[CPP-154]Fusion Engine Status Bar for Advanced->INS tab. (#71)

* Fusion Engine Status WIP.

* Fusion Engine Status.

* Switching to atomicbool.

* working on it.

* Switch to channels.

* Switch to svg icons.

* Respond to review requests.

Author: john-michaelburke

Cargo.lock

@@ -32,6 +32,7 @@ serde_yaml = "0.8.17"
 clap = "3.0.0-beta.2"
 indexmap = { version = "1.6.2", features = ["serde"] }
 serde_json = { version = "1" }
+crossbeam = "0.8.1"
 
 [target.'cfg(any(target_os = "macos", target_os = "windows"))'.dependencies]
 serialport = "4.0.1"

console_backend/Cargo.toml

@@ -2,12 +2,13 @@ use log::error;
 use sbp::messages::imu::{MsgImuAux, MsgImuRaw};
 
 use capnp::message::Builder;
-use capnp::serialize;
 
 use crate::console_backend_capnp as m;
 use crate::constants::*;
-use crate::errors::{CAP_N_PROTO_SERIALIZATION_FAILURE, GET_MUT_OBJECT_FAILURE};
+use crate::errors::GET_MUT_OBJECT_FAILURE;
+use crate::fusion_status_flags::FusionStatusFlags;
 use crate::types::{Deque, MessageSender, SharedState};
+use crate::utils::serialize_capnproto_builder;
 
 /// AdvancedInsTab struct.
 ///
@@ -29,6 +30,7 @@ use crate::types::{Deque, MessageSender, SharedState};
 #[derive(Debug)]
 pub struct AdvancedInsTab<S: MessageSender> {
     client_sender: S,
+    pub fusion_engine_status_bar: FusionStatusFlags<S>,
     imu_conf: u8,
     imu_temp: f64,
     rms_acc_x: f64,
@@ -48,6 +50,10 @@ impl<S: MessageSender> AdvancedInsTab<S> {
         let acc_fill_val = Some(0_f64);
         let gyro_fill_val = Some(0_f64);
         AdvancedInsTab {
+            fusion_engine_status_bar: FusionStatusFlags::new(
+                shared_state.clone(),
+                client_sender.clone(),
+            ),
             client_sender,
             imu_conf: 0_u8,
             imu_temp: 0_f64,
@@ -169,10 +175,8 @@ impl<S: MessageSender> AdvancedInsTab<S> {
             fields_data_status.set(i as u32, *datur);
         }
 
-        let mut msg_bytes: Vec<u8> = vec![];
-        serialize::write_message(&mut msg_bytes, &builder)
-            .expect(CAP_N_PROTO_SERIALIZATION_FAILURE);
-        self.client_sender.send_data(msg_bytes);
+        self.client_sender
+            .send_data(serialize_capnproto_builder(builder));
     }
 }
 

console_backend/src/advanced_ins_tab.rs

@@ -42,6 +42,16 @@ pub enum Tabs {
     ADVANCED_SPECTRUM_ANALYZER,
 }
 
+#[derive(Clone, Debug, Display, EnumString, EnumVariantNames, Eq, Hash, PartialEq)]
+pub enum FusionStatus {
+    #[strum(serialize = "UNKNOWN")]
+    UNKNOWN,
+    #[strum(serialize = "WARNING")]
+    WARNING,
+    #[strum(serialize = "OK")]
+    OK,
+}
+
 #[derive(Clone, Debug, Display, EnumString, EnumVariantNames, Eq, Hash, PartialEq)]
 pub enum SbpLogging {
     #[strum(serialize = "OFF")]
@@ -154,8 +164,20 @@ pub enum Keys {
     LOG_LEVEL_LABELS,
     #[strum(serialize = "FIELDS_DATA")]
     FIELDS_DATA,
-    #[strum(serialize = "XMIN")]
+    #[strum(serialize = "XMIN_OFFSET")]
     XMIN_OFFSET,
+    #[strum(serialize = "GNSSPOS")]
+    GNSSPOS,
+    #[strum(serialize = "GNSSVEL")]
+    GNSSVEL,
+    #[strum(serialize = "WHEELTICKS")]
+    WHEELTICKS,
+    #[strum(serialize = "SPEED")]
+    SPEED,
+    #[strum(serialize = "NHC")]
+    NHC,
+    #[strum(serialize = "ZEROVEL")]
+    ZEROVEL,
 }
 
 #[derive(Clone, Debug, Display, EnumString, EnumVariantNames, Eq, Hash, PartialEq)]

console_backend/src/common_constants.rs

@@ -1,6 +1,12 @@
-pub const HEARTBEAT_LOCK_MUTEX_FAILURE: &str = "unable to lock heartbeat mutex";
-pub const SHARED_STATE_LOCK_MUTEX_FAILURE: &str = "unable to lock shared_state mutex";
-pub const CAP_N_PROTO_SERIALIZATION_FAILURE: &str = "unable to serialize capnproto message";
-pub const CAP_N_PROTO_DESERIALIZATION_FAILURE: &str = "unable to deserialize capnproto message";
-pub const CONVERT_TO_STR_FAILURE: &str = "error converting to str";
-pub const GET_MUT_OBJECT_FAILURE: &str = "error trying to get mut object";
+pub(crate) const HEARTBEAT_LOCK_MUTEX_FAILURE: &str = "unable to lock heartbeat mutex";
+pub(crate) const SHARED_STATE_LOCK_MUTEX_FAILURE: &str = "unable to lock shared_state mutex";
+pub(crate) const UPDATE_STATUS_LOCK_MUTEX_FAILURE: &str = "unable to lock update status mutex";
+pub(crate) const CAP_N_PROTO_SERIALIZATION_FAILURE: &str = "unable to serialize capnproto message";
+#[allow(dead_code)]
+pub(crate) const CAP_N_PROTO_DESERIALIZATION_FAILURE: &str =
+    "unable to deserialize capnproto message";
+pub(crate) const CONVERT_TO_STR_FAILURE: &str = "error converting to str";
+pub(crate) const GET_MUT_OBJECT_FAILURE: &str = "error trying to get mut object";
+pub(crate) const UNABLE_TO_STOP_TIMER_THREAD_FAILURE: &str = "unable to kill running timer thread";
+pub(crate) const UNABLE_TO_SEND_INS_UPDATE_FAILURE: &str = "unable to send an ins status update";
+pub(crate) const THREAD_JOIN_FAILURE: &str = "thread join failure";