hyp-ed / hyped-2018 Goto Github PK

State machine should not access anything other than module_status in kIdle state (until all the modules indicate they have been initialised). For example here it accesses nav data as well as comms run_length.

More generally, it might be a good idea to restructure the code so that the checks performed depend on current state since many checks are irrelevant in many states.

We need to specify the compilation flag for C++ standard in the Makefile. Currently we need at least C++11 (for the data exchange class).

Should we add some other flags as well (e.g. -Wall, -O3)?

• Communication module does not initialise Communications.run_length in the shared data structure
  note, units should be the same as for Navigation.distance
• State module uses the uninitialised value of Communications.run_length
  add check the data has been initialised
  add code getting new updated data

test:
start up the system, it should not go straight to FailureStopped due to checkNavigation()

test comment

Someone please fix these compiler warnings:

src/utils/io/i2c.cpp: In member function ‘void hyped::utils::io::I2C::read(uint32_t, uint8_t*, uint16_t)’:
src/utils/io/i2c.cpp:94:7: warning: unused variable ‘ret’ [-Wunused-variable]
   int ret = i2c::readHelper(fd_, rx, len);
       ^

src/utils/io/i2c.cpp: In member function ‘void hyped::utils::io::I2C::write(uint32_t, uint8_t*, uint16_t)’:
src/utils/io/i2c.cpp:106:7: warning: unused variable ‘ret’ [-Wunused-variable]
   int ret = i2c::writeHelper(fd_, tx, len);
       ^