AerospaceNU · thomasatwoodrobinson · Nov 2, 2023 · Nov 2, 2023 · Nov 2, 2023
diff --git a/src/comm-boundary/FakeCommBoundary.cpp b/src/comm-boundary/FakeCommBoundary.cpp
@@ -3,12 +3,13 @@
 //
 
 #include "FakeCommBoundary.h"
+#include <etl/vector.h>
 
 void FakeCommBoundary::reportState([[maybe_unused]] ECSState &curState) {
     this->stateReported = true;
 }
 
-void FakeCommBoundary::reportRedlines([[maybe_unused]] std::vector<RedlineResponsePacket> redlineReports) {
+void FakeCommBoundary::reportRedlines([[maybe_unused]] etl::vector<RedlineResponsePacket, 45> redlineReports) {
     this->redlinesReported = true;
 }
 

diff --git a/src/comm-boundary/FakeCommBoundary.h b/src/comm-boundary/FakeCommBoundary.h
@@ -6,6 +6,7 @@
 #define BETTER_ENGINE_CONTROL_SOFTWARE_FAKECOMMBOUNDARY_H
 
 #include "ICommBoundary.h"
+#include <etl/vector.h> 
 
 /**
  * Mock impl of ICommBoundary
@@ -15,7 +16,7 @@
 class FakeCommBoundary: public ICommBoundary{
 public:
     void reportState(ECSState& curState) override;
-    void reportRedlines(std::vector<RedlineResponsePacket>) override;
+    void reportRedlines(etl::vector<RedlineResponsePacket, 45>) override;
     void reportSensorData(SensorData data, bool isCalibrated) override;
     void reportMessage(std::string msg) override;
 

diff --git a/src/comm-boundary/ICommBoundary.h b/src/comm-boundary/ICommBoundary.h
@@ -6,7 +6,7 @@
 #define BETTER_ENGINE_CONTROL_SOFTWARE_ICOMMBOUNDARY_H
 
 #include "utils/CommandData.h"
-#include <vector>
+#include <etl/vector.h>
 #include <utility>
 #include "watchdog/redlines/IRedline.h"
 
@@ -31,7 +31,7 @@ class ICommBoundary{
      * Reports list of redline results back to operator
      * @param redlineReports list of redline response data packets
      */
-    virtual void reportRedlines(std::vector<RedlineResponsePacket> redlineReports) = 0;
+    virtual void reportRedlines(etl::vector<RedlineResponsePacket, 45> redlineReports) = 0;
 
     /**
      * Reports the data back to the operator

diff --git a/src/comm-boundary/OutgoingJsonParsers.cpp b/src/comm-boundary/OutgoingJsonParsers.cpp
@@ -5,6 +5,7 @@
 #include "OutgoingJsonParsers.h"
 #include "ParsingHelpers.h"
 #include "utils/ECSUtils.h"
+#include <etl/vector.h>
 
 // anonymous namespace for helper functions
 namespace{
@@ -369,7 +370,7 @@ json parseECSState(ECSState& curState){
     return state;
 }
 
-json parseRedlines(const std::vector<RedlineResponsePacket>& redlineReports){
+json parseRedlines(const etl::vector<RedlineResponsePacket, 45>& redlineReports){
     json report;
     report["command"] = "REDLINE_REPORT";
 

diff --git a/src/comm-boundary/OutgoingJsonParsers.h b/src/comm-boundary/OutgoingJsonParsers.h
@@ -9,6 +9,7 @@
 #include "watchdog/redlines/RedlineResponsePacket.h"
 #include "utils/SensorData.h"
 #include "utils/ECSState.h"
+#include <etl/vector.h>
 
 using json = nlohmann::json;
 
@@ -32,7 +33,7 @@ json parseECSState(ECSState &curState);
  * @param redlineReports vector of redline results
  * @return json formatted according to specification in examples folder
  */
-json parseRedlines(const std::vector<RedlineResponsePacket>& redlineReports);
+json parseRedlines(const etl::vector<RedlineResponsePacket, 45>& redlineReports);
 
 /**
  * Returns JSON object describing a SensorData obtained from the ECS, for

diff --git a/src/comm-boundary/SocketLogger.cpp b/src/comm-boundary/SocketLogger.cpp
@@ -5,6 +5,7 @@
 #include <utility>
 #include "IncomingJsonParsers.h"
 #include "OutgoingJsonParsers.h"
+#include <etl/vector.h>
 
 SocketLogger::SocketLogger(Logger logger_, std::queue<json> temp) :
         incomingMessageQueue(std::move(temp)),
@@ -116,7 +117,7 @@ void SocketLogger::reportState([[maybe_unused]] ECSState &curState) {
     // this->outgoingMessageQueue.push(parseECSState(curState).dump(4));
 }
 
-void SocketLogger::reportRedlines([[maybe_unused]] std::vector<RedlineResponsePacket> redlineReports) {
+void SocketLogger::reportRedlines([[maybe_unused]] etl::vector<RedlineResponsePacket, 45> redlineReports) {
     // this->outgoingMessageQueue.push(parseRedlines(redlineReports).dump(4));
 }
 

diff --git a/src/comm-boundary/SocketLogger.h b/src/comm-boundary/SocketLogger.h
@@ -18,6 +18,7 @@
 #include "utils/ThreadQueue.h"
 
 #include "logger/Logger.h"
+#include <etl/vector.h>
 
 // forward declaration lmao
 class IECS;
@@ -65,7 +66,7 @@ class SocketLogger: public ICommBoundary {
     void processOutgoing();
 
     void reportState(ECSState& curState) override;
-    void reportRedlines(std::vector<RedlineResponsePacket> redlineReports) override;
+    void reportRedlines(etl::vector<RedlineResponsePacket, 45> redlineReports) override;
     void reportSensorData(SensorData data, bool isCalibrated) override;
     void reportMessage(std::string msg) override;
 

diff --git a/src/constants/AllCalibrations.h b/src/constants/AllCalibrations.h
@@ -6,9 +6,9 @@
 #define BETTER_ENGINE_CONTROL_SOFTWARE_ALLCALIBRATIONS_H
 
 #include "phys-boundary/calibrators/SensorDataCalibrator.h"
-#include <vector>
+#include <etl/vector.h>
 
-extern std::vector<SensorDataCalibrator> calibratorList;
+extern etl::vector<SensorDataCalibrator, 30> calibratorList;
 
 
 #endif //BETTER_ENGINE_CONTROL_SOFTWARE_ALLCALIBRATIONS_H
diff --git a/src/phys-boundary/TeensyBoundary.cpp b/src/phys-boundary/TeensyBoundary.cpp
@@ -4,6 +4,7 @@
 
 #include "TeensyBoundary.h"
 #include <utility>
+#include <etl/vector.h>
 
 namespace{
     /*
@@ -60,7 +61,7 @@ TeensyBoundary::TeensyBoundary(std::unique_ptr<IECSValve> loxPressurant_, std::u
                                std::unique_ptr<IECSValve> kerOrifice_,
                                std::unique_ptr<IECSValve> loxDrip_, std::unique_ptr<IECSValve> kerDrip_,
                                std::unique_ptr<IPacketSource<PropBoardSensorData>> pSource,
-                               std::vector<SensorDataCalibrator> cList):
+                               etl::vector<SensorDataCalibrator, 30> cList):
         loxPressurant(std::move(loxPressurant_)),
         kerPressurant(std::move(kerPressurant_)),
         loxPurge(std::move(loxPurge_)),

diff --git a/src/phys-boundary/TeensyBoundary.h b/src/phys-boundary/TeensyBoundary.h
@@ -15,6 +15,7 @@
 #include "calibrators/SensorDataCalibrator.h"
 
 #include <vector>
+#include <etl/vector.h>
 #include <memory>
 
 /**
@@ -40,7 +41,7 @@ class TeensyBoundary: public IPhysicalBoundary{
                             std::unique_ptr<IECSValve> kerDrip,
 
                             std::unique_ptr<IPacketSource<PropBoardSensorData>> packetSource,
-                            std::vector<SensorDataCalibrator> calibratorList = {});
+                            etl::vector<SensorDataCalibrator, 30> calibratorList = {});
 
