Where to begin…. (#13)

+/- Reworked collection of altimeter related functions into altimeter class
+/- Reworked bno055 class to be imu class with minimal functionality

\- Removed external Kalman filter implementations in favor of own in house version
\- Removed any/unused files
\+ Added buffer logger for when sitting on pad for extended period of time in effort to prevent filling of flash chip
\+ Added heartbeat LED for alive status

9 files changed, 0 insertions, 485 deletions

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
deleted file mode 100644
index 13d4dc6..0000000
--- a/test/CMakeLists.txt
+++ /dev/null
@@ -1,70 +0,0 @@
-cmake_minimum_required(VERSION 3.16.3)
-
-project(ADSTests)
-
-# Set Variables
-set(TARGET_A TESTkalmanFilter)
-set(SOURCES_A kalmanFilterTest.cpp ../src/kalmanfilter.cpp)
-
-set(TARGET_B TESTsurfaceFitModel)
-set(SOURCES_B surfaceFitModelTest.cpp ../src/surfaceFitModel.cpp)
-
-set(TARGET_C TESTactuationPlan)
-set(SOURCES_C actuationPlanTest.cpp ../src/actuationPlan.cpp ../src/surfaceFitModel.cpp ../src/rocketUtils.cpp ../src/sensorIMU.cpp ../src/sensorAltimeter.cpp)
-
-# set(TARGET_D TESTads)
-# set(SOURCES_D adsTest.cpp ../src/ads.cpp ../src/actuationPlan.cpp ../src/surfaceFitModel.cpp ../src/rocketUtils.cpp ../src/sensorIMU.cpp ../src/sensorAltimeter.cpp ../src/motor.cpp ../src/logger.cpp ../src/kalmanfilter.cpp)
-
-set(TARGET_E TESTmotorPlan)
-set(SOURCES_E motorTest.cpp ../src/motor.cpp ../src/rocketUtils.cpp)
-
-set(TARGET_F TESTsensorAltimeterPlan)
-set(SOURCES_F sensorAltimeterTest.cpp ../src/sensorAltimeter.cpp ../src/rocketUtils.cpp)
-
-set(TARGET_G TESTsensorIMUPlan)
-set(SOURCES_G sensorIMUTest.cpp ../src/sensorIMU.cpp ../src/rocketUtils.cpp)
-
-
-#Set-up Google Test
-set(CMAKE_CXX_STANDARD 14)
-include(FetchContent)
-FetchContent_Declare(
-  googletest
-  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-)
-# For Windows: Prevent overriding the parent project's compiler/linker settings
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(googletest)
-
-
-
-
-# Create Executables & Link Dependencies
-add_executable(${TARGET_A} ${SOURCES_A})
-target_link_libraries(${TARGET_A} PUBLIC gtest_main) # Link GoogleTest's main() to Executable
-# Tell CMake the Target is a Unit Test
-add_test(NAME ${TARGET_A} COMMAND ${TARGET_A})
-
-add_executable(${TARGET_B} ${SOURCES_B})
-target_link_libraries(${TARGET_B} PUBLIC gtest_main)
-add_test(NAME ${TARGET_B} COMMAND ${TARGET_B})
-
-add_executable(${TARGET_C} ${SOURCES_C})
-target_link_libraries(${TARGET_C} PUBLIC gtest_main)
-add_test(NAME ${TARGET_C} COMMAND ${TARGET_C})
-
-# add_executable(${TARGET_D} ${SOURCES_D})
-# target_link_libraries(${TARGET_D} PUBLIC gtest_main)
-# add_test(NAME ${TARGET_D} COMMAND ${TARGET_D})
-
-add_executable(${TARGET_E} ${SOURCES_E})
-target_link_libraries(${TARGET_E} PUBLIC gtest_main)
-add_test(NAME ${TARGET_E} COMMAND ${TARGET_E})
-
-add_executable(${TARGET_F} ${SOURCES_F})
-target_link_libraries(${TARGET_F} PUBLIC gtest_main)
-add_test(NAME ${TARGET_F} COMMAND ${TARGET_F})
-
-add_executable(${TARGET_G} ${SOURCES_G})
