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@hhenry01
hhenry01 committed Oct 19, 2023
1 parent fc0bca2 commit 610cf62
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Showing 5 changed files with 78 additions and 89 deletions.
26 changes: 15 additions & 11 deletions lib/cmn_hdrs/shared_constants.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,26 +3,30 @@
constexpr unsigned int MAX_LOCAL_TO_REMOTE_PAYLOAD_SIZE_BYTES = 270;
constexpr unsigned int MAX_REMOTE_TO_LOCAL_PAYLOAD_SIZE_BYTES = 340;

constexpr int NUM_BATTERIES = 2;
constexpr int NUM_WIND_SENSORS = 2;

/****** Upper and lower bounds ******/
// latitude and longitude

/***** Bounds for Latitude and Longitude ******/
constexpr float LAT_LBND = -90.0;
constexpr float LAT_UBND = 90.0;
constexpr float LON_LBND = -180.0;
constexpr float LON_UBND = 180.0;
// boat speed
constexpr float SPEED_LBND = -10.0; // arbitrary number
constexpr float SPEED_UBND = 10.0; //arbitrary number
// boat heading
constexpr float HEADING_LBND = 0.0;
constexpr float HEADING_UBND = 360.0;

/***** Bounds for Speed ******/
constexpr float SPEED_LBND = -10.0; // Placeholder number
constexpr float SPEED_UBND = 10.0; // Placeholder number

/***** Bounds for Heading ******/
constexpr float HEADING_LBND = 0.0;
constexpr float HEADING_UBND = 360.0;

/***** Bounds for Battery ******/
constexpr float VOLT_LBND = 0.5; // arbitrary number
constexpr float VOLT_UBND = 250.0; // arbitrary number
constexpr float CURRENT_LBND = -200.0; // arbitrary number - confirm? :)
constexpr float CURRENT_UBND = 200.0; // arbitrary number - confirm? :)
constexpr float VOLT_LBND = 0.5; // Placeholder number
constexpr float VOLT_UBND = 250.0; // Placeholder number
constexpr float CURRENT_LBND = -200.0; // Placeholder number
constexpr float CURRENT_UBND = 200.0; // Placeholder number

/***** Bounds for Wind Sensor ******/
constexpr int DIRECTION_LBND = -180;
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4 changes: 2 additions & 2 deletions lib/protofiles/sensors.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@ message Sensors

message Wind
{
float speed = 1;
int32 direction = 2;
float speed = 1;
int32 direction = 2;
}

message Battery
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18 changes: 17 additions & 1 deletion projects/remote_transceiver/inc/sailbot_db.h
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Expand Up @@ -81,8 +81,24 @@ class SailbotDB
*/
bool storeAis(const ProtoList<Polaris::Sensors::Ais> & ais_ships_pb);

/**
* @brief Adds a generic sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool storeGenericSensor(const ProtoList<Polaris::Sensors::Generic> & generic_pb);

/**
* @brief Adds a battery sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool storeBatteries(const ProtoList<Polaris::Sensors::Battery> & battery_pb);
bool storeWindSensor(const ProtoList<Polaris::Sensors::Wind> & wind_pb);

/**
* @brief Adds a wind sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool storeWindSensor(const ProtoList<Polaris::Sensors::Wind> & wind_pb);
};
44 changes: 9 additions & 35 deletions projects/remote_transceiver/src/sailbot_db.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,21 +42,15 @@ bool SailbotDB::testConnection()

bool SailbotDB::storeSensors(const Sensors & sensors_pb)
{
return storeGps(sensors_pb.gps()) && storeAis(sensors_pb.ais_ships())
&& storeGenericSensor(sensors_pb.data_sensors()) && storeBatteries(sensors_pb.batteries())
&& storeWindSensor(sensors_pb.wind_sensors());
return storeGps(sensors_pb.gps()) && storeAis(sensors_pb.ais_ships()) &&
storeGenericSensor(sensors_pb.data_sensors()) && storeBatteries(sensors_pb.batteries()) &&
storeWindSensor(sensors_pb.wind_sensors());
}

// END PUBLIC

// PRIVATE


/**
* @brief Adds a gps sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool SailbotDB::storeGps(const Sensors::Gps & gps_pb)
{
mongocxx::collection gps_coll = db_[COLLECTION_GPS];
Expand All @@ -66,11 +60,6 @@ bool SailbotDB::storeGps(const Sensors::Gps & gps_pb)
return static_cast<bool>(gps_coll.insert_one(gps_doc.view()));
}

/**
* @brief Adds a ais ship sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool SailbotDB::storeAis(const ProtoList<Sensors::Ais> & ais_ships_pb)
{
mongocxx::collection ais_coll = db_[COLLECTION_AIS_SHIPS];
Expand All @@ -87,11 +76,6 @@ bool SailbotDB::storeAis(const ProtoList<Sensors::Ais> & ais_ships_pb)
return static_cast<bool>(ais_coll.insert_one(ais_ships_doc.view()));
}

/**
* @brief Adds a generic sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool SailbotDB::storeGenericSensor(const ProtoList<Sensors::Generic> & generic_pb)
{
mongocxx::collection generic_coll = db_[COLLECTION_DATA_SENSORS];
Expand All @@ -105,35 +89,25 @@ bool SailbotDB::storeGenericSensor(const ProtoList<Sensors::Generic> & generic_p
return static_cast<bool>(generic_coll.insert_one(generic_doc.view()));
}

/**
* @brief Adds a battery sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool SailbotDB::storeBatteries(const ProtoList<Sensors::Battery> & battery_pb)
{
mongocxx::collection batteries_coll = db_[COLLECTION_BATTERIES];
bstream::document doc_builder{};
auto batteries_doc_arr = doc_builder << "batteries" << bstream::open_array;
for (const Sensors::Battery & battery : battery_pb){
batteries_doc_arr = batteries_doc_arr << bstream::open_document << "voltage" << battery.voltage()
<< "current" << battery.current() << bstream::close_document;
for (const Sensors::Battery & battery : battery_pb) {
batteries_doc_arr = batteries_doc_arr << bstream::open_document << "voltage" << battery.voltage() << "current"
<< battery.current() << bstream::close_document;
}
DocVal batteries_doc = batteries_doc_arr << bstream::close_array << bstream::finalize;
return static_cast<bool>(batteries_coll.insert_one(batteries_doc.view()));
}

/**
* @brief Adds a wind sensor to the database flow
*
* @return True if sensor is added, false otherwise
*/
bool SailbotDB::storeWindSensor(const ProtoList<Sensors::Wind> & wind_pb)
{
mongocxx::collection wind_coll = db_[COLLECTION_WIND_SENSORS];
bstream::document doc_builder{};
auto wind_doc_arr = doc_builder << "wind_sensors" << bstream::open_array;
for (const Sensors::Wind & wind_sensor : wind_pb){
bstream::document doc_builder{};
auto wind_doc_arr = doc_builder << "wind_sensors" << bstream::open_array;
for (const Sensors::Wind & wind_sensor : wind_pb) {
wind_doc_arr = wind_doc_arr << bstream::open_document << "speed" << wind_sensor.speed() << "direction"
<< static_cast<int16_t>(wind_sensor.direction()) << bstream::close_document;
}
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75 changes: 35 additions & 40 deletions projects/remote_transceiver/test/test_remote_transceiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,16 +9,13 @@
#include "sensors.pb.h"
#include "shared_constants.h"

static constexpr int NUM_AIS_SHIPS = 15;
static constexpr int NUM_GENERIC_SENSORS = 5; //arbitrary number
static constexpr int NUM_BATTERIES = 2;
static constexpr int NUM_WIND_SENSORS = 2;
static constexpr auto MONGODB_CONN_STR = "mongodb://localhost:27017";
static constexpr int NUM_AIS_SHIPS = 15; // arbitrary number
static constexpr int NUM_GENERIC_SENSORS = 5; // arbitrary number
static constexpr auto MONGODB_CONN_STR = "mongodb://localhost:27017";

using Polaris::Sensors;


//Child class of SailbotDB that includes additional database utility functions to help testing
//Child class of SailbotDB that includes additional database utility functions to help testing
class TestDB : public SailbotDB
{
public:
Expand All @@ -30,11 +27,11 @@ class TestDB : public SailbotDB
*/
void cleanDB()
{
mongocxx::collection gps_coll = db_[COLLECTION_GPS];
mongocxx::collection ais_coll = db_[COLLECTION_AIS_SHIPS];
mongocxx::collection generic_coll =db_[COLLECTION_DATA_SENSORS];
mongocxx::collection batteries_coll =db_[COLLECTION_BATTERIES];
mongocxx::collection wind_coll =db_[COLLECTION_WIND_SENSORS];
mongocxx::collection gps_coll = db_[COLLECTION_GPS];
mongocxx::collection ais_coll = db_[COLLECTION_AIS_SHIPS];
mongocxx::collection generic_coll = db_[COLLECTION_DATA_SENSORS];
mongocxx::collection batteries_coll = db_[COLLECTION_BATTERIES];
mongocxx::collection wind_coll = db_[COLLECTION_WIND_SENSORS];

gps_coll.delete_many(bsoncxx::builder::basic::make_document());
ais_coll.delete_many(bsoncxx::builder::basic::make_document());
Expand Down Expand Up @@ -80,39 +77,40 @@ class TestDB : public SailbotDB
EXPECT_EQ(sensors.ais_ships().size(), NUM_AIS_SHIPS) << "Size mismatch when reading AIS ships from DB";