 
     TeensyBoundary(const TeensyBoundary& other) = delete;
@@ -83,6 +84,6 @@ class TeensyBoundary: public IPhysicalBoundary{
 
     std::unique_ptr<IPacketSource<PropBoardSensorData>> packetSource;
 
-    std::vector<SensorDataCalibrator> calibratorList;
+    etl::vector<SensorDataCalibrator, 30> calibratorList;
 };
 #endif //BETTER_ENGINE_CONTROL_SOFTWARE_TEENSYBOUNDARY_H
diff --git a/src/utils/ECSState.cpp b/src/utils/ECSState.cpp
@@ -5,18 +5,19 @@
 #include "ECSState.h"
 
 #include <utility>
+#include <etl/vector.h>
 
 void swap(ECSState& left, ECSState& right) noexcept {
     using std::swap;
 
     swap(left.name, right.name);
-    swap(left.redlines, right.redlines);
+    etl::swap(left.redlines, right.redlines);
     swap(left.config, right.config);
     swap(left.failState, right.failState);
 }
 
 ECSState::ECSState(std::string name_,
-                   std::vector<std::unique_ptr<IRedline>> redlines_,
+                   etl::vector<std::unique_ptr<IRedline>, 45> redlines_, //21 redlines, 9 states, 15 extra for margin 
                    CommandData config_,
                    CommandData failState_):
     name(std::move(name_)),
@@ -42,8 +43,8 @@ std::string ECSState::getName() const {
     return this->name;
 }
 
-std::vector<std::unique_ptr<IRedline>> ECSState::getRedlines() const {
-    std::vector<std::unique_ptr<IRedline>> result;
+etl::vector<std::unique_ptr<IRedline>, 45> ECSState::getRedlines() const {
+    etl::vector<std::unique_ptr<IRedline>, 45> result;
 
     for (auto& elem: this->redlines){
         result.emplace_back(elem->clone());

diff --git a/src/utils/ECSState.h b/src/utils/ECSState.h
@@ -6,7 +6,7 @@
 #define BETTER_ENGINE_CONTROL_SOFTWARE_ISTATE_H
 
 #include <string>
-#include <vector>
+#include <etl/vector.h>
 #include "watchdog/redlines/IRedline.h"
 #include "CommandData.h"
 
@@ -16,7 +16,7 @@
 class ECSState{
 public:
 
-    ECSState(std::string name, std::vector<std::unique_ptr<IRedline>> redlines, CommandData config, CommandData failState);
+    ECSState(std::string name, etl::vector<std::unique_ptr<IRedline>, 45> redlines, CommandData config, CommandData failState);
     ~ECSState() = default;
 
     ECSState(const ECSState& other);
@@ -33,7 +33,7 @@ class ECSState{
      * Get redlines for this state
      * @return redlines
      */
-    [[nodiscard]] std::vector<std::unique_ptr<IRedline>> getRedlines() const;
+    [[nodiscard]] etl::vector<std::unique_ptr<IRedline>, 45> getRedlines() const;
 
     /**
      * Get CommandData for this state
@@ -49,7 +49,7 @@ class ECSState{
 
 private:
     std::string name;
-    std::vector<std::unique_ptr<IRedline>> redlines;
+    etl::vector<std::unique_ptr<IRedline>, 45> redlines;
     CommandData config;
     CommandData failState;
 

diff --git a/src/utils/ECSUtils.h b/src/utils/ECSUtils.h
@@ -4,7 +4,7 @@
 #include <cstdint>
 #include <chrono>
 #include <string>
-#include <vector>
+#include <etl/vector.h>
 #include <memory>
 #include <type_traits>
 
@@ -18,8 +18,8 @@
  * @param args elements of the vector
  * @return vector of type std::unique_ptr<V>
  */
-template <class V, class ... Args> auto make_vector_unique(Args ... args) {
-    std::vector<std::unique_ptr<V>> rv;
+template <class V, size_t size, class ... Args> auto make_vector_unique(Args ... args) {
+    etl::vector<std::unique_ptr<V>, size> rv;
     (rv.emplace_back(std::move(args)), ...);
     return rv;
 }

diff --git a/src/watchdog/FakeWatchDog.cpp b/src/watchdog/FakeWatchDog.cpp
@@ -5,7 +5,7 @@
 #include "FakeWatchDog.h"
 #include <utility>
 