-target_link_libraries(${TARGET_G} PUBLIC gtest_main)
-add_test(NAME ${TARGET_G} COMMAND ${TARGET_G})
\ No newline at end of file
diff --git a/test/actuationPlanTest.cpp b/test/actuationPlanTest.cpp
deleted file mode 100644
index 72410b0..0000000
--- a/test/actuationPlanTest.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-#include <iostream>
-#include <gtest/gtest.h>
-#include "../include/surfaceFitModel.hpp"
-#include "../include/actuationPlan.hpp"
-#include "../include/rocketUtils.hpp"
-
-
-class ActuationPlanTest : public ::testing::Test {
-
-	protected:
-
-		ActuationPlanTest() {
-
-            SurfaceFitModel sfm = SurfaceFitModel();
-			plan = new ActuationPlan(sfm);
-		}
-			
-		//~ActuationPlanTest() {}
-
-		ActuationPlan *plan;
-};
-
-
-/**
- *	@brief Tests running the Actuation Plan
- *
- * **/
-TEST_F(ActuationPlanTest, runPlan) {
-	
-	Vehicle rocket;
-
-    rocket.imuInitFail = false;
-    rocket.imuReadFail = false;
-    rocket.altiInitFail = false;
-    rocket.altiReadFail = false;
-
-    // Test when Vehicle Status: Glide
-    rocket.fail_time = (time_t)(-1);
-    rocket.deploy_time = time(nullptr);
-    rocket.status = GLIDE;
-    rocket.filtered_altitude = 1;
-    rocket.filtered_velocity = 2;
-	plan->runPlan(rocket);
-    EXPECT_NEAR(rocket.deployment_angle, 120.0, 0.01);
-    EXPECT_NE(rocket.fail_time, (time_t)(-1));
-
-    // Test when Vehicle Status: Apogee
-    rocket.deploy_time = time(nullptr);
-    rocket.status = APOGEE;
-    rocket.filtered_altitude = 1;
-    rocket.filtered_velocity = 2;
-	plan->runPlan(rocket);
-    EXPECT_NEAR(rocket.deployment_angle, 110.0, 0.01);
-}
\ No newline at end of file
diff --git a/test/kalmanFilterTest.cpp b/test/kalmanFilterTest.cpp
deleted file mode 100644
index bb0acda..0000000
--- a/test/kalmanFilterTest.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-#include <iostream>
-#include <gtest/gtest.h>
-#include <Eigen/Dense>
-#include "../include/kalmanfilter.hpp"
-
-using namespace Eigen;
-
-class KalmanFilterTest : public ::testing::Test {
-
-	protected:
-
-		KalmanFilterTest() {
-
-			kf = new KalmanFilter(2, 1, 1, 1);
-		}
-			
-		//~KalmanFilterTest() {}
-
-		KalmanFilter *kf;
-};
-
-
-/**
- *	@brief Test Setting the initial state x & P
- *
- * **/
-TEST_F(KalmanFilterTest, setInitialState) {
-	
-	VectorXf state_vec(2);
-	MatrixXf state_cov(2, 2);
-	state_vec << 1, 2;
-	state_cov << 1, 3, 4, 9;
-	
-	// Success Case
-	EXPECT_TRUE(kf->setInitialState(state_vec, state_cov));
-
-	// Failure Case
-	VectorXf state_vec2(4);
-	state_vec2 << 1, 2, 3, 4;
-	EXPECT_FALSE(kf->setInitialState(state_vec2, state_cov));
-}
-
-/**
- *	@brief Test a single iteration of the Kalman Filter
- *
- * **/
-TEST_F(KalmanFilterTest, run) {
-	
-	VectorXf control(1);
-	VectorXf measurement(1);
-	control << 1;
-	measurement << 1;
-	VectorXf res(1);
-
-	res = kf->run(control, measurement, 1);
-
-	EXPECT_NEAR(0.5454, res(0), 0.0001);
-	EXPECT_NEAR(1, res(1), 0.0001);
-}
-
-
-/**
- * @brief Test run() when the time step value is changed between function calls.
