @@ void Camera::record(int time)
 		#ifndef RASPIVID
 			command = "";
 		#endif
+
 		system(command.c_str());
 		this->recording = true;
 

camera/Camera.hpp

@@ -12,6 +12,7 @@
 
 			bool recording = false;
 		public:
+			Camera(Camera& copy) = delete;
 			static Camera& get_instance();
 
 			void record(int time);

config.hpp

@@ -46,9 +46,6 @@
 /* Define to 1 if you have the <unistd.h> header file. */
 #define HAVE_UNISTD_H 1
 
-/* Define to 1 if the system has the type `_Bool'. */
-/* #undef HAVE__BOOL */
-
 /* Name of package */
 #define PACKAGE "openstratos"
 

configure.ac

@@ -25,7 +25,6 @@ AC_LANG([C++])
 AX_CXX_COMPILE_STDCXX_11()
 
 # Checks for typedefs, structures, and compiler characteristics.
-AC_CHECK_HEADER_STDBOOL
 AC_C_INLINE
 AC_TYPE_SIZE_T
 

constants.hpp

@@ -6,6 +6,9 @@
 	#define ERR_INT 2
 	#define ERR_PWD 3
 
+	#define TEMP_VIN 5
+	#define TEMP_R 500
+
 	#define BAT_MAX 8.4
 	#define BAT_MIN 7.4
 	#define BAT_R1 3300

gps/GPS.cpp

@@ -7,6 +7,7 @@
 #include <string>
 #include <cstdio>
 
+using namespace std;
 using namespace os;
 
 GPS& GPS::get_instance()
@@ -22,8 +23,7 @@ GPS::~GPS()
 
 void GPS::initialize(const string& serial_URL)
 {
-	Serial serial(serial_URL, 9600, "\r\n", bind(&GPS::parse, this, placeholders::_1));
-	this->serial = serial;
+	this->serial.initialize(serial_URL, 9600, "\r\n", bind(&GPS::parse, this, placeholders::_1));
 
 	#ifndef OS_TESTING
 		this->serial.send_frame("$PMTK220,100*2F");

gps/GPS.hpp

@@ -38,6 +38,7 @@
 			void parse_RMC(const string& frame);
 
 		public:
+			GPS(GPS& copy) = delete;
 			static GPS& get_instance();
 
 			tm* get_time() {return &this->time;}

install-wiringpi.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+printf "Installing WiringPi\n"
+git clone https://github.com/OpenStratos/WiringPi.git > /dev/null
+cd WiringPi
+./build > /dev/null
+cd ..

serial/Serial.cpp

@@ -5,20 +5,23 @@
 #include <functional>
 #include <cstdint>
 #include <string>
+#include <iostream>
 
+using namespace std;
 using namespace os;
 
-Serial::Serial(const string& url, int baud, const string endl, function<uint_fast8_t(const string&)>)
+void Serial::initialize(const string& url, int baud, const string endl, function<uint_fast8_t(const string&)>)
 {
 	this->listener = listener;
 	this->endl = endl;
 	#ifndef OS_TESTING
 		this->fd = serialOpen(url.c_str(), baud);
-		this->open = true;
-
-		thread t(&Serial::serial_thread, this);
-		t.detach();
 	#endif
+
+	this->open = true;
+	this->stopped = false;
+	thread t(&Serial::serial_thread, this);
+	t.detach();
 }
 
 Serial::~Serial()
@@ -33,39 +36,41 @@ void Serial::serial_thread()
 
 	while(this->open)
 	{
-		this_thread::sleep_for(chrono::milliseconds(5));
-		int available = serialDataAvail(this->fd);
+		#ifndef OS_TESTING
+			int available = serialDataAvail(this->fd);
 
-		if (available > 0)
-		{
-			for (int i = 0; i < available; i++)
+			if (available > 0)
 			{
-				char c = serialGetchar(this->fd);
-				frame += c;
-
-				if (c == this->endl[endl_pos]) ++endl_pos;
-				if (endl_pos == this->endl.length())
+				for (int i = 0; i < available; i++)
 				{
-					frame = frame.substr(0, frame.length()-endl.length());
+					char c = serialGetchar(this->fd);
+					frame += c;
 
-					if (this->is_valid(frame)) this->listener(frame);
-					// TODO decide what to do in case of non valid frame
+					if (c == this->endl[endl_pos]) ++endl_pos;
+					if (endl_pos == this->endl.length())
+					{
+						frame = frame.substr(0, frame.length()-endl.length());
 
-					frame = "";
-					endl_pos = 0;
-					this_thread::sleep_for(chrono::milliseconds(50));
+						if (this->is_valid(frame)) this->listener(frame);
+						// TODO decide what to do in case of non valid frame
+
+						frame = "";
+						endl_pos = 0;
+						this_thread::sleep_for(chrono::milliseconds(50));
+					}
 				}
 			}
-		}
-		else if (available == 0)
-		{
-			this_thread::sleep_for(chrono::milliseconds(25));
-		}
-		else if (available < 0)
-		{
-			// TODO log error
-		}
+			else if (available == 0)
+			{
+				this_thread::sleep_for(chrono::milliseconds(25));
+			}
+			else if (available < 0)
+			{
+				// TODO log error
+			}
+		#endif
 	}
+	this->stopped = true;
 }
 
 uint_fast8_t Serial::send_frame(string frame)
@@ -84,7 +89,11 @@ uint_fast8_t Serial::send_frame(string frame)
 void Serial::close()
 {
 	this->open = false;
-	serialClose(this->fd);
+	while( ! this->stopped);
+
+	#ifndef OS_TESTING
+		serialClose(this->fd);
+	#endif
 }
 
 bool Serial::is_valid(string frame)

serial/Serial.hpp

@@ -4,6 +4,7 @@
 	#include <functional>
 	#include <cstdint>
 	#include <string>
+	#include <atomic>
 	using namespace std;
 
 	namespace os {
@@ -12,18 +13,20 @@
 		private:
 			int fd;
 			function<uint_fast8_t(const string&)> listener;
-			bool open;
+			atomic_bool open;
+			atomic_bool stopped;
 			string endl;
 
 			void serial_thread();
 		public:
-			Serial(const string& serial_URL, int baud, const string endl, function<uint_fast8_t(const string&)>);
 			Serial() = default;
+			Serial(Serial& copy) = delete;
 			~Serial();
 
 			uint_fast8_t send_frame(string frame);
 			void close();
 			bool is_valid(string frame);
+			void initialize(const string& serial_URL, int baud, const string endl, function<uint_fast8_t(const string&)>);
 		};
 	}
 #endif

temperature/Temperature.cpp

@@ -0,0 +1,69 @@
+#include "Temperature.hpp"
+#include "../constants.hpp"
+#include <wiringPiI2C.h>
+#include <string>
+#include <thread>
+#include <chrono>
+
+using namespace std;
+using namespace os;
+
+Temperature::~Temperature()
+{
+	if (this->reading)
+		this->stop_reading();
+}
+
+Temperature::Temperature(const int address)
+{
+	this->reading = false;
+	this->stopped = true;
+	#ifndef OS_TESTING
+		int fh = wiringPiI2CSetup(address);
+		if (fh != -1)
+		{
+			this->address = address;
+			this->filehandle = fh;
+		}
+		else
+		{
+			// TODO Log error
+			//printf("An error ocurred initializing I2C Temperature module\n");
+		}
+	#endif
+}
+
+void Temperature::start_reading()
+{
+	if ( ! this->reading)
+	{
+		this->reading = true;
+		this->stopped = false;
+		thread t(&Temperature::read_temperature, this);
+		t.detach();
+	}
+}
+
+void Temperature::stop_reading()
+{
+	this->reading = false;
+	while( ! this->stopped);
+}
+
+void Temperature::read_temperature()
+{
+	while (this->reading)
+	{
+		#ifndef OS_TESTING
+			int value = wiringPiI2CRead(this->filehandle);
+		#else
+			int value = 16000;
+		#endif
+
+		float voltage = value * 5 / 32768; // 2^15
+		this->temperature = r_to_c(TEMP_R * (TEMP_VIN / voltage - 1));
+
+		this_thread::sleep_for(chrono::milliseconds(50));
+	}
+	this->stopped = true;
+}

temperature/Temperature.hpp

@@ -0,0 +1,35 @@
+#ifndef TEMPERATURE_H
+	#define TEMPERATURE_H
+
+	#include <atomic>
+	using namespace std;
+
+	namespace os {
+		class Temperature
+		{
+		private:
+			int address;
+			int filehandle;
+			float temperature;
+			atomic_bool reading;
+			atomic_bool stopped;
+
+			void read_temperature();
+		public:
+			Temperature(const int address);
+			~Temperature();
+			Temperature(Temperature& copy) = delete;
+
+			int get_temperature() {return this->temperature;}
+			void start_reading();
+			void stop_reading();
+			bool is_reading() {return this->reading;}
+		};
+	}
+
+	inline float r_to_c(float r)
+	{
+		float value = r - 1000;
+		return (value / 3.91 + value * value / 100000);
+	}
+#endif

testing/gps_test.cpp

@@ -1,5 +1,9 @@
 describe("GPS", [](){
 
+	before_each([&](){
+		GPS::get_instance().initialize("");
+	});
+
 	it("Knots to m/s conversion test", [&](){
 		AssertThat(kt_to_mps(150), Is().EqualToWithDelta(77.1666667, 0.005));
 		AssertThat(kt_to_mps(75), Is().EqualToWithDelta(38.58333, 0.005));