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PR2

PR2, forgot to include transport.cpp

rebase
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@BluemarkInnovations
BluemarkInnovations committed Apr 3, 2023
1 parent ddafa38 commit a302b59
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Showing 2 changed files with 78 additions and 26 deletions.
33 changes: 23 additions & 10 deletions RemoteIDModule/RemoteIDModule.ino
View file
Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ static WebInterface webif;
#include "soc/rtc_cntl_reg.h"

static bool arm_check_ok = false; // goes true for LED arm check status
static bool pfst_check_ok = false;
static bool pfst_check_ok = false;

/*
setup serial ports
Expand Down Expand Up @@ -127,36 +127,51 @@ void setup()
*/
static const char *check_parse(void)
{
static char return_string[50]; //if all errors would occur in this function, it will fit in 50 chars that is also the max for the arm status message
strcpy (return_string, "bad ");

{
ODID_Location_encoded encoded {};
if (encodeLocationMessage(&encoded, &UAS_data.Location) != ODID_SUCCESS) {
return "bad LOCATION data";
strcat(return_string, "LOC ");
}
}
{
ODID_System_encoded encoded {};
if (encodeSystemMessage(&encoded, &UAS_data.System) != ODID_SUCCESS) {
return "bad SYSTEM data";
strcat(return_string, "SYS ");
}
}
{
ODID_BasicID_encoded encoded {};
if (encodeBasicIDMessage(&encoded, &UAS_data.BasicID[0]) != ODID_SUCCESS) {
return "bad BASIC_ID data";
if (UAS_data.BasicIDValid[0] == 1) {
if (encodeBasicIDMessage(&encoded, &UAS_data.BasicID[0]) != ODID_SUCCESS) {
strcat(return_string, "ID_1 ");
}
}
memset(&encoded, 0, sizeof(encoded));
if (UAS_data.BasicIDValid[1] == 1) {
if (encodeBasicIDMessage(&encoded, &UAS_data.BasicID[1]) != ODID_SUCCESS) {
strcat(return_string, "ID_2 ");
}
}
}
{
ODID_SelfID_encoded encoded {};
if (encodeSelfIDMessage(&encoded, &UAS_data.SelfID) != ODID_SUCCESS) {
return "bad SELF_ID data";
strcat(return_string, "SELF_ID ");
}
}
{
ODID_OperatorID_encoded encoded {};
if (encodeOperatorIDMessage(&encoded, &UAS_data.OperatorID) != ODID_SUCCESS) {
return "bad OPERATOR_ID data";
strcat(return_string, "OP_ID ");
}
}
if (strlen(return_string) > 4) { //only return error messag if one or more encoding functions failed
strcat(return_string, "data ");
return return_string;
}
return nullptr;
}

Expand Down Expand Up @@ -281,9 +296,7 @@ static void set_data(Transport &t)
}

const char *reason = check_parse();
if (reason == nullptr) {
t.arm_status_check(reason);
}
t.arm_status_check(reason);
t.set_parse_fail(reason);

arm_check_ok = (reason==nullptr);
Expand Down
71 changes: 55 additions & 16 deletions RemoteIDModule/transport.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -45,24 +45,64 @@ uint8_t Transport::arm_status_check(const char *&reason)
return status;
}

char return_string[200]; //make it bigger to accomodate all possible errors
memset(return_string, 0, 200);
strcpy (return_string, "missing ");

static char return_string_full[50];
memset(return_string_full, 0, 50);

if (last_location_ms == 0 || now_ms - last_location_ms > max_age_location_ms) {
reason = "missing location message";
} else if (!g.have_basic_id_info() && (last_basic_id_ms == 0 || now_ms - last_basic_id_ms > max_age_other_ms)) {
reason = "missing basic_id message";
} else if (last_self_id_ms == 0 || now_ms - last_self_id_ms > max_age_other_ms) {
reason = "missing self_id message";
} else if (last_operator_id_ms == 0 || now_ms - last_operator_id_ms > max_age_other_ms) {
reason = "missing operator_id message";
} else if (last_system_ms == 0 || now_ms - last_system_ms > max_age_location_ms) {
strcat(return_string, "LOC ");
}
if (!g.have_basic_id_info()) {
// if there is no basic ID data stored in the parameters give warning. If basic ID data are streamed to RID device,
// it will store them in the parameters
strcat(return_string, "ID ");
}

if (last_self_id_ms == 0 || now_ms - last_self_id_ms > max_age_other_ms) {
strcat(return_string, "SELF_ID ");
}

if (last_operator_id_ms == 0 || now_ms - last_operator_id_ms > max_age_other_ms) {
strcat(return_string, "OP_ID ");
}

if (last_system_ms == 0 || now_ms - last_system_ms > max_age_location_ms) {
// we use location age limit for system as the operator location needs to come in as fast
// as the vehicle location for FAA standard
reason = "missing system message";
} else if (location.latitude == 0 && location.longitude == 0) {
reason = "Bad location";
} else if (system.operator_latitude == 0 && system.operator_longitude == 0) {
reason = "Bad operator location";
} else if (reason == nullptr) {
strcat(return_string, "SYS ");
}

if (location.latitude == 0 && location.longitude == 0) {
if (strcmp(return_string ,"missing ") == 0) {
//if the return string only contains the word missing, there is no error.
strcpy(return_string, "zero LOC ");
}
else {
strcat(return_string, "zero LOC ");
}
}

if (system.operator_latitude == 0 && system.operator_longitude == 0) {
if (strcmp(return_string ,"missing ") == 0) {
//if the return string only contains the word missing, there is no error.
strcpy(return_string, "zero OP_LOC ");
}
else {
strcat(return_string, "zero OP_LOC ");
}
}

if (return_string == nullptr && reason == nullptr) {
status = MAV_ODID_ARM_STATUS_GOOD_TO_ARM;
} else {
if (reason!=nullptr) {
strncpy(return_string_full, reason, 49);
}
strncat(return_string_full, return_string, 49 - strlen(return_string_full));
reason = return_string_full;
}

return status;
Expand Down Expand Up @@ -101,7 +141,7 @@ bool Transport::check_signature(uint8_t sig_length, uint8_t data_len, uint32_t s
// monocypher signatures are 64 bytes
return false;
}

/*
loop over all public keys, if one matches then we are OK
*/
Expand All @@ -128,4 +168,3 @@ bool Transport::check_signature(uint8_t sig_length, uint8_t data_len, uint32_t s
}
return false;
}

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