// generic sensor
mongocxx::collection generic_coll = db_[COLLECTION_DATA_SENSORS];
mongocxx::collection generic_coll = db_[COLLECTION_DATA_SENSORS];
mongocxx::cursor generic_sensor_doc = generic_coll.find({});
EXPECT_EQ(generic_coll.count_documents({}), 1) << "Error: TestDB should only have one document per collection";
bsoncxx::document::view generic_doc = *(generic_sensor_doc.begin());
for (bsoncxx::array::element generic_doc : generic_doc["data_sensors"].get_array().value){
for (bsoncxx::array::element generic_doc : generic_doc["data_sensors"].get_array().value) {
Sensors::Generic * generic = sensors.add_data_sensors();
generic->set_id(static_cast<uint8_t>(generic_doc["id"].get_int32().value));
generic->set_data(static_cast<uint64_t>(generic_doc["data"].get_int64().value));
}

// battery
mongocxx::collection batteries_coll = db_[COLLECTION_BATTERIES];
mongocxx::collection batteries_coll = db_[COLLECTION_BATTERIES];
mongocxx::cursor batteries_data_doc = batteries_coll.find({});
EXPECT_EQ(batteries_coll.count_documents({}), 1) << "Error: TestDB should only have one document per collection";
EXPECT_EQ(batteries_coll.count_documents({}), 1)
<< "Error: TestDB should only have one document per collection";
bsoncxx::document::view batteries_doc = *(batteries_data_doc.begin());
for (bsoncxx::array::element batteries_doc : batteries_doc["batteries"].get_array().value){
for (bsoncxx::array::element batteries_doc : batteries_doc["batteries"].get_array().value) {
Sensors::Battery * battery = sensors.add_batteries();
battery->set_voltage(static_cast<float>(batteries_doc["voltage"].get_double().value));
battery->set_current(static_cast<float>(batteries_doc["current"].get_double().value));
}
EXPECT_EQ(sensors.batteries().size(), NUM_BATTERIES)<< "Size mismatch when reading batteries from DB";
EXPECT_EQ(sensors.batteries().size(), NUM_BATTERIES) << "Size mismatch when reading batteries from DB";

// wind sensor
mongocxx::collection wind_coll = db_[COLLECTION_WIND_SENSORS];
mongocxx::collection wind_coll = db_[COLLECTION_WIND_SENSORS];
mongocxx::cursor wind_sensors_doc = wind_coll.find({});
EXPECT_EQ(wind_coll.count_documents({}), 1) << "Error: TestDB should only have one document per collection";
bsoncxx::document::view wind_doc = *(wind_sensors_doc.begin());
for (bsoncxx::array::element wind_doc : wind_doc["wind_sensors"].get_array().value){
for (bsoncxx::array::element wind_doc : wind_doc["wind_sensors"].get_array().value) {
Sensors::Wind * wind = sensors.add_wind_sensors();
wind->set_speed(static_cast<float>(wind_doc["speed"].get_double().value));
wind->set_direction(static_cast<int16_t>(wind_doc["direction"].get_int32().value));
}
EXPECT_EQ(sensors.wind_sensors().size(), NUM_WIND_SENSORS)<< "Size mismatch when reading batteries from DB";
EXPECT_EQ(sensors.wind_sensors().size(), NUM_WIND_SENSORS) << "Size mismatch when reading batteries from DB";

return sensors;
// NOLINTEND(clang-analyzer-cplusplus.NewDeleteLeaks)
Expand All @@ -131,7 +129,6 @@ class TestRemoteTransceiver : public ::testing::Test
~TestRemoteTransceiver() override {}
};


/**
* @brief generate random GPS data
*
Expand All @@ -153,10 +150,10 @@ Sensors::Gps * genRandGpsData()
return gps_data;
}

