Add common message queue type

.gitignore

@@ -1,57 +1,60 @@
-# Documentation
-/docs/html/
-*.pinfo
-
-# Object files
-*.o
-*.ko
-/obj/
-*.obj
-*.elf
-
-# Linker output
-*.ilk
-*.map
-*.exp
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Libraries
-*.lib
-*.a
-*.la
-*.lo
-
-# Shared objects (inc. Windows DLLs)
-*.dll
-*.so
-*.so.*
-*.dylib
-
-# Executables
-fetcher
-*.exe
-*.out
-*.app
-*.i*86
-*.x86_64
-*.hex
-
-# Debug files
-*.dSYM/
-*.su
-*.idb
-*.pdb
-compile_commands.json
-.cache
-
-# Kernel Module Compile Results
-*.mod*
-*.cmd
-.tmp_versions/
-modules.order
-Module.symvers
-Mkfile.old
-dkms.conf
+# Documentation
+/docs/html/
+*.pinfo
+
+# Object files
+*.o
+*.ko
+/obj/
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+fetcher
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+compile_commands.json
+.cache
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+# Editor files
+*.code-workspace

src/collectors/collectors.h

@@ -29,6 +29,7 @@ typedef struct {
 
 collector_t collector_search(const char *sensor_name);
 
+
 /* Collector threads */
 void *sysclock_collector(void *args);
 void *ms5611_collector(void *args);

src/collectors/lsm6dso32_clctr.c

@@ -1,6 +1,6 @@
 #include "../drivers/lsm6dso32/lsm6dso32.h"
+#include "../drivers/sensor_api.h"
 #include "collectors.h"
-#include "sensor_api.h"
 #include <stdio.h>
 
 #define return_err(err) return (void *)((uint64_t)errno)
@@ -70,7 +70,7 @@ void *lsm6dso32_collector(void *args) {
         return_err(err);
     }
 
-    uint8_t data[sizeof(vec3d_t) + 1];
+    common_t msg;
     int16_t temperature;
     int16_t x;
     int16_t y;
@@ -83,9 +83,9 @@ void *lsm6dso32_collector(void *args) {
         if (err != EOK) {
             fprintf(stderr, "LSM6DSO32 could not read temperature: %s\n", strerror(errno));
         } else {
-            data[0] = TAG_TEMPERATURE;
-            *((float *)(data + 1)) = (float)temperature;
-            if (mq_send(sensor_q, (char *)data, sizeof(data), 0) == -1) {
+            msg.type = TAG_TEMPERATURE;
+            msg.data.FLOAT = (float)temperature;
+            if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "LSM6DSO32 couldn't send message: %s\n", strerror(errno));
             }
         }
@@ -96,9 +96,9 @@ void *lsm6dso32_collector(void *args) {
             fprintf(stderr, "LSM6DSO32 could not read linear acceleration: %s\n", strerror(errno));
         } else {
             lsm6dso32_convert_accel(LA_FS_32G, &x, &y, &z);
-            data[0] = TAG_LINEAR_ACCEL_REL;
-            *((vec3d_t *)(data + 1)) = (vec3d_t){.x = x, .y = y, .z = z};
-            if (mq_send(sensor_q, (char *)data, sizeof(data), 0) == -1) {
+            msg.type = TAG_LINEAR_ACCEL_REL;
+            msg.data.VEC3D = (vec3d_t){.x = x, .y = y, .z = z};
+            if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "LSM6DSO32 couldn't send message: %s\n", strerror(errno));
             }
         }
@@ -110,9 +110,9 @@ void *lsm6dso32_collector(void *args) {
             fprintf(stderr, "LSM6DSO32 could not read angular velocity: %s\n", strerror(errno));
         } else {
             lsm6dso32_convert_angular_vel(G_FS_500, &x, &y, &z);
-            data[0] = TAG_ANGULAR_VEL;
-            *((vec3d_t *)(data + 1)) = (vec3d_t){.x = x, .y = y, .z = z};
-            if (mq_send(sensor_q, (char *)data, sizeof(data), 0) == -1) {
+            msg.type = TAG_ANGULAR_VEL;
+            msg.data.VEC3D = (vec3d_t){.x = x, .y = y, .z = z};
+            if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "LSM6DSO32 couldn't send message: %s\n", strerror(errno));
             }
         }

src/collectors/m10spg_clctr.c

@@ -8,18 +8,6 @@ union read_buffer {
     UBXNavStatusPayload stat;
 };
 
