From 13b5b735c6bdd8c3ebc83ea4dbc34adfabad4c1f Mon Sep 17 00:00:00 2001
From: Tom Lonergan <43603330+TomLonergan03@users.noreply.github.com>
Date: Fri, 24 May 2024 18:00:01 +0100
Subject: [PATCH 1/4] SNS - Keyence (#118)

---
 CMakeLists.txt                           |   1 +
 Dockerfile                               |  10 +-
 config/debug.toml                        |   4 +
 lib/debug/commands/gpio_commands.cpp     |  26 +--
 lib/debug/commands/keyence_commands.cpp  |  66 +++++++
 lib/debug/commands/keyence_commands.hpp  |  27 +++
 lib/debug/repl.cpp                       |  10 +
 lib/debug/repl.hpp                       |   9 +-
 lib/io/CMakeLists.txt                    |   1 +
 lib/io/gpio.hpp                          |  12 +-
 lib/io/hardware_gpio.cpp                 | 235 +++++------------------
 lib/io/hardware_gpio.hpp                 |  55 ++----
 lib/motors/time_frequency_calculator.hpp |   1 +
 lib/sensors/keyence.cpp                  |  27 ++-
 lib/sensors/keyence.hpp                  |  14 +-
 lib/utils/dummy_gpio.cpp                 |   6 +-
 lib/utils/dummy_gpio.hpp                 |   6 +-
 src/debugger/main.cpp                    |   4 +-
 test/utils/dummy_gpio.cpp                |  23 +--
 19 files changed, 251 insertions(+), 286 deletions(-)
 create mode 100644 lib/debug/commands/keyence_commands.cpp
 create mode 100644 lib/debug/commands/keyence_commands.hpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0a32d058..0a051fc4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,7 @@ include_directories(${CURSES_INCLUDE_DIR})
 find_package(Boