Spiro/update board protocol by SpiroDouvis · Pull Request #15 · UCSOAR/CommunicationSystemsSubmodule

SpiroDouvis · 2026-05-23T03:33:57Z

chat cooked so hard

…msSubmodule into Spiro/UpdateBoardProtocol

…d in ouroboros folder for reuse if needed, copied and reworote for existing boards in aegis folder

…pvs, tcs, and heaters

Co-authored-by: Copilot <copilot@github.com>

…eded for gui

…msSubmodule into Spiro/UpdateBoardProtocol

Copilot

Pull request overview

This PR updates the SOAR protocol definitions and generated bindings, including board/node identity updates and new command/telemetry schemas, and refreshes parts of the UART protocol task formatting/handling code.

Changes:

Renames node identifiers in the Ouroboros CoreProto.proto (e.g., FSB/FCB/LRB) and updates protocol task formatting.
Extends Aegis FcbCommand.Command with new camera/air-brakes commands.
Adds/updates a large set of generated protobuf outputs for C++ and Python (pb2 / pyi and EmbeddedProto headers).

Reviewed changes

Copilot reviewed 16 out of 24 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
SoarProto/ProtocolTask.cpp	Protocol task formatting changes and allocator usage update.
SoarProto/Ouroboros/CoreProto.proto	Renames `Node` enum members for Ouroboros protocol.
SoarProto/Aegis/CommandMessage.proto	Adds new `FcbCommand.Command` enum values (camera/air-brakes).
SoarProto/Aegis/_Python/CommandMessage_pb2.pyi	Updates Python typing stubs for Aegis CommandMessage outputs.
SoarProto/Aegis/_Python/CommandMessage_pb2.py	Updates generated Python protobuf module for Aegis CommandMessage outputs.
SoarProto/Aegis/_C++/CommandMessage.hpp	Updates generated EmbeddedProto C++ header for Aegis CommandMessage outputs.
SoarProto/_Python/TelemetryMessage_pb2.pyi	Adds generated Python typing stubs for telemetry messages.
SoarProto/_Python/TelemetryMessage_pb2.py	Adds generated Python protobuf module for telemetry messages.
SoarProto/_Python/SensorData_pb2.pyi	Adds generated Python typing stubs for sensor data messages.
SoarProto/_Python/SensorData_pb2.py	Adds generated Python protobuf module for sensor data messages.
SoarProto/_Python/CoreProto_pb2.pyi	Adds generated Python typing stubs for core enums.
SoarProto/_Python/CoreProto_pb2.py	Adds generated Python protobuf module for core enums.
SoarProto/_Python/ControlMessage_pb2.pyi	Adds generated Python typing stubs for control messages.
SoarProto/_Python/ControlMessage_pb2.py	Adds generated Python protobuf module for control messages.
SoarProto/_Python/CommandMessages_pb2.pyi	Adds generated Python typing stubs for command wrapper messages.
SoarProto/_Python/CommandMessages_pb2.py	Adds generated Python protobuf module for command wrapper messages.
SoarProto/_Python/CommandMessage_pb2.pyi	Adds generated Python typing stubs for command messages (non-Aegis).
SoarProto/_Python/CommandMessage_pb2.py	Adds generated Python protobuf module for command messages (non-Aegis).
SoarProto/_C++/SensorData.hpp	Adds generated EmbeddedProto C++ header for SensorData.
SoarProto/_C++/CoreProto.h	Adds generated EmbeddedProto C++ header for core enums.
SoarProto/_C++/CommandMessages.hpp	Adds generated EmbeddedProto C++ header for command wrapper messages.
SoarProto/_C++/CommandMessage.hpp	Adds generated EmbeddedProto C++ header for command messages.

Files not reviewed (7)

SoarProto/Aegis/_Python/CommandMessage_pb2.py: Language not supported
SoarProto/_Python/CommandMessage_pb2.py: Language not supported
SoarProto/_Python/CommandMessages_pb2.py: Language not supported
SoarProto/_Python/ControlMessage_pb2.py: Language not supported
SoarProto/_Python/CoreProto_pb2.py: Language not supported
SoarProto/_Python/SensorData_pb2.py: Language not supported
SoarProto/_Python/TelemetryMessage_pb2.py: Language not supported

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+ ******************************************************************************
+ * File Name          : ProtocolTask.cpp
+ * Description        : The base ProtocolTask for all boards, includes a UART Rx Handling and Functions for Tx/Rx of Protocol Data
+ *                      Should be derived from for a Board Specific Protocol Task that implements the pure virtual functions.
+ ******************************************************************************


+                {
                    // Verify the checksum is correct, send a NACK and don't process if incorrect
-                    if (!Utils::IsCrc16Correct(decodedDataPtr, cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES, *((uint16_t*)&decodedDataPtr[cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES]))) {
+                    if (!Utils::IsCrc16Correct(decodedDataPtr, cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES, *((uint16_t *)&decodedDataPtr[cobsRes.out_len - PROTOCOL_CHECKSUM_BYTES])))


    memcpy(&(arr[1]), data, size);
    uint16_t chkSum = Utils::GetCRC16(arr, size + 1);
-    *((uint16_t*)&arr[preCobsSize - PROTOCOL_CHECKSUM_BYTES]) = chkSum;
+    *((uint16_t *)&arr[preCobsSize - PROTOCOL_CHECKSUM_BYTES]) = chkSum;


