Added Event sending through mavlink

WORKSPACE

@@ -22,7 +22,8 @@ load("@srp_platform//:pip_install.bzl", "pip_install")
 pip_install()
 
 
-include_srp_mavlink("0.2")
+
+include_srp_mavlink("0.3")
 include_gtest_mock()
 include_json("3.11.3")
 

apps/fc/radio_service/BUILD

@@ -0,0 +1,34 @@
+cc_library(
+    name = "radio_app_lib",
+    deps = [
+        "@srp_platform//ara/exec:adaptive_application_lib",
+        "@srp_mavlink//lib:mavlink_lib",
+        "//deployment/apps/fc/radio_app:someip_lib",
+        "//deployment/apps/fc/radio_app:ara",
+        "//core/timestamp:timestamp_controller",
+        "//core/uart:uart_driver",
+        "@srp_platform//ara/log",
+    ],
+    srcs = [
+        "radio_app.cc",
+        "event_data.cc",
+    ],
+    hdrs = [
+        "radio_app.h",
+        "event_data.h",
+    ],
+    visibility = ["//apps/fc/radio_service:__subpackages__",],
+)
+
+cc_binary(
+    name = "radio_service",
+    srcs = [
+        "main.cc",
+    ],
+    visibility = [
+        "//deployment:__subpackages__",
+    ],
+    deps = [
+        "//apps/fc/radio_service:radio_app_lib",
+    ],
+)

apps/fc/radio_service/event_data.cc

@@ -0,0 +1,111 @@
+/**
+ * @file event_data.cc
+ * @author Mateusz Krajewski (matikrajek42@gmail.com)
+ * @brief 
+ * @version 0.1
+ * @date 2025-04-26
+ * 
+ * @copyright Copyright (c) 2025
+ * 
+ */
+#include "apps/fc/radio_service/event_data.h"
+
+namespace srp {
+namespace apps {
+namespace {
+static std::shared_ptr<EventData> event_data = nullptr;
+}
+std::shared_ptr<EventData> EventData::GetInstance() {
+  if (event_data == nullptr) {
+    event_data = std::make_shared<EventData>();
+  }
+  return event_data;
+}
+
+template <typename T>
+void EventData::SetValue(T res, T* field) {
+  std::unique_lock<std::shared_mutex> lock(this->mtx_);
+  *field = res;
+}
+
+void EventData::SetTemp1(uint16_t res) {
+  SetValue(res, &this->temp.temp1);
+}
+
+void EventData::SetTemp2(uint16_t res) {
+  SetValue(res, &this->temp.temp2);
+}
+
+void EventData::SetTemp3(uint16_t res) {
+  SetValue(res, &this->temp.temp3);
+}
+
+void EventData::SetDPress(float res) {
+  SetValue(res, &this->press.Dpressure);
+}
+
+void EventData::SetPress(float res) {
+  SetValue(res, &this->press.pressure);
+}
+
+void EventData::SetGPS(int32_t lon, int32_t lat) {
+  std::unique_lock<std::shared_mutex> lock(this->mtx_);
+  this->gps.lat = lat;
+  this->gps.lon = lon;
+}
+
+void EventData::SetActuatorBit(uint8_t res, uint8_t bit_position) {
+  if (bit_position > 7 || res > 1) {
+    return;
+  }
+  std::unique_lock<std::shared_mutex> lock(this->mtx_);
+  this->actuator.values =
+      (this->actuator.values & ~(1 << bit_position)) | (res << bit_position);
+}
+
+uint16_t EventData::GetTemp1() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->temp.temp1;
+}
+
+uint16_t EventData::GetTemp2() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->temp.temp2;
+}
+
+uint16_t EventData::GetTemp3() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->temp.temp3;
+}
+
+float EventData::GetDPress() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->press.Dpressure;
+}
+
+float EventData::GetPress() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->press.pressure;
+}
+
+int32_t EventData::GetGPSLat() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->gps.lat;
+}
+
+int32_t EventData::GetGPSLon() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->gps.lon;
+}
+
+uint8_t EventData::GetActuator() {
+  std::shared_lock<std::shared_mutex> lock(mtx_);
+  return this->actuator.values;
+}
+
+// Instancja szablonu musi być jawnie zdefiniowana w pliku .cpp
+template void EventData::SetValue<uint16_t>(uint16_t, uint16_t*);
+template void EventData::SetValue<float>(float, float*);
+
+}  // namespace apps
+}  // namespace srp

apps/fc/radio_service/event_data.h

@@ -0,0 +1,64 @@
+/**
+ * @file event_data.h
+ * @author Michał Mańkowski (m.mankowski2004@gmail.com)
+ * @brief 
+ * @version 0.1
+ * @date 2025-05-07
+ * 
+ * @copyright Copyright (c) 2025
+ * 
+ */
+#ifndef APPS_FC_RADIO_SERVICE_EVENT_DATA_H_
+#define APPS_FC_RADIO_SERVICE_EVENT_DATA_H_
+
+#include <shared_mutex>
+#include <mutex>  // NOLINT
+#include <memory>
+#include <cstdint>
+
+#include "lib/simba/mavlink.h"
+
+namespace srp {
+namespace apps {
+
+class EventData {
+ private:
+  __mavlink_simba_tank_temperature_t temp;
+  __mavlink_simba_tank_pressure_t press;
+  __mavlink_simba_gps_t gps;
+  __mavlink_simba_actuator_t actuator;
+  std::shared_mutex mtx_;
+
+  template <typename T>
+  void SetValue(T res, T* field);
+
+ public:
+  static std::shared_ptr<EventData> GetInstance();
+
+  void SetTemp1(uint16_t res);
+  void SetTemp2(uint16_t res);
+  void SetTemp3(uint16_t res);
+
+  void SetDPress(float res);
+  void SetPress(float res);
+
+  void SetGPS(int32_t lon, int32_t lat);
+  void SetActuatorBit(uint8_t res, uint8_t bit_position);
+
+  uint16_t GetTemp1();
+  uint16_t GetTemp2();
+  uint16_t GetTemp3();
+
+  float GetDPress();
+  float GetPress();
+
+  int32_t GetGPSLat();
+  int32_t GetGPSLon();
+
+  uint8_t GetActuator();
+};
+
+}  // namespace apps
+}  // namespace srp
+
+#endif  // APPS_FC_RADIO_SERVICE_EVENT_DATA_H_

apps/fc/radio_service/main.cc

@@ -0,0 +1,17 @@
+/**
+ * @file main.cc
+ * @author Michał Mańkowski (m.mankowski2004@gmail.com)
+ * @brief 
+ * @version 0.1
+ * @date 2025-04-07
+ * 
+ * @copyright Copyright (c) 2025
+ * 
+ */
+#include "apps/fc/radio_service/radio_app.h"
+#include "ara/exec/adaptive_lifecycle.h"
+int main(int argc, char const *argv[]) {
+  // setsid();
+  return ara::exec::RunAdaptiveLifecycle<srp::apps::RadioApp>(argc,
+                                                                      argv);
+}