hyp-ed / hyped-2018 Goto Github PK

test comment

• 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()

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);
       ^

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)?

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.