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Add Tag ID and Radius to Autonomy Waypoint Packets #52

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merged 6 commits into from
Jan 6, 2025
Merged

Add Tag ID and Radius to Autonomy Waypoint Packets #52

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cad27d0
Fix potential segfault for certain packets.
ClayJay3 Dec 27, 2024
83a20e9
Update Autonomy waypoint packet structure in manifest.
ClayJay3 Jan 5, 2025
df13685
Update manifest commit.
ClayJay3 Jan 5, 2025
00e795b
Update manifest.
ClayJay3 Jan 6, 2025
a089d53
Update submodule commit.
ClayJay3 Jan 6, 2025
4962cff
Merge remote-tracking branch 'origin/development' into topic/autonomy…
ClayJay3 Jan 6, 2025
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2 changes: 1 addition & 1 deletion data/RoveComm
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Submodule RoveComm updated 2 files
+2 −2 README.md
+2 −2 manifest.json
47 changes: 24 additions & 23 deletions src/RoveComm/RoveCommManifest.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
*
* @file RoveCommManifest.h
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
*
* @copyright Copyright Mars Rover Design Team 2024 - All Rights Reserved
* @copyright Copyright Mars Rover Design Team 2025 - All Rights Reserved
******************************************************************************/

#ifndef MANIFEST_H
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
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 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace Arm
{
Expand Down Expand Up @@ -294,7 +294,7 @@ namespace manifest
* @brief ScienceActuation Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace ScienceActuation
{
Expand Down Expand Up @@ -337,7 +337,7 @@ namespace manifest
* @brief Autonomy Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace Autonomy
{
Expand All @@ -349,8 +349,9 @@ namespace manifest
{"STARTAUTONOMY", ManifestEntry{11000, 1, DataTypes::UINT8_T}},
{"DISABLEAUTONOMY", ManifestEntry{11001, 1, DataTypes::UINT8_T}},
{"ADDPOSITIONLEG", ManifestEntry{11002, 2, DataTypes::DOUBLE_T}},
{"ADDMARKERLEG", ManifestEntry{11003, 2, DataTypes::DOUBLE_T}},
{"ADDOBJECTLEG", ManifestEntry{11004, 2, DataTypes::DOUBLE_T}},
{"ADDMARKERLEG", ManifestEntry{11003, 4, DataTypes::DOUBLE_T}},
{"ADDOBJECTLEG", ManifestEntry{11004, 3, DataTypes::DOUBLE_T}},
{"ADDOBSTACLE", ManifestEntry{11008, 3, DataTypes::DOUBLE_T}},
{"CLEARWAYPOINTS", ManifestEntry{11005, 1, DataTypes::UINT8_T}},
{"SETMAXSPEED", ManifestEntry{11006, 1, DataTypes::FLOAT_T}},
{"SETLOGGINGLEVELS", ManifestEntry{11007, 3, DataTypes::UINT8_T}},
Expand Down Expand Up @@ -401,7 +402,7 @@ namespace manifest
* @brief Camera1 Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace Camera1
{
Expand Down Expand Up @@ -432,7 +433,7 @@ namespace manifest
* @brief Camera2 Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace Camera2
{
Expand All @@ -458,7 +459,7 @@ namespace manifest
* @brief CameraServer Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace CameraServer
{
Expand Down Expand Up @@ -495,7 +496,7 @@ namespace manifest
* @brief IRSpectrometer Board IP Address, Commands, Telemetry, and Error
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace IRSpectrometer
{
Expand All @@ -514,7 +515,7 @@ namespace manifest
* @brief Instruments Board IP Address, Commands, Telemetry, and Error Packet
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace Instruments
{
Expand Down Expand Up @@ -548,7 +549,7 @@ namespace manifest
* @brief RoveComm General Information
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace General
{
Expand All @@ -563,7 +564,7 @@ namespace manifest
* @brief RoveComm System Information
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace System
{
Expand All @@ -579,7 +580,7 @@ namespace manifest
* @brief RoveComm Helper Functions
*
* @author Missouri S&T - Mars Rover Design Team
* @date 2024-11-14
* @date 2025-01-06
******************************************************************************/
namespace Helpers
{
Expand Down
10 changes: 7 additions & 3 deletions src/RoveComm/RoveCommPacket.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,9 +70,13 @@ namespace rovecomm
// INT8_T, UINT8_T, CHAR
if constexpr (sizeof(T) == sizeof(uint8_t))
{
// No need to convert to network order.
memcpy(pDataPtr, &pPacketData[unInter], sizeof(uint8_t));
pDataPtr += sizeof(uint8_t);
// Check if unIter is within the bounds of the packet data.
if (unInter < stPacket.vData.size())
{
// No need to convert to network order.
memcpy(pDataPtr, &pPacketData[unInter], sizeof(uint8_t));
pDataPtr += sizeof(uint8_t);
}
}
// INT16_T, UINT16_T
else if constexpr (sizeof(T) == sizeof(uint16_t))
Expand Down
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