before travel

platformio.ini

@@ -9,7 +9,7 @@
 ; https://docs.platformio.org/page/projectconf.html
 
 [platformio]
-default_envs = sam3x8e, sam3x8e-debug, nucleo_f411re, nucleo_f411re-debug, nucleo_f429zi, nucleo_f429zi-debug, debug
+default_envs = nucleo_f429zi, nucleo_f429zi-debug
 
 [env]
 monitor_speed = 115200
@@ -43,9 +43,6 @@ debug_build_flags =
     -g3
     -ggdb3
     -O0
-;    -u_printf_float
-;    -u_scanf_float
-;    -DPIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF
     -D_GLIBCXX_DEBUG
     -D_GLIBCXX_ASSERTIONS
 check_tool = clangtidy
@@ -56,23 +53,16 @@ check_flags =
 lib_deps =
     symlink:///home/stan/projects/krakakai/Spine
     https://github.com/Neargye/magic_enum.git
-;    https://github.com/fmtlib/fmt.git
 
 
 [arduino]
-extends = hardware_implementations
-build_flags =
-    ${env.build_flags}
-    -DARDUINO=100
 lib_deps =
     ${env.lib_deps}
     Wire
     OneWire
     https://github.com/s-t-a-n/Arduino-Helpers.git
     hideakitai/ArxSmartPtr@^0.3.0
-    paulstoffregen/Time@^1.6.1
     https://github.com/s-t-a-n/DS3231-RTC.git
-;    https://github.com/matmunk/DS18B20
     https://github.com/milesburton/Arduino-Temperature-Control-Library.git@^3.9.1
     https://github.com/RobTillaart/SHT31.git
 
@@ -103,51 +93,6 @@ framework = arduino
 upload_protocol = stlink
 debug_tool = stlink
 
-[env:nucleo_f411re]
-extends = embedded, arduino
-platform = ststm32
-board = genericSTM32F411RE
-framework = arduino
-upload_protocol = stlink
-debug_tool = stlink
-
-[env:nucleo_f411re-debug]
-extends = embedded, arduino
-platform = ststm32
-build_flags =
-    ${env.build_flags}
-    -D DEBUG_SPINE
-    -D DEBUG_KASKAS
-board = genericSTM32F411RE
-framework = arduino
-debug_tool = stlink
-
-[env:sam3x8e]
-extends = embedded, arduino
-platform = atmelsam
-board = due
-framework = arduino
-lib_deps =
-    ${env.lib_deps}
-    https://github.com/cloud-rocket/DuePWM.git
-
-[env:sam3x8e-debug]
-extends = embedded, arduino
-platform = atmelsam
-board = due
-framework = arduino
-build_flags =
-    ${env.build_flags}
-    -D DEBUG_SPINE
-    -D DEBUG_KASKAS
-debug_build_flags =
-    ${env.debug_build_flags}
-    -D DEBUG_KASKAS
-    -D DEBUG_SPINE
-lib_deps =
-    ${env.lib_deps}
-    https://github.com/antodom/pwm_lib.git
-
 [env:debug]
 platform = native
 build_flags =
@@ -165,7 +110,6 @@ debug_init_break = tbreak setup
 lib_deps =
     ${env.lib_deps}
     fabiobatsilva/ArduinoFake@^0.4.0
-    nanopb/Nanopb@^0.4.8
 
 [unittest]
 build_flags =

src/kaskas/kaskas.hpp

@@ -22,7 +22,6 @@
 #include <spine/eventsystem/eventsystem.hpp>
 #include <spine/io/stream/stream.hpp>
 #include <spine/platform/hal.hpp>
-#include <spine/structure/pointer.hpp>
 #include <spine/structure/vector.hpp>
 
 #include <utility>
@@ -56,7 +55,7 @@ class KasKas {
             auto dl = std::make_shared<Datalink>(uart,
                                                  Datalink::Config{.input_buffer_size = _cfg.prompt_cfg->io_buffer_size,
                                                                   .output_buffer_size = _cfg.prompt_cfg->io_buffer_size,
-                                                                  .delimiters = "\r\n"});
+                                                                  .delimiters = _cfg.prompt_cfg->line_delimiters});
             // using prompt::MockDatalink;
             //         auto prompt_cfg = Prompt::Config{.message_length = 64, .pool_size = 20};
             // auto dl = std::make_shared<MockDatalink>(

src/kaskas/prompt/incoming_message_factory.hpp

@@ -72,7 +72,7 @@ class IncomingMessageFactory {
 
     static ParseResult parse_usage_request(ParseContext& ctx) {
         if (spn::core::utils::starts_with(ctx.view, Dialect::OPERANT_PRINT_USAGE)) {
-            DBG("usage request detected");
+            // DBG("usage request detected");
             return Message(Dialect::OPERANT_PRINT_USAGE, Dialect::OPERANT_PRINT_USAGE);
         }
         return ParseResult::intermediary(ctx);

src/kaskas/prompt/prompt.hpp

@@ -69,17 +69,16 @@ class Prompt {
         _dl->pull();
 
         if (auto transaction = _dl->incoming_transaction()) {
-            // DBG("Prompt: New transaction coming over the wire: {%s}", std::string(transaction->incoming()).c_str());
+            // DBG("Prompt: new transaction: {%s}", std::string(transaction->incoming()).c_str());
             if (auto message = IncomingMessageFactory::from_view(transaction->incoming())) {
-                // DBG("message: {%s}!", message->as_string().c_str());
-                // DBG("message!");
+                // DBG("Prompt: valid message: {%s}!", message->as_string().c_str());
                 // transaction->outgoing(message->as_string());
                 // transaction->abort();
 
                 if (const auto rpc = _rpc_factory.from_message(*message)) {
                     auto res = rpc->invoke();
 