+        //CAMERA COMMANDS
+        RSC_CAMERA_SWITCH = 25;
+
+        RSC_CAM1_ENABLE = 26;
+        RSC_CAM1_DISABLE = 27;
+
+        RSC_CAM2_ENABLE = 28;
+        RSC_CAM2_DISABLE = 29;
+
+        RSC_CAM3_ENABLE = 30;
+        RSC_CAM3_DISABLE = 31;
+
+        RSC_AIR_BRAKES_ENABLE = 32;
+        RSC_AIR_BRAKES_DISABLE = 33;
+
        //-- TECHNICAL --
-        RSC_NONE = 25;   // Invalid command, must be last
+        RSC_NONE = 34;   // Invalid command, must be last



 enum Node {
    NODE_INVALID = 0;

    NODE_UNKNOWN = 1;   // This can happen if the node is not yet known at this stage, eg. COBS decode failed
    NODE_ANY = 2;
-    NODE_RCU = 3;
-    NODE_DMB = 4;
+    NODE_FSB = 3;
+    NODE_FCB = 4;
    NODE_PBB = 5;
-    NODE_SOB = 6;
+    NODE_LRB = 6;
 }


+class CommandMessage(_message.Message):
+    __slots__ = ("source", "target", "source_sequence_num", "dmb_command", "pbb_command", "rcu_command", "sob_command")
+    SOURCE_FIELD_NUMBER: _ClassVar[int]
+    TARGET_FIELD_NUMBER: _ClassVar[int]
+    SOURCE_SEQUENCE_NUM_FIELD_NUMBER: _ClassVar[int]
+    DMB_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    __slots__ = ["fcb_command", "pbb_command", "fsb_command", "lrb_command", "source", "source_sequence_num", "target"]
+    FCB_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    PBB_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    RCU_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    SOB_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    source: _CoreProto_pb2.Node
+    target: _CoreProto_pb2.Node
+    source_sequence_num: int
+    dmb_command: DmbCommand
+    FSB_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    LRB_COMMAND_FIELD_NUMBER: _ClassVar[int]
+    SOURCE_FIELD_NUMBER: _ClassVar[int]
+    SOURCE_SEQUENCE_NUM_FIELD_NUMBER: _ClassVar[int]
+    TARGET_FIELD_NUMBER: _ClassVar[int]
+    fcb_command: FcbCommand
+    pbb_command: PbbCommand
+    rcu_command: RcuCommand
+    sob_command: SobCommand
+    def __init__(self, source: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., target: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., source_sequence_num: _Optional[int] = ..., dmb_command: _Optional[_Union[DmbCommand, _Mapping]] = ..., pbb_command: _Optional[_Union[PbbCommand, _Mapping]] = ..., rcu_command: _Optional[_Union[RcuCommand, _Mapping]] = ..., sob_command: _Optional[_Union[SobCommand, _Mapping]] = ...) -> None: ...
+    fsb_command: FsbCommand
+    lrb_command: LrbCommand
+    source: _CoreProto_pb2.Node
+    source_sequence_num: int
+    target: _CoreProto_pb2.Node
+    def __init__(self, source: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., target: _Optional[_Union[_CoreProto_pb2.Node, str]] = ..., source_sequence_num: _Optional[int] = ..., fcb_command: _Optional[_Union[FcbCommand, _Mapping]] = ..., pbb_command: _Optional[_Union[PbbCommand, _Mapping]] = ..., fsb_command: _Optional[_Union[FsbCommand, _Mapping]] = ..., lrb_command: _Optional[_Union[LrbCommand, _Mapping]] = ...) -> None: ...


SpiroDouvis and others added 20 commits April 28, 2026 19:14

Create new proto file for references to board stack

529626c

changed references to new boards

4ad9cc6

small config change

324feb9

Merge branch 'master' of https://github.com/UCSOAR/CommunicationSyste…

58bcdfd

…msSubmodule into Spiro/UpdateBoardProtocol

References to proper boards now

d841181

Pulling master

a21164a

Remove gps init for pollingtask, unneeded

e6ab3c1

Reorganized structure of SoarProto module, existing proto logic store…

cf0faeb

…d in ouroboros folder for reuse if needed, copied and reworote for existing boards in aegis folder

Decoupled rocket state logic from fcb, preparing to adding logic for …

9d25e33

…pvs, tcs, and heaters

Updated PV and IBH stuff for updated system

86f2f44

Co-authored-by: Copilot <copilot@github.com>

Update Proto Gen and install scripts

5941d8f

Update Command Messages

1f0b7bf

Update old board names to Aegis names

ec8a24e

update telemetry messages

1eb6436

Lastest proto gen for Aegis

03a02af

Changed path for canbustargets.hpp

7ab1648

pull main shizzy stuff

6a5b782

New camera command messages for commandproto, implementation still ne…

df43682

…eded for gui

Merge branch 'master' of https://github.com/UCSOAR/CommunicationSyste…

6fa15ef

…msSubmodule into Spiro/UpdateBoardProtocol

new air brakes enable and disable command

e88874f

Copilot AI review requested due to automatic review settings May 23, 2026 03:33

Copilot started reviewing on behalf of SpiroDouvis May 23, 2026 03:34 View session

Copilot AI reviewed May 23, 2026

View reviewed changes

AndreyDiDev merged commit bd8d974 into master May 23, 2026
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Spiro/update board protocol#15

Spiro/update board protocol#15
AndreyDiDev merged 20 commits into
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Spiro/UpdateBoardProtocol

SpiroDouvis commented May 23, 2026

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SpiroDouvis commented May 23, 2026

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