✨ Adiciona serviço de bluetooth #41

PedroDeSanti · 2025-04-28T04:16:44Z

Przinha que implementa um servico de comunicacao bluetooth

Basicamente é bem parecido com o storage, eu fiz uma interface ISerialVariable que extende o ISerializable colocando coisas inportantes como nome do tipo da variavel, nome da variavel e id
Tem duas classes que implementam essa interface, o CustomSerialVariable e o PrimitiveSerialVariable
Tem um SerialVariablePool que vai adicionar referencias as varaivei em um mapa
Um logger pra mandar mg de string
Um CommunicationService que recebe um logger e um SerialVariablePool e automaticamente fica mandando ou recebendo essas variaveis (pelo bluetooth no nosso caso

A forma como o CommunicationService é basicamente assim:

O cliente (webapp) vai se conectar no micras e mandar um request de mapa de variaveis, pra saber quais sao todas as variaveis que serão sincronizadas entre os dois, e as respectivas informacoes delas (id, nome, tipo da variavel)
A partir dai o micras e o cliente apensa se comunicarão com uma msg que contem um id e um payload
O cliente vai mandar para o micras as variaveis write_only e o micras vai desserializar o conteudo delas encaminhando para a variavel com id certo
O micras vai ficar mandando todas as variáveis read_only pro cliente

Co-authored-by: Eduardo Santos Barreto <[email protected]>

…ture/bluetooth

…e variables

…rasFirmware into feature/new-bluetooth

… Serializable concepts

…unction

…e function

…:proxy

…ethods

…urations

…ool and Logger

…_ptr and adjust test_comm_service initialization

…ture/new-bluetooth

Copilot

Pull Request Overview

This PR adds a new Bluetooth communication service along with associated interfaces and helper classes to serialize and manage variables, following a pattern similar to the existing storage service. Key changes include:

Creation of a new UART DMA handler and logger to support Bluetooth functionality.
Implementation of a CommunicationService handling incoming/outgoing packets, variable serialization, and log processing.
Updates to configuration files and proxy interfaces to integrate the new Bluetooth service.

Reviewed Changes

Copilot reviewed 24 out of 26 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
micras_hal/include/micras/hal/uart_dma.hpp	New UART DMA class for Bluetooth communication support.
micras_core/include/micras/core/utils.hpp	Addition of a compile-time type name utility.
micras_comm/src/packet.cpp	Packet serialization/deserialization improvements.
micras_comm/src/communication_service.cpp	New CommunicationService handling packet flow and logging.
micras_comm/include/micras/comm/vars/*.hpp	New variable serialization interfaces and their implementations.
include/micras/micras.hpp	Updated proxy list with the new Bluetooth interface.
config/target.hpp	Bluetooth config definitions added.
.github/workflows/*.yaml	Workflow updates; minor duplicate attribute declarations.

Files not reviewed (2)

CMakeLists.txt: Language not supported
micras_comm/CMakeLists.txt: Language not supported

Comments suppressed due to low confidence (1)

micras_comm/src/communication_service.cpp:66

The function name 'process_incomming_packets' contains a typo; consider renaming it to 'process_incoming_packets' for clarity.

void CommunicationService::process_incomming_packets() {

Copilot · 2025-04-30T15:37:54Z

micras_comm/src/communication_service.cpp

+            if (Packet::is_valid(packet_data)) {  // check is redundant
+                this->incoming_packets.emplace(packet_data);
+            }


The comment notes that the validity check is redundant; consider removing this extra check if Packet::is_valid is already ensured upstream to simplify the code.

Suggested change

if (Packet::is_valid(packet_data)) { // check is redundant

this->incoming_packets.emplace(packet_data);

}

this->incoming_packets.emplace(packet_data);

Copilot · 2025-04-30T15:37:54Z

micras_comm/src/communication_service.cpp

+        }
+
+        queue.pop_front();


Review the conditional logic in extract_valid_packet: popping an extra element when encountering an escape byte might inadvertently skip a valid header; consider revising this logic to ensure correct packet extraction.

Suggested change

}

queue.pop_front();

if (!queue.empty() && queue.front() == Packet::header_byte) {

break; // Stop if the next byte is a valid header

}

}

if (!queue.empty()) {

queue.pop_front();

}

discordo meu mano copiloto

.github/workflows/release.yaml

.github/workflows/ci.yaml

Copilot · 2025-04-30T15:37:55Z

micras_comm/include/micras/comm/vars/custom_serial_variable.hpp

+     * @brief Get the variable's size.
+     *
+     * @return uint16_t size of the variable.
+     */


[nitpick] Returning 0 for get_size() may be intentional; adding a comment to clarify why the size is fixed to 0 for custom serial variables would help future maintainers.