-/** Type for sending measurements over the message queue. */
-typedef struct {
-    uint8_t type; /**< Measurement type */
-    union {
-        uint32_t U32;  /**< The message payload, interpreted as a uin32_t */
-        int32_t I32;   /**< The message payload, interpreted as a int32_t */
-        uint8_t U8;    /**< The message payload, interpreted as a uint8_t */
-        vec2d_t VEC2D; /**< The message payload, interpreted as a vec2d_t */
-        float FLOAT;   /**< The message payload, interpreted as a float */
-    };
-} __attribute__((packed)) message_t;
-
 void *m10spg_collector(void *args) {
 
     /* Open message queue. */
@@ -43,7 +31,7 @@ void *m10spg_collector(void *args) {
     for (;;) {
         // TODO - Don't read if the next epoch hasn't happened
         union read_buffer buf;
-        message_t msg;
+        common_t msg;
         /* err = m10spg_send_command(&loc, UBX_NAV_STAT, &buf, sizeof(UBXNavStatusPayload)); */
         /* // Check if we have a valid fix, no point logging bad data */
         /* if (err == EOK) { */
@@ -70,14 +58,14 @@ void *m10spg_collector(void *args) {
         err = m10spg_send_command(&loc, UBX_NAV_POSLLH, &buf, sizeof(UBXNavPositionPayload));
         if (err == EOK) {
             msg.type = TAG_COORDS;
-            msg.VEC2D.x = ((float)buf.pos.lat / LAT_SCALE_TO_DEGREES);
-            msg.VEC2D.y = ((float)buf.pos.lon / LON_SCALE_TO_DEGREES);
+            msg.data.VEC2D.x = ((float)buf.pos.lat / LAT_SCALE_TO_DEGREES);
+            msg.data.VEC2D.y = ((float)buf.pos.lon / LON_SCALE_TO_DEGREES);
 
             if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "M10SPG couldn't send message: %s.\n", strerror(errno));
             }
             msg.type = TAG_ALTITUDE_SEA;
-            msg.FLOAT = ((float)buf.pos.hMSL / ALT_SCALE_TO_METERS);
+            msg.data.FLOAT = ((float)buf.pos.hMSL / ALT_SCALE_TO_METERS);
             if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "M10SPG couldn't send message: %s.\n", strerror(errno));
             }

src/collectors/ms5611_clctr.c

@@ -1,16 +1,10 @@
 #include "../drivers/ms5611/ms5611.h"
+#include "../drivers/sensor_api.h"
 #include "collectors.h"
-#include "sensor_api.h"
 #include <stdio.h>
 
 #define return_errno(err) return (void *)((uint64_t)err)
 
-/** Type for easily sending measurements over the message queue. */
-struct ms5611_message {
-    uint8_t type; /**< Measurement type (temperature, pressure or altitude) */
-    float data;   /**< Measurement data (temperature, pressure or altitude) */
-} __attribute__((packed));
-
 /**
  * Collector thread for the MS5611 sensor.
  * @param args Arguments in the form of `collector_args_t`
@@ -56,7 +50,7 @@ void *ms5611_collector(void *args) {
     }
 
     // Data storage
-    struct ms5611_message measurement;
+    common_t msg;
     double pressure;
     double altitude;
     double temperature;
@@ -73,23 +67,23 @@ void *ms5611_collector(void *args) {
         }
 
         // Transmit temperature
-        measurement.type = TAG_TEMPERATURE;
-        measurement.data = (float)temperature;
-        if (mq_send(sensor_q, (char *)&measurement, sizeof(measurement), 0) == -1) {
+        msg.type = TAG_TEMPERATURE;
+        msg.data.FLOAT = (float)temperature;
+        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
             fprintf(stderr, "MS5611 couldn't send message: %s.\n", strerror(errno));
         }
 
         // Transmit pressure
-        measurement.type = TAG_PRESSURE;
-        measurement.data = (float)pressure;
-        if (mq_send(sensor_q, (char *)&measurement, sizeof(measurement), 0) == -1) {
+        msg.type = TAG_PRESSURE;
+        msg.data.FLOAT = (float)pressure;
+        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
             fprintf(stderr, "MS5611 couldn't send message: %s.\n", strerror(errno));
         }
 