-FakeWatchDog::FakeWatchDog(std::vector<std::unique_ptr<IRedline>> conds):
+FakeWatchDog::FakeWatchDog(etl::vector<std::unique_ptr<IRedline>, 45> conds):
     conditions()
 {
     for(auto& redline: conds){
@@ -15,8 +15,8 @@ FakeWatchDog::FakeWatchDog(std::vector<std::unique_ptr<IRedline>> conds):
     }
 }
 
-std::vector<RedlineResponsePacket> FakeWatchDog::stepRedlines(const SensorData& data){
-    std::vector<RedlineResponsePacket> result = {};
+etl::vector<RedlineResponsePacket, 45> FakeWatchDog::stepRedlines(const SensorData& data){
+    etl::vector<RedlineResponsePacket, 45> result = {};
 
     for(auto& curTest : this->conditions){
         ECSRedLineResponse response = curTest->testCondition(data);
@@ -27,7 +27,7 @@ std::vector<RedlineResponsePacket> FakeWatchDog::stepRedlines(const SensorData&
     return result;
 }
 
-void FakeWatchDog::updateRedlines(std::vector<std::unique_ptr<IRedline>> newRedlines) {
+void FakeWatchDog::updateRedlines(etl::vector<std::unique_ptr<IRedline>, 45> newRedlines) {
     this->conditions.clear();
 
     for(auto& redline: newRedlines){

diff --git a/src/watchdog/FakeWatchDog.h b/src/watchdog/FakeWatchDog.h
@@ -2,6 +2,7 @@
 #define BETTER_ENGINE_CONTROL_SOFTWARE_FAKEWATCHDOG_H
 
 #include "IWatchDog.h"
+#include <etl/vector.h>
 
 /**
  * An implementation of WatchDog without any filtering
@@ -17,19 +18,20 @@ class FakeWatchDog: public IWatchDog{
      * Stores list of initial redlines
      *
      * Filters out null pointers from list
+     * 30 REDLINES, 15 EXTRA FOR WARNINGS AND ABORTS
      * @param conds list to store
      */
-    explicit FakeWatchDog(std::vector<std::unique_ptr<IRedline>> conds = {});
+    explicit FakeWatchDog(etl::vector<std::unique_ptr<IRedline>, 45> conds = {});
 
-    void updateRedlines(std::vector<std::unique_ptr<IRedline>> newRedlines) override;
+    void updateRedlines(etl::vector<std::unique_ptr<IRedline>, 45> newRedlines) override;
 
-    std::vector<RedlineResponsePacket> stepRedlines(const SensorData& data) override;
+    etl::vector<RedlineResponsePacket, 45> stepRedlines(const SensorData& data) override;
 
 private:
     /*
      * INVARIANT: this vector does not contain null pointers
      */
-    std::vector<std::unique_ptr<IRedline>> conditions;
+    etl::vector<std::unique_ptr<IRedline>, 45> conditions;
 };
 
 #endif //BETTER_ENGINE_CONTROL_SOFTWARE_FAKEWATCHDOG_H
diff --git a/src/watchdog/IWatchDog.h b/src/watchdog/IWatchDog.h
@@ -18,13 +18,13 @@ class IWatchDog{
     /**
      * Updates stored current redlines list
      */
-    virtual void updateRedlines(std::vector<std::unique_ptr<IRedline>> newRedlines) = 0;
+    virtual void updateRedlines(etl::vector<std::unique_ptr<IRedline>, 45> newRedlines) = 0;
 
     /**
      * Runs passed sensor data through redlines list
      * @param data sensor data to check
      * @return list of tuples, each tuple being the failed redline's response, and the failed redline itself
      */
-    virtual std::vector<RedlineResponsePacket> stepRedlines(const SensorData& data) = 0;
+    virtual etl::vector<RedlineResponsePacket, 45> stepRedlines(const SensorData& data) = 0;
 };
 #endif //BETTER_ENGINE_CONTROL_SOFTWARE_IWATCHDOG_H