Suggested change

*/

*/

// The size is fixed to 0 because the actual size of the custom serializable variable

// is not relevant in this context. This method is implemented to satisfy the interface

// requirements and does not impact serialization or deserialization functionality.

se pa vou tirar esse metodo de get_size pq nao to usando

…ture/new-bluetooth

…rmware into feature/new-bluetooth

Co-authored-by: Pedro de Santi <[email protected]>

GabrielCosme and others added 30 commits September 30, 2024 05:52

✨ Add bluetooth communication

f5a73fa

Co-authored-by: Eduardo Santos Barreto <[email protected]>

🎨 Add template functions to bluetooth class

660dae8

🎨 Add early return to bluetooth process message function

a725a0b

✨ Add ACK to bluetooth protocol

661cc9c

🚸 Increase bluetooth max buffer size

b387a9d

🎨 Add const to bluetooth write_tx_frame variable parameter

1f78b7e

🔥 🎨 Remove Fields Union and data array from bluetooth messages

c873ef7

⚰️ Remove extra function from bluetooth

32aa83b

🐛 Move busy tx check to start of bluetooth update

39872a7

Merge branch 'main' of github.com:Team-Micras/MicrasFirmware into fea…

4669837

…ture/bluetooth

📝 Fix comments on bluetooth and uart

d4ff769

Merge branch 'main' of github.com:Team-Micras/MicrasFirmware into fea…

ce19878

…ture/bluetooth

➕ Add CMake configuration for micras_comm library

4b3d761

✨ Implement Packet class for communication packet handling

045cb29

✨ Add SerialVariablePool class for managing serializable and primitiv…

4c09f89

…e variables

✨ Add ISerialVariable interface

0a794ad

✨ Add CustomSerialVariable class

a0065d2

✨ Add PrimitiveSerialVariable class

9e28327

♻️ Refactor SerialVariablePool

4f0096c

💸 Add timeout to docker build on github action

0455695

Merge branch 'feature/new-architecture' of github.com:Team-Micras/Mic…

ad5565d

…rasFirmware into feature/new-bluetooth

✨ Add type_name template function to retrieve variable type as string

71dc84d

✨ Add concepts for Fundamental and Serializable types

6871d6f

🔨 Update Fundamental concept to use core namespace in storage.hpp

0ea7e7c

🔨 Update ISerialVariable to use core namespace for ISerializable

ec2abd6

🔨 Update SerialVariablePool to use core namespace for Fundamental and…

8622bbc

… Serializable concepts

🔨 Update custom_serial_variable to use core namespace for type_name f…

fbb0ac8

…unction

🔨 Update primitive_serial_variable to use core namespace for type_nam…

4246fc2

…e function

Update CMakeLists.txt to link against micras::core instead of micras:…

c3b9cee

…:proxy

🚚 Move serial_var files to vars folder

4a6a8c2

PedroDeSanti added 12 commits April 29, 2025 23:28

🎨 Format code

015a8e6

🔨 Update UartDma to stop DMA instead of aborting UART receive

fe31b77

♻️ Refactor Bluetooth class to improve data handling and processing m…

857b7b2

…ethods

🔨 Optimize Bluetooth data processing by limiting tx_queue size

1e08e64

🚚 Rename Bluetooth class to BluetoothSerial and update related config…

afcc2fe

…urations

🎨 Format code

bf34b0b

🚨 Fix linter and compiler warnings

147841a

🔨 Improve BluetoothSerial data processing and include necessary headers

a1dcd24

🔨 Add trim_tx_queue method

101afc7

🔨 update test_comm_service to use shared pointers for SerialVariableP…

dc25722

…ool and Logger

🔨 Update custom_serial_variable to use template type for serializable…

e515d5d

…_ptr and adjust test_comm_service initialization

🎨 format code

9b7fa35

Base automatically changed from feature/new-architecture to main April 30, 2025 15:26

Merge branch 'main' of github.com:Team-Micras/MicrasFirmware into fea…

06bf571

…ture/new-bluetooth

PedroDeSanti marked this pull request as ready for review April 30, 2025 15:28

PedroDeSanti requested a review from Copilot April 30, 2025 15:36

Copilot AI reviewed Apr 30, 2025

View reviewed changes

PedroDeSanti added 4 commits April 30, 2025 18:05

🔥 Remove redundant namespace

15416b5

🔧 Add communication service and logger initialization in Micras class

528da5f

🔧 Revert workflows changes

8537c02

🎨 Format code

44e9748

PedroDeSanti force-pushed the feature/new-bluetooth branch from aec5462 to 44e9748 Compare May 2, 2025 23:57

GabrielCosme added 2 commits May 2, 2025 21:01

Merge branch 'main' of github.com:Team-Micras/MicrasFirmware into fea…

31c3fff

…ture/new-bluetooth

Merge branch 'feature/lint-target' of github.com:Team-Micras/MicrasFi…

1b2b07c

…rmware into feature/new-bluetooth

GabrielCosme changed the base branch from main to feature/lint-target May 4, 2025 18:46

GabrielCosme closed this May 5, 2025

GabrielCosme reopened this May 5, 2025

PedroDeSanti marked this pull request as draft May 5, 2025 00:01

🚧 Use VariablePool on Storage

1637f41

Co-authored-by: Pedro de Santi <[email protected]>

Base automatically changed from feature/lint-target to main May 8, 2025 01:41

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✨ Adiciona serviço de bluetooth #41

✨ Adiciona serviço de bluetooth #41

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PedroDeSanti commented Apr 28, 2025 •

edited

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-        }
-        queue.pop_front();
+            if (!queue.empty() && queue.front() == Packet::header_byte) {
+                break;  // Stop if the next byte is a valid header
+            }
+        }
+        if (!queue.empty()) {
+            queue.pop_front();
+        }

-     */
+     */
+    // The size is fixed to 0 because the actual size of the custom serializable variable
+    // is not relevant in this context. This method is implemented to satisfy the interface
+    // requirements and does not impact serialization or deserialization functionality.

✨ Adiciona serviço de bluetooth #41

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PedroDeSanti commented Apr 28, 2025 •

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