         // Transmit altitude
-        measurement.type = TAG_ALTITUDE_REL;
-        measurement.data = (float)altitude;
-        if (mq_send(sensor_q, (char *)&measurement, sizeof(measurement), 0) == -1) {
+        msg.type = TAG_ALTITUDE_REL;
+        msg.data.FLOAT = (float)altitude;
+        if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
             fprintf(stderr, "MS5611 couldn't send message: %s.\n", strerror(errno));
         }
     }

src/collectors/sht41_clctr.c

@@ -1,15 +1,9 @@
 #include <stdint.h>
 #include <stdio.h>
 #define SHT41_USE_CRC_LOOKUP
+#include "../drivers/sensor_api.h"
 #include "../drivers/sht41/sht41.h"
 #include "collectors.h"
-#include "sensor_api.h"
-
-/** Type to simplify sending measurements. */
-struct sht41_msg_t {
-    uint8_t type; /**< The measurement type (temperature, humidity). */
-    float data;   /**< The measurement data. */
-} __attribute__((packed));
 
 /** Macro to cast `errno_t` to void pointer before returning. */
 #define return_errno(err) return (void *)((uint64_t)err)
@@ -45,7 +39,7 @@ void *sht41_collector(void *args) {
     // Data storage
     float temperature;
     float humidity;
-    struct sht41_msg_t msg;
+    common_t msg;
 
     for (;;) {
 
@@ -54,14 +48,14 @@ void *sht41_collector(void *args) {
 
         // Send temperature
         msg.type = TAG_TEMPERATURE;
-        msg.data = temperature;
+        msg.data.FLOAT = temperature;
         if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
             fprintf(stderr, "SHT41 couldn't send message: %s\n", strerror(errno));
         }
 
         // Send humidity
         msg.type = TAG_HUMIDITY;
-        msg.data = humidity;
+        msg.data.FLOAT = humidity;
         if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
             fprintf(stderr, "SHT41 couldn't send message: %s\n", strerror(errno));
         }

src/collectors/sysclock_clctr.c

@@ -1,15 +1,9 @@
+#include "../drivers/sensor_api.h"
 #include "collectors.h"
-#include "sensor_api.h"
 #include <stdio.h>
 #include <sys/time.h>
 #include <time.h>
 
-/** Type to simplify sending time data. */
-struct sysclock_msg_t {
-    uint8_t type;    /**< The type of message (always time). */
-    uint32_t millis; /**< The number of milliseconds since launch. */
-} __attribute__((packed));
-
 /**
  * Collector thread for the system clock.
  * @param args Arguments in the form of `collector_args_t`
@@ -34,7 +28,7 @@ void *sysclock_collector(void *args) {
     struct timeval tval;
 
     // Infinitely check the time
-    struct sysclock_msg_t msg;
+    common_t msg;
     msg.type = TAG_TIME;
     for (;;) {
 
@@ -43,7 +37,7 @@ void *sysclock_collector(void *args) {
 
         // Calculate elapsed time from launch
         time_t elapsed_s = tval.tv_sec - start_unix_time;
-        msg.millis = (elapsed_s * 1000) + (tval.tv_usec / 1000);
+        msg.data.U32 = (elapsed_s * 1000) + (tval.tv_usec / 1000);
 
         // Infinitely send the time
         if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {

src/drivers/sensor_api.h

@@ -59,6 +59,22 @@ typedef enum {
     TYPE_VEC2D, /**< vec2d_t */
 } SensorTagDType;
 
+/** Describes a message that can be sent on a message queue and recognized by both fetcher and packager */
+typedef struct {
+    uint8_t type; /**< Measurement type */
+    union {
+        float FLOAT;
+        uint32_t U32;
+        uint16_t U16;
+        uint8_t U8;
+        int32_t I32;
+        int16_t I16;
+        int8_t I8;
+        vec3d_t VEC3D;
+        vec2d_t VEC2D;
+    } data; /**< The way the contents of this struct should be interpreted */
+} common_t;
+
 /** Stores information about each tag. */
 typedef struct {
     /** The name of the data the tag is associated with. */