- * 
- */
-TEST_F(KalmanFilterTest, runChange) {
-	
-	VectorXf control(1);
-	VectorXf measurement(1);
-	control << 1;
-	measurement << 1;
-	VectorXf res(1);
-
-	res = kf->run(control, measurement, 0.1);
-	EXPECT_NEAR(0.09545, res(0), 0.00001);
-	EXPECT_NEAR(0.1, res(1), 0.1);
-
-	res = kf->run(control, measurement, 0.15);
-	EXPECT_NEAR(0.2761, res(0), 0.0001);
-	EXPECT_NEAR(0.3585, res(1), 0.0001);
-}
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/test/loggerTest.cpp b/test/loggerTest.cpp
deleted file mode 100644
index fab2f25..0000000
--- a/test/loggerTest.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "../include/logger.hpp"
-
-class Two {
-
-    public: 
-        Two() {
-
-        }
-
-        void WritetoLog() {
-            Logger::Get().log("THIS IS A NEEEEEWWWW TEST!!!!!");
-            Logger::Get().logErr("ERRORRRRRRRR");
-            Logger::Get().printLog();
-        }
-
-        void TryPrint() {
-            Logger::Get().printLog();
-        }
-};
-
-class One {
-
-    public: 
-        Two two;
-        One() {
-            two = Two();
-        }
-
-        void OpenLog() {
-            Logger::Get().openLog("output.txt");
-            two.WritetoLog();
-            Logger::Get().closeLog();
-            two.TryPrint();
-        }
-};
-
-
-
-
-int main(int argc, char* argv[]) {
-
-    // Logger::Get().openLog("output.txt");
-    // Logger::Get().log("Testing Info aksdjflkas lksajfdlasjfaowe aslkdjf alskjf asodfj03945430 0349534 5039485 345");
-    // Logger::Get().log("Testing Info Just some stuff");
-    // Logger::Get().log("Testing something words words words");
-    // Logger::Get().logErr("Testing Error lksdj fa 3459374");
-    // Logger::Get().log("Testing blah blah blah blah blah lbal lab lbas labal abala");
-    // Logger::Get().log("Testing Info aksdjflkas l11111111111111111111111111111111111111111485 345");
-    // Logger::Get().logErr("Testing Error Some other type of error");
-    // Logger::Get().logErr("Testing Error Another one");
-    // Logger::Get().closeLog();
-    // //log.printLog();
-
-    One one = One();
-    one.OpenLog();
-
-}
\ No newline at end of file
diff --git a/test/motorTest.cpp b/test/motorTest.cpp
deleted file mode 100644
index c570826..0000000
--- a/test/motorTest.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <vector>
-#include <gtest/gtest.h>
-#include "../include/motor.hpp"
-#include "../include/rocketUtils.hpp"
-
-class MotorTest : public ::testing::Test {
-
-	protected:
-
-		MotorTest() {
-
-			m1 = new Motor();
-		}
-			
-		//~IMUSensorTest() {}
-
-		Motor *m1;
-};
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(MotorTest, init) {
-
-    Vehicle rocket;
-
-    m1->init((void*)&rocket);
-
-	// ASSERT Statements.....
-}
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(MotorTest, writeData) {
-
-    Vehicle rocket;
-
-    m1->writeData((void*)&rocket);
-
-	// ASSERT Statements.....
