Patrick/code cleanup

console_backend/Cargo.toml

@@ -28,7 +28,11 @@ serde_yaml = "0.9.14"
 anyhow = { version = "1", features = ["backtrace"] }
 clap = { version = "4.0.29", features = ["derive"] }
 indexmap = { version = "1.9.2", features = ["serde"] }
-chrono = { version = "0.4.23", features = ["serde"] }
+chrono = { version = "0.4.23", features = [
+  "serde",
+  "clock",
+  "std",
+], default-features = false }
 serde = { version = "1.0.148", features = ["derive"] }
 sbp = { version = "4.9.1", features = ["json", "link", "swiftnav"] }
 mimalloc = { version = "0.1", default-features = false }
@@ -62,6 +66,7 @@ ndarray = "0.15.6"
 criterion = "0.4.0"
 sysinfo = "0.26.7"
 tempfile = "3.3.0"
+rstest = "0.16.0"
 
 [build-dependencies]
 capnpc = "0.15.0"

console_backend/src/cli_options.rs

@@ -154,7 +154,7 @@ pub struct CliOptions {
     #[clap(long, hide = true)]
     pub qmldebug: bool,
 
-    /// SSH tunnel to a jumphost specified ([username]:[password]@some.fqdn)
+    /// SSH tunnel to a jumphost specified (`[username]:[password]@some.fqdn`)
     #[clap(long, hide = true)]
     pub ssh_tunnel: Option<PathBuf>,
 

console_backend/src/fileio.rs

@@ -156,14 +156,14 @@ impl Fileio {
 
     /// Deletes `filename` on the remote device (if it exists) and writes the contents of `data` to the file.
     /// This operation is NOT atomic. If the write fails and `filename` existed, it is gone forever.
-    /// For more context see: https://github.com/swift-nav/swift-toolbox/pull/72#discussion_r654751414
+    /// For more context see: <https://github.com/swift-nav/swift-toolbox/pull/72#discussion_r654751414>
     pub fn overwrite(&mut self, filename: String, data: impl Read + Send) -> Result<()> {
         self.overwrite_with_progress(filename, data, |_| ())
     }
 
     /// Deletes `filename` on the remote device (if it exists) and writes the contents of `data` to the file.
     /// This operation is NOT atomic. If the write fails and `filename` existed, it is gone forever.
-    /// For more context see: https://github.com/swift-nav/swift-toolbox/pull/72#discussion_r654751414
+    /// For more context see: <https://github.com/swift-nav/swift-toolbox/pull/72#discussion_r654751414>
     pub fn overwrite_with_progress<F>(
         &mut self,
         filename: String,

console_backend/src/fusion_status_flags.rs

@@ -272,25 +272,21 @@ impl Drop for FusionStatusFlag {
     }
 }
 
-/// FusionStatusFlags struct.
-///
-/// # Fields:
-///
-/// - `client_send`: Client Sender channel for communication from backend to frontend.
-/// - `gnsspos`: Storage for the GNSS Position status.
-/// - `gnssvel`: Storage for the GNSS Velocity status.
-/// - `wheelticks`: Storage for the wheel ticks status.
-/// - `speed`: Storage for the wheel speed status.
-/// - `nhc`: Storage for the non-holonomic constraints model status.
-/// - `zerovel`: Storage for the zero velocity status.
 #[derive(Debug)]
 pub struct FusionStatusFlags {
+    /// Sender channel for communication from backend to frontend.
     client_sender: BoxedClientSender,
+    /// Storage for the GNSS Position status.
     gnsspos: FusionStatusFlag,
+    /// Storage for the GNSS Velocity status.
     gnssvel: FusionStatusFlag,
+    /// Storage for the wheel ticks status.
     wheelticks: FusionStatusFlag,
+    /// Storage for the wheel speed status.
     speed: FusionStatusFlag,
+    /// Storage for the non-holonomic constraints model status.
     nhc: FusionStatusFlag,
+    /// Storage for the zero velocity status.
     zerovel: FusionStatusFlag,
 }
 

