Add load cell

src/IO/ArduinoProxy.cpp

@@ -126,6 +126,13 @@ void ArduinoProxy::handleArduinoMessage(const RocketryProto::ArduinoOut &arduino
             dcMotorState.maxlimitswitch(), std::chrono::steady_clock::now()};
     }
     break;
+    case RocketryProto::ArduinoOut::kLoadCellState: {
+        std::lock_guard<std::mutex> lockGuard(stateMutex);
+
+        const auto &state = arduinoOut.loadcellstate();
+        loadCellState = {state.value(), std::chrono::steady_clock::now()};
+    }
+    break;
     case RocketryProto::ArduinoOut::DATA_NOT_SET:
         SPDLOG_LOGGER_WARN(logger, "Data field not set in Arduino message. ");
         break;
@@ -211,4 +218,23 @@ DCMotorState ArduinoProxy::getDCMotorState(int forwardPin, int reversePin)
     }
 }
 
+uint32_t ArduinoProxy::getLoadCellState()
+{
+    std::lock_guard<std::mutex> lockGuard(stateMutex);
+
+    auto state = loadCellState;
+    auto now = std::chrono::steady_clock::now();
+
+    if (now - state.second >= pinStateTimeout)
+    {
+        loadCellState = {-1, std::chrono::steady_clock::now()};
+        SPDLOG_ERROR("Arduino stopped reporting load cell state");
+        return -1;
+    }
+    else
+    {
+        return state.first;
+    }
+}
+
 #endif

src/IO/ArduinoProxy.h

@@ -25,6 +25,7 @@ class ArduinoProxy : IO
     bool getDigitalState(int pin);
     int getServoState(int pin);
     DCMotorState getDCMotorState(int forwardPin, int reversePin);
+    uint32_t getLoadCellState();
 
     ArduinoProxy(ArduinoProxy const &) = delete;
     void operator=(ArduinoProxy const &) = delete;
@@ -33,6 +34,7 @@ class ArduinoProxy : IO
     std::map<unsigned int, std::pair<bool, std::chrono::time_point<std::chrono::steady_clock>>> digitalStates;
     std::map<unsigned int, std::pair<int, std::chrono::time_point<std::chrono::steady_clock>>> servoStates;
     std::map<std::pair<unsigned int, unsigned int>, DCMotorState> dcMotorStates;
+    std::pair<uint32_t, std::chrono::time_point<std::chrono::steady_clock>> loadCellState;
     std::mutex stateMutex;
 
     int fd = 0;

src/IO/SensorLogger.cpp

@@ -334,6 +334,9 @@ void SensorLogger::writeData(std::ofstream &fileStream, const StateData &current
     {
         fileStream << output.second << sep;
     }
+
+
+    fileStream << currentState.gpioState.loadCellState << sep;
 #endif
 
 #if USE_SBG == 1

src/IO/gpio/Gpio.cpp

@@ -92,6 +92,8 @@ GpioState Gpio::getCurrentState()
         state.dcMotorStateMap.insert({i.first, i.second.getCurrentState()});
     }
 
+    state.loadCellState = loadCell.getCurrentState();
+
     return state;
 }
 

src/IO/gpio/Gpio.h

@@ -7,6 +7,7 @@
 #include "IO/gpio/DCMotor.h"
 #include "IO/gpio/DigitalOutput.h"
 #include "IO/gpio/PwmOutput.h"
+#include "IO/gpio/LoadCell.h"
 #include "data/GpioData.h"
 #include <condition_variable>
 #include <fstream>
@@ -44,6 +45,7 @@ class Gpio : public IO
     std::map<std::string, DigitalOutput> digitalOutputsMap;
     std::map<std::string, PwmOutput> pwmOutputsMap;
     std::map<std::string, DCMotorOutput> dcMotorOutputsMap;
+    LoadCell loadCell;
 
     struct InitFlags
     {

src/IO/gpio/LoadCell.cpp

@@ -0,0 +1,48 @@
+#include "config.h"
+
+#if USE_GPIO == 1
+
+#include "LoadCell.h"
+#include <iostream>
+#include <spdlog/spdlog.h>
+#include <utility>
+#include <wiringSerial.h>
+
+LoadCell::LoadCell()
+{
+    createThread = false;
+    logger = spdlog::default_logger();
+
+    SPDLOG_LOGGER_DEBUG(logger, "Created LoadCell");
+
+#if USE_ARDUINO_PROXY == 1
+    arduinoProxy = ArduinoProxy::getInstance();
+#endif
+}
+
+uint32_t LoadCell::getCurrentState()
+{
+#if USE_ARDUINO_PROXY == 1
+    try
+    {
+        return arduinoProxy->getLoadCellState();
+    }
+    catch (std::out_of_range &error)
+    {
+        return -1;
+    }
+#else
+    return -1;
+#endif
+}
+
+void LoadCell::run()
+{
+}
+
+bool LoadCell::isInitialized()
+{
+    return true;
+}
+
+#endif

src/IO/gpio/LoadCell.h

@@ -0,0 +1,34 @@
+#pragma once
+
+#include "config.h"
+
+#if USE_GPIO == 1
+
+#include "Output.h"
+#include "arduino/DCMotorState.h"
+
+#if USE_ARDUINO_PROXY
+#include "IO/ArduinoProxy.h"
+#endif
+
+#include <spdlog/logger.h>
+#include <string>
+
+class LoadCell : public IO
+{
+  public:
+    LoadCell();
+
+    uint32_t getCurrentState();
+    void run() override;
+    bool isInitialized() override;
+
+  private:
+    std::shared_ptr<spdlog::logger> logger;
+
+#if USE_ARDUINO_PROXY == 1
+    ArduinoProxy *arduinoProxy;
+#endif
+};
+
+#endif

src/data/GpioData.h

@@ -16,4 +16,5 @@ struct GpioState
     std::map<std::string, int> digitalStateMap;
     std::map<std::string, int> pwmStateMap;
     std::map<std::string, DCMotorState> dcMotorStateMap;
+    uint32_t loadCellState;
 };

src/data/StateData.cpp

@@ -126,6 +126,9 @@ std::string StateData::convertToReducedString() const
         data += std::to_string(output.second.maxLimitSwitch);
         data += ",";
     }
+
+    data += std::to_string(gpioState.loadCellState);
+    data += ",";
 #endif
 
 #if USE_SENSOR_SUITE == 1