-}
-
-
-// TODO: FIGURE OUT WHY MAKING 'rocket' a POINTER CAUSES A SEGFAULT
diff --git a/test/sensorAltimeterTest.cpp b/test/sensorAltimeterTest.cpp
deleted file mode 100644
index 7ba9521..0000000
--- a/test/sensorAltimeterTest.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <vector>
-#include <gtest/gtest.h>
-#include "../include/sensorAltimeter.hpp"
-#include "../include/rocketUtils.hpp"
-
-class AltimeterSensorTest : public ::testing::Test {
-
-	protected:
-
-		AltimeterSensorTest() {
-
-			alti = new AltimeterSensor();
-		}
-			
-		//~IMUSensorTest() {}
-
-		AltimeterSensor *alti;
-};
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(AltimeterSensorTest, init) {
-
-    Vehicle rocket;
-
-    alti->init((void*)&rocket);
-
-	// ASSERT Statements.....
-}
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(AltimeterSensorTest, getData) {
-
-    Vehicle rocket;
-
-    alti->getData((void*)&rocket.current_altitude);
-
-	// ASSERT Statements.....
-}
-
-
-// TODO: FIGURE OUT WHY MAKING 'rocket' a POINTER CAUSES A SEGFAULT
diff --git a/test/sensorIMUTest.cpp b/test/sensorIMUTest.cpp
deleted file mode 100644
index d16930e..0000000
--- a/test/sensorIMUTest.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include <iostream>
-#include <vector>
-#include <gtest/gtest.h>
-#include "../include/sensorIMU.hpp"
-#include "../include/rocketUtils.hpp"
-
-class IMUSensorTest : public ::testing::Test {
-
-	protected:
-
-		IMUSensorTest() {
-
-			imu = new IMUSensor();
-		}
-			
-		//~IMUSensorTest() {}
-
-		IMUSensor *imu;
-};
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(IMUSensorTest, init) {
-
-    Vehicle rocket;
-
-    imu->init((void*)&rocket);
-
-	// ASSERT Statements.....
-}
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(IMUSensorTest, getData) {
-
-    Vehicle rocket;
-
-    imu->getData((void*)&rocket);
-
-	// ASSERT Statements.....
-}
-
-
-// TODO: FIGURE OUT WHY MAKING 'rocket' a POINTER CAUSES A SEGFAULT
diff --git a/test/sensor_test.cpp b/test/sensor_test.cpp
deleted file mode 100644
index e4ab5ca..0000000
--- a/test/sensor_test.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <iostream>
-#include "sensorI2C.hpp"
-
-int main (int argc, char** argv) {
-    AltimeterSensor altimeter = new AltimeterSensor("/dev/i2c-2");
-    altimeter.init();
-    for (int i = 0; i < 1000; i++) {
-        std::cout << "Altitude: " << altimeter.getAltitude() << std::endl;
-    }
-}
diff --git a/test/surfaceFitModelTest.cpp b/test/surfaceFitModelTest.cpp
deleted file mode 100644
index f0521b5..0000000
--- a/test/surfaceFitModelTest.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#include <iostream>
-#include <gtest/gtest.h>
-#include "eigen3/Eigen/Dense"
-#include "../include/surfaceFitModel.hpp"
-
-using namespace Eigen;
-
-class SurfaceFitModelTest : public ::testing::Test {
-
-	protected:
-
-		SurfaceFitModelTest() {
-
-			surfFM = new SurfaceFitModel();
-		}
-			
-		//~SurfaceFitModelTest() {}
-
-		SurfaceFitModel *surfFM;
-};
-
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(SurfaceFitModelTest, getFit1) {
-	
-	double res = surfFM->getFit(1, 2);
-
-	EXPECT_NEAR(res, -771671.3793209707, 0.01);
-}
-
-/**
- *	@brief Test a 
- *
- * **/
-TEST_F(SurfaceFitModelTest, getFit2) {
-	
-	double res = surfFM->getFit(33.3, 49);
-
-	EXPECT_NEAR(res, -507325.4658735892, 0.01); 
-}
\ No newline at end of file