console_backend/src/process_messages.rs

@@ -133,10 +133,10 @@ pub fn process_messages(
     err
 }
 
-/// Process custom events defined by [`SharedState::EventType`]
+/// Process custom events defined by `SharedState::EventType`
 ///
 /// Allows channel to manage events dispatched from front end,
-/// indirectly gives [`SharedState`] access to [`Tabs`]
+/// indirectly gives `SharedState` access to `Tabs`
 fn process_shared_state_events(rx: Receiver<EventType>, tabs: &Tabs) {
     for event in rx.iter() {
         match event {
@@ -534,9 +534,9 @@ mod messages {
         }
     }
 
-    // Wrapper type so can hook into the drop call that happens when the last Arc<Shared> is dropped.
-    // We could not use this and drop when the arc's strong count is 1, but the count might change
-    // between calling `Arc::strong_count` and `self.stop`
+    /// Wrapper type so can hook into the drop call that happens when the last `Arc<Shared>` is dropped.
+    /// We could not use this and drop when the arc's strong count is 1, but the count might change
+    /// between calling `Arc::strong_count` and `self.stop`
     struct Shared(Sender<()>);
 
     impl Shared {

console_backend/src/shared_state.rs

@@ -680,9 +680,6 @@ impl SettingsTabState {
 // Navbar Types.
 
 /// Directory struct for storing informating and helpers pertaining to project directory.
-///
-/// Taken from swift-cli/swift/src/types.rs.
-/// impl taken from swift-cli/swift/src/lib.rs.
 #[derive(Debug)]
 pub struct Directory {
     path: PathBuf,
@@ -718,7 +715,6 @@ impl Default for Directory {
 
 /// Deduce data directory path and create folder.
 ///
-/// Taken from swift-cli/swift/src/lib.rs.
 /// # Returns
 /// - `Ok`: The PathBuf for the data directory path.
 /// - `Err`: Issue deducing path or creating the data directory.
@@ -736,7 +732,6 @@ fn create_data_dir() -> AHResult<PathBuf> {
 
 /// Create directory.
 ///
-/// Taken from swift-cli/swift/src/lib.rs.
 /// # Returns
 /// - `Ok`: The PathBuf for the data directory path.
 /// - `Err`: Issue deducing path or creating the data directory.

console_backend/src/status_bar.rs

@@ -105,12 +105,9 @@ impl Default for StatusBarUpdate {
     }
 }
 
-/// StatusBar struct.
-///
-/// # Fields:
-/// - `heartbeat_data`: The shared object for storing and accessing relevant status bar data.
 #[derive(Debug)]
 pub struct StatusBar {
+    /// The shared object for storing and accessing relevant status bar data.
     heartbeat_data: Heartbeat,
 }
 impl StatusBar {

console_backend/src/tabs/advanced_tab/advanced_imu_tab.rs

@@ -29,37 +29,33 @@ use crate::shared_state::{SharedState, TabName};
 use crate::types::RingBuffer;
 use crate::utils::{euclidean_distance, serialize_capnproto_builder};
 
-/// AdvancedImuTab struct.
-///
-/// # Fields:
-///
-/// - `client_send`: Client Sender channel for communication from backend to frontend.
-/// - `imu_conf`: Storage for the Imu configuration.
-/// - `imu_temp`: Storage for the raw Imu temperature converted to proper units.
-/// - `rms_acc_x`: The calculated root mean squared imu acceleration for x axis.
-/// - `rms_acc_y`: The calculated root mean squared imu acceleration for y axis.
-/// - `rms_acc_z`: The calculated root mean squared imu acceleration for z axis.
-/// - `acc_x`: The stored historic Imu acceleration values along x axis.
-/// - `acc_y`: The stored historic Imu acceleration values along y axis.
-/// - `acc_z`: The stored historic Imu acceleration values along z axis.
-/// - `gyro_x`: The stored historic Imu angular rate values along x axis.
-/// - `gyro_y`: The stored historic Imu angular rate values along y axis.
-/// - `gyro_z`: The stored historic Imu angular rate values along z axis.
 #[derive(Debug)]
 pub struct AdvancedImuTab {
     shared_state: SharedState,
+    ///  Client Sender channel for communication from backend to frontend.
     client_sender: BoxedClientSender,
     pub fusion_engine_status_bar: FusionStatusFlags,
+    /// Storage for the Imu configuration.
     imu_conf: u8,
+    /// Storage for the raw Imu temperature converted to proper units.
     imu_temp: f64,
+    /// The calculated root mean squared imu acceleration for x axis.
     rms_acc_x: f64,
+    /// The calculated root mean squared imu acceleration for y axis.
     rms_acc_y: f64,
+    /// The calculated root mean squared imu acceleration for z axis.
     rms_acc_z: f64,
+    /// The stored historic Imu acceleration values along x axis.
     acc_x: RingBuffer<f64>,
+    /// The stored historic Imu acceleration values along y axis.
     acc_y: RingBuffer<f64>,
+    /// The stored historic Imu acceleration values along z axis.
     acc_z: RingBuffer<f64>,
+    /// The stored historic Imu angular rate values along x axis.
     gyro_x: RingBuffer<f64>,
+    /// The stored historic Imu angular rate values along y axis.
     gyro_y: RingBuffer<f64>,
+    /// The stored historic Imu angular rate values along z axis.
     gyro_z: RingBuffer<f64>,
 }
 

console_backend/src/tabs/advanced_tab/advanced_magnetometer_tab.rs

@@ -28,21 +28,16 @@ use crate::types::RingBuffer;
 use crate::utils::serialize_capnproto_builder;
 use crate::zip;
 
-/// AdvancedMagnetometerTab struct.
-///
-/// # Fields:
-///
-/// - `client_send`: Client Sender channel for communication from backend to frontend.
-/// - `last_plot_update_time`: The last time the plot values were attempted to send to frontend.
-/// - `mag_x`: The stored historic Magnetometer values along x axis.
-/// - `mag_y`: The stored historic Magnetometer values along y axis.
-/// - `mag_z`: The stored historic Magnetometer values along z axis.
 #[derive(Debug)]
 pub struct AdvancedMagnetometerTab {
     shared_state: SharedState,
+    /// Client Sender channel for communication from backend to frontend.
     client_sender: BoxedClientSender,
+    /// The stored historic Magnetometer values along x axis.
     mag_x: RingBuffer<f64>,
+    /// The stored historic Magnetometer values along y axis.
     mag_y: RingBuffer<f64>,
+    /// The stored historic Magnetometer values along z axis.
     mag_z: RingBuffer<f64>,
     ymax: f64,
     ymin: f64,

console_backend/src/tabs/advanced_tab/advanced_spectrum_analyzer_tab.rs

@@ -27,25 +27,18 @@ use crate::shared_state::{SharedState, TabName};
 use crate::types::Specan;
 use crate::utils::serialize_capnproto_builder;
 
-/// AdvancedSpectrumAnalyzerTab struct.
-///
-/// # Fields:
-///
-/// - `client_send`: Client Sender channel for communication from backend to frontend.
-/// - `fft_monitor`: Instance of the FftMonitor struct for handling specan messages.
-/// - `channel_idx`: Stores the index received from the frontend for which CHANNEL
-///      to send to frontend.
-/// - `most_recent_amplitudes`: Stores the currently viewed channel's amplitude values to be
-///      sent to frontend.
-/// - `most_recent_frequencies`: Stores the currently viewed channel's frequency values to be
-///      sent to frontend.
-/// - `shared_state`: The shared state for communicating between frontend/backend/other backend tabs.
 pub struct AdvancedSpectrumAnalyzerTab {
+    /// Client Sender channel for communication from backend to frontend.
     client_sender: BoxedClientSender,
+    /// Instance of the FftMonitor struct for handling specan messages.
     fft_monitor: FftMonitor,
+    /// Stores the index received from the frontend for which CHANNEL to send to frontend.
     channel_idx: usize,
+    /// Stores the currently viewed channel's amplitude values to be sent to frontend.
     most_recent_amplitudes: Vec<f32>,
+    /// Stores the currently viewed channel's frequency values to be sent to frontend.
     most_recent_frequencies: Vec<f32>,
+    /// The shared state for communicating between frontend/backend/other backend tabs.
     shared_state: SharedState,
 }
 

console_backend/src/tabs/advanced_tab/advanced_system_monitor_tab.rs

@@ -39,27 +39,24 @@ struct ThreadStateFields {
     stack_free: u32,
 }
 
-/// AdvancedSystemMonitorTab struct.
-///
-/// # Fields:
-///
-/// - `client_send`: Client Sender channel for communication from backend to frontend.
-/// - `fe_temp`: RF frontend temperature reading.
-/// - `obs_latency`: UART state latency measurements.
-/// - `obs_period`: UART state period measurements.
-/// - `threads`: Vec of, ThreadStateFields, running threads on device containing cpu and memory metric values.
-/// - `threads_table_list`: Vec of ThreadStateFields, sent to frontend after heartbeat received.
-/// - `zynq_temp`: Zynq SoC temperature reading.
 pub struct AdvancedSystemMonitorTab {
     shared_state: SharedState,
+    /// Client Sender channel for communication from backend to frontend.
     client_sender: BoxedClientSender,
+    /// RF frontend temperature reading.
     fe_temp: f64,
+    /// UART state latency measurements.
     obs_latency: HashMap<String, i32>,
+    /// UART state period measurements.
     obs_period: HashMap<String, i32>,
+    /// Vec of, ThreadStateFields, running threads on device containing cpu and memory metric values.
     threads: Vec<ThreadStateFields>,
+    /// Vec of ThreadStateFields, sent to frontend after heartbeat received.
     threads_table_list: Vec<ThreadStateFields>,
+    /// Zynq SoC temperature reading.
     zynq_temp: f64,
 }
+
 impl AdvancedSystemMonitorTab {
     pub fn new(
         shared_state: SharedState,

console_backend/src/tabs/baseline_tab.rs

@@ -35,60 +35,53 @@ use crate::utils::{date_conv::*, *};
 use crate::zip;
 use crate::{client_sender::BoxedClientSender, constants::*};
 
-/// Baseline Tab Button Struct.
-///
-/// # Parameters
-/// - `clear`: Indicates whether to initiate a clearing of all solution data stored.
-/// - `pause`: Indicates whther or not to pause the plot updates.
-/// - `reset`: Indicates whether or not to reset filters.
 pub(crate) struct BaselineTabButtons {
+    /// Indicates whether to initiate a clearing of all solution data stored.
     clear: bool,
+    /// Indicates whether or not to pause the plot updates.
     pause: bool,
+    /// Indicates whether or not to reset filters.
     reset: bool,
 }
 
-/// BaselineTab struct.
-///
-/// # Fields
-/// - `age_corrections`: Stored age corrections to be displayed in the table.
-/// - `client_sender`: Client Sender channel for communication from backend to frontend.
-/// - `heading`: The stored heading value.
-/// - `last_mode`: The most recent gnss mode stored.
-/// - `n_max`: The baseline north direction maximimum value storage for plot bounds.
-/// - `n_min`: The baseline north direction minimum value storage for plot bounds.
-/// - `n_max`: The baseline east direction maximimum value storage for plot bounds.
-/// - `n_min`: The baseline east direction minimum value storage for plot bounds.
-/// - `mode_strings`: The available modes in string form to store updates for.
-/// - `nsec`: The stored nanosecond value from GPS Time messages.
-/// - `pending_draw_modes`: A list of draw modes waiting to be updated.
-/// - `shared_state`: The shared state for communicating between frontend/backend/other backend tabs.
-/// - `baseline_log_file`: The CsvSerializer corresponding to an open position log if any.
-/// - `sln_cur_data`: The current most recent n/e point for each mode.
-/// - `sln_data`: The preprocessed solution data to be sent to the frontend.
-/// - `slns`: All solution data is stored before preparing for frontend.
-/// - `table`: This stores all the key/value pairs to be displayed in the Baseline Table.
-/// - `utc_source`: The string equivalent for the source of the UTC updates.
-/// - `utc_time`: The stored monotonic Utc time.
-/// - `week`: The stored week value from GPS Time messages.
 pub struct BaselineTab {
+    /// Stored age corrections to be displayed in the table.
     age_corrections: Option<f64>,
+    /// Client Sender channel for communication from backend to frontend.
     client_sender: BoxedClientSender,
+    /// The stored heading value.
     heading: Option<f64>,
+    /// The most recent gnss mode stored.
     last_mode: u8,
+    /// The baseline north direction maximimum value storage for plot bounds.
     n_max: f64,
+    /// The baseline north direction minimum value storage for plot bounds.
     n_min: f64,
+    /// The baseline east direction maximimum value storage for plot bounds.
     e_max: f64,
+    /// The baseline east direction minimum value storage for plot bounds.
     e_min: f64,
+    /// The available modes in string form to store updates for.
     mode_strings: Vec<String>,
+    /// The stored nanosecond value from GPS Time messages.
     nsec: Option<i32>,
+    /// A list of draw modes waiting to be updated.
     pending_draw_modes: Vec<String>,
+    /// The shared state for communicating between frontend/backend/other backend tabs.
     shared_state: SharedState,
+    /// The current most recent n/e point for each mode.
     sln_cur_data: Vec<Vec<(f64, f64)>>,
+    /// The preprocessed solution data to be sent to the frontend.
     sln_data: Vec<Vec<(f64, f64)>>,
+    /// All solution data is stored before preparing for frontend.
     slns: HashMap<&'static str, RingBuffer<f64>>,
+    /// This stores all the key/value pairs to be displayed in the Baseline Table.
     table: HashMap<&'static str, String>,
+    /// The string equivalent for the source of the UTC updates.
     utc_source: Option<String>,
+    /// The stored monotonic Utc time.
     utc_time: Option<UtcDateTime>,
+    /// The stored week value from GPS Time messages.
     week: Option<u16>,
     writer: MsgSender,
 }
@@ -426,12 +419,6 @@ impl BaselineTab {
 
     /// Initiates preprocessing of solution data and handles frontend input.
     ///
-    /// TODO(johnmichael.burke@) https://swift-nav.atlassian.net/browse/CPP-245
-    /// Need to complete missing functionalities:
-    /// - Center on solution
-    /// - Handle zoom feature.
-    /// - Reset Filters button.
-    ///
     /// # Parameters
     /// - `buttons`: Instance of BaselineTabButtons which trigger different behaviors.
     fn solution_draw(&mut self, buttons: BaselineTabButtons) {

console_backend/src/tabs/solution_tab.rs → console_backend/src/tabs/solution_tab/mod.rs

@@ -46,7 +46,7 @@ impl LatLonUnits {
     /// Convert latitude in degrees to latitude and longitude to meters multipliers.
     ///
     /// Taken from:
-    /// https://github.com/swift-nav/piksi_tools/blob/v3.1.0-release/piksi_tools/console/solution_view.py
+    /// <https://github.com/swift-nav/piksi_tools/blob/v3.1.0-release/piksi_tools/console/solution_view.py>
     fn meters_per_degree(lat: f64) -> (f64, f64) {
         let m1 = 111132.92; // latitude calculation term 1
         let m2 = -559.82; // latitude calculation term 2