Merge pull request #20 from uorocketry/messages-improvements

Add support for Typescript bindings and update SBG fields

.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "cmake.configureOnOpen": false,
+    "cSpell.words": [
+        "UART"
+    ],
+    "cortex-debug.variableUseNaturalFormat": true,
+    "cmake.sourceDirectory": "${workspaceFolder}/libraries/sbg-rs/sbgECom"
+}

boards/main/src/main.rs

@@ -157,10 +157,23 @@ mod app {
     fn sensor_send(cx: sensor_send::Context) {
         cx.shared.em.run(|| {
             let sbg = Sbg {
-                accel: 9.8,
-                speed: 0.0,
-                pressure: 100.1,
-                height: 200.4,
+                accel_x: 0.0,
+                accel_y: 0.0,
+                accel_z: 0.0,
+                velocity_n: 0.0,
+                velocity_e: 0.0,
+                velocity_d: 0.0,
+                pressure: 0.0,
+                height: 0.0,
+                roll: 0.0,
+                yaw: 0.0,
+                pitch: 0.0,
+                latitude: 0.0,
+                longitude: 0.0,
+                quant_w: 0.0,
+                quant_x: 0.0,
+                quant_y: 0.0,
+                quant_z: 0.0,
             };
 
             let message = Message::new(&monotonics::now(), MainBoard, Sensor::new(9, sbg));

libraries/messages/.gitignore

@@ -0,0 +1 @@
+bindings/

libraries/messages/Cargo.toml

@@ -9,4 +9,9 @@ edition = "2021"
 derive_more = "0.99.17"
 serde = { workspace = true }
 defmt = "0.3.2"
-fugit = "0.3.6"
+fugit = "0.3.6"
+ts-rs = { version = "6.2.1", optional = true }
+
+[features]
+std = []
+ts = ["std", "dep:ts-rs"]

libraries/messages/src/lib.rs

@@ -1,4 +1,4 @@
-#![no_std]
+#![cfg_attr(not(feature = "std"), no_std)]
 
 //! # HYDRA Messages
 //!
@@ -12,12 +12,17 @@ use derive_more::From;
 use fugit::Instant;
 use serde::{Deserialize, Serialize};
 
+#[cfg(feature = "ts")]
+use ts_rs::TS;
+
 pub mod sender;
 pub mod sensor;
 
 /// Topmost message. Encloses all the other possible messages, and is the only thing that should
 /// be sent over the wire.
 #[derive(Serialize, Deserialize, Clone, Debug, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub struct Message {
     /// Time in milliseconds since epoch. Note that the epoch here can be arbitrary and is not the
     /// Unix epoch.
@@ -31,20 +36,26 @@ pub struct Message {
 }
 
 #[derive(Serialize, Deserialize, Clone, Debug, From, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 #[serde(rename_all = "lowercase")]
 pub enum Data {
     State(State),
     Sensor(Sensor),
 }
 
 #[derive(Serialize, Deserialize, Clone, Debug, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub enum Status {
     Uninitialized,
     Initializing,
     Running,
 }
 
 #[derive(Serialize, Deserialize, Clone, Debug, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub struct State {
     pub status: Status,
     pub has_error: bool,

libraries/messages/src/sender.rs

@@ -1,7 +1,12 @@
 use defmt::Format;
 use serde::{Deserialize, Serialize};
 
+#[cfg(feature = "ts")]
+use ts_rs::TS;
+
 #[derive(Serialize, Deserialize, Clone, Debug, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub enum Sender {
     GroundStation,
     MainBoard,

libraries/messages/src/sensor.rs

@@ -2,23 +2,45 @@ use defmt::Format;
 use derive_more::From;
 use serde::{Deserialize, Serialize};
 
+#[cfg(feature = "ts")]
+use ts_rs::TS;
+
 #[derive(Serialize, Deserialize, Clone, Debug, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub struct Sensor {
     pub component_id: u8,
     pub data: SensorData,
 }
 
 #[derive(Serialize, Deserialize, Clone, Debug, From, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub enum SensorData {
     Sbg(Sbg),
 }
 
 #[derive(Serialize, Deserialize, Clone, Debug, Format)]
+#[cfg_attr(feature = "ts", derive(TS))]
+#[cfg_attr(feature = "ts", ts(export))]
 pub struct Sbg {
-    pub accel: f32,
-    pub speed: f32,
+    pub accel_x: f32,
+    pub accel_y: f32,
+    pub accel_z: f32,
+    pub velocity_n: f32,
+    pub velocity_e: f32,
+    pub velocity_d: f32,
     pub pressure: f32,
-    pub height: f32,
+    pub height: f64,
+    pub roll: f32,
+    pub yaw: f32,
+    pub pitch: f32,
+    pub latitude: f64,
+    pub longitude: f64,
+    pub quant_w: f32,
+    pub quant_x: f32,
+    pub quant_y: f32,
+    pub quant_z: f32,
 }
 
 impl Sensor {