/**
/**
* @brief generate random ais ships data
*
* @return pointer to generated ais data
* @param ais_ship pointer to generated ais data
*/
void genRandAisData(Sensors::Ais * ais_ship)
{
Expand All @@ -176,11 +173,11 @@ void genRandAisData(Sensors::Ais * ais_ship)
/**
* @brief generate random generic sensor data
*
* @return pointer to generated generic sensor data
* @param generic_sensor pointer to generated generic sensor data
*/
void genRandGenericSensorData(Sensors::Generic * generic_sensor)
{
std::uniform_int_distribution<uint8_t> id_generic(0, UINT8_MAX);
std::uniform_int_distribution<uint8_t> id_generic(0, UINT8_MAX);
std::uniform_int_distribution<uint64_t> data_generic(0, UINT64_MAX);

generic_sensor->set_id(id_generic(g_mt));
Expand All @@ -190,7 +187,7 @@ void genRandGenericSensorData(Sensors::Generic * generic_sensor)
/**
* @brief generate random battery data
*
* @return pointer to generated battery data
* @param battery pointer to generated battery data
*/
void genRandBatteriesData(Sensors::Battery * battery)
{
Expand All @@ -204,18 +201,17 @@ void genRandBatteriesData(Sensors::Battery * battery)
/**
* @brief generate random wind sensors data
*
* @return pointer to generated wind sensors data
* @param wind_data pointer to generated wind sensors data
*/
void genRandWindData(Sensors::Wind * wind_data)
{
std::uniform_real_distribution<float> speed_wind(SPEED_LBND, SPEED_UBND);
std::uniform_int_distribution<int> direction_wind(DIRECTION_LBND, DIRECTION_UBND);
std::uniform_int_distribution<int> direction_wind(DIRECTION_LBND, DIRECTION_UBND);

wind_data->set_speed(speed_wind(g_mt));
wind_data->set_direction(direction_wind(g_mt));
}


/**
* @brief Generate random data for all sensors
*
Expand All @@ -236,17 +232,17 @@ Sensors genRandSensors()
}

// generic sensors
for (int i = 0; i < NUM_GENERIC_SENSORS; i++){
for (int i = 0; i < NUM_GENERIC_SENSORS; i++) {
genRandGenericSensorData(sensors.add_data_sensors());
}

// batteries
for (int i = 0; i < NUM_BATTERIES; i++){
for (int i = 0; i < NUM_BATTERIES; i++) {
genRandBatteriesData(sensors.add_batteries());
}

// wind sensors
for (int i = 0; i < NUM_WIND_SENSORS; i++){
for (int i = 0; i < NUM_WIND_SENSORS; i++) {
genRandWindData(sensors.add_wind_sensors());
}

Expand Down Expand Up @@ -290,27 +286,26 @@ TEST_F(TestRemoteTransceiver, TestStoreSensors)
}

// generic sensors
for (int i = 0; i < NUM_GENERIC_SENSORS; i++){
for (int i = 0; i < NUM_GENERIC_SENSORS; i++) {
const Sensors::Generic & dumped_data_sensors = dumped_sensors.data_sensors(i);
const Sensors::Generic & rand_data_sensors = rand_sensors.data_sensors(i);
const Sensors::Generic & rand_data_sensors = rand_sensors.data_sensors(i);
EXPECT_EQ(dumped_data_sensors.id(), rand_data_sensors.id());
EXPECT_EQ(dumped_data_sensors.data(), rand_data_sensors.data());
}

// batteries
for (int i = 0; i < NUM_BATTERIES; i++){
for (int i = 0; i < NUM_BATTERIES; i++) {
const Sensors::Battery & dumped_batteries = dumped_sensors.batteries(i);
const Sensors::Battery & rand_batteries = rand_sensors.batteries(i);
const Sensors::Battery & rand_batteries = rand_sensors.batteries(i);
EXPECT_EQ(dumped_batteries.voltage(), rand_batteries.voltage());
EXPECT_EQ(dumped_batteries.current(), rand_batteries.current());
}

// wind sensors
for (int i = 0; i < NUM_WIND_SENSORS; i++){
for (int i = 0; i < NUM_WIND_SENSORS; i++) {
const Sensors::Wind & dumped_wind_sensors = dumped_sensors.wind_sensors(i);
const Sensors::Wind & rand_wind_sensors = rand_sensors.wind_sensors(i);
const Sensors::Wind & rand_wind_sensors = rand_sensors.wind_sensors(i);
EXPECT_EQ(dumped_wind_sensors.speed(), rand_wind_sensors.speed());
EXPECT_EQ(dumped_wind_sensors.direction(), rand_wind_sensors.direction());
}

}

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