-                    // DBG("invoke: res: {%s}", res.return_value->c_str());
+                    // DBG("Prompt: invoked RPC, result: {%s}", res.return_value->c_str());
 
                     if (const auto reply = OutgoingMessageFactory::from_result(std::move(res), message->module);
                         reply) {

src/kaskas/prompt/rpc.hpp

@@ -146,7 +146,7 @@ class RPCFactory {
             return build_rpc_for_request(**recipe, optype, msg);
         }
         case Dialect::OP::PRINT_USAGE: {
-            DBG("rpc: usage request");
+            // DBG("rpc: usage request");
             return build_rpc_for_usage(msg);
         }
         default: DBG("no optype found for message: {%s}", msg.as_string().c_str()); return {};

src/kaskas/subsystems/fluidsystem.hpp

@@ -40,6 +40,7 @@ class Fluidsystem final : public Component {
 
         float ground_moisture_target;
 
+        uint16_t calibration_dosis_ml;
         uint16_t max_dosis_ml;
         time_s time_of_injection;
         time_s delay_before_effect_evaluation;
@@ -110,9 +111,9 @@ class Fluidsystem final : public Component {
 
             auto target_amount = _ml_per_percent_of_moisture.value() * error;
             if (_ml_per_percent_of_moisture.value() == 0) {
-                LOG("Fluidsystem: WaterInjectCheck: First injection since startup; injecting maximum dosis to "
+                LOG("Fluidsystem: WaterInjectCheck: First injection since startup; injecting calibration dosis to "
                     "calibrate.");
-                target_amount = _cfg.max_dosis_ml;
+                target_amount = _cfg.calibration_dosis_ml;
             }
 
             if (target_amount > _cfg.max_dosis_ml) {
@@ -237,9 +238,17 @@ class Fluidsystem final : public Component {
                 RPCModel(
                     "injectionEffect",
                     [this](const OptStringView& _) {
-                        return RPCResult(std::to_string(_ml_per_percent_of_moisture.value()), RPCResult::Status::OK);
+                        return RPCResult(std::to_string(_ml_per_percent_of_moisture.value()));
                     },
                     "tracks amount of moisture raised per mL of fluid dosed"),
+                RPCModel(
+                    "calibrationDosis",
+                    [this](const OptStringView& _) { return RPCResult(std::to_string(_cfg.calibration_dosis_ml)); },
+                    "The calibration dosage used when no fluid effect is known"),
+                RPCModel(
+                    "maxDosis",
+                    [this](const OptStringView& _) { return RPCResult(std::to_string(_cfg.max_dosis_ml)); },
+                    "The maximum allowed dosage."),
             }));
         return std::move(model);
     }

src/main.cpp

@@ -631,8 +631,9 @@ void setup() {
         auto fluidsystem_cfg = Fluidsystem::Config{.pump_cfg = pump_cfg, //
                                                    .ground_moisture_sensor_idx = ENUM_IDX(DataProviders::SOIL_MOISTURE),
                                                    .clock_idx = ENUM_IDX(DataProviders::CLOCK),
-                                                   .ground_moisture_target = 65, // target moisture percentage
-                                                   .max_dosis_ml = 250,
+                                                   .ground_moisture_target = 55, // target moisture percentage
+                                                   .calibration_dosis_ml = 250,
+                                                   .max_dosis_ml = 500,
                                                    .time_of_injection = time_h(6),
                                                    .delay_before_effect_evaluation = time_h(2)};
         auto fluidsystem = std::make_unique<Fluidsystem>(*hws, fluidsystem_cfg);

test/test_prompt/test_prompt.cpp

@@ -2,6 +2,7 @@
 #include "kaskas/prompt/rpc.hpp"
 
 #include <spine/eventsystem/eventsystem.hpp>
+#include <spine/io/stream/implementations/mock.hpp>
 #include <spine/platform/hal.hpp>
 #include <unity.h>
 
@@ -54,11 +55,17 @@ class MockController {
 
 void ut_prompt_basics() {
     using namespace kaskas::prompt;
+    using namespace spn::io;
 
-    auto prompt_cfg = Prompt::Config{.message_length = 64, .pool_size = 20};
+    const auto buffer_size = 1024;
 
-    auto dl = std::make_shared<MockDatalink>(
-        MockDatalink::Config{.message_length = prompt_cfg.message_length, .pool_size = prompt_cfg.pool_size});
+    auto stream = std::make_shared<MockStream>(
+        MockStream(MockStream::Config{.input_buffer_size = buffer_size, .output_buffer_size = buffer_size}));
+
+    auto prompt_cfg = Prompt::Config{.io_buffer_size = buffer_size, .line_delimiters = "\r\n"};
+    auto dl = std::make_shared<Datalink>(
+        stream,
+        Datalink::Config{.input_buffer_size = buffer_size, .output_buffer_size = buffer_size, .delimiters = "\r\n"});
     auto prompt = Prompt(std::move(prompt_cfg));
     prompt.hotload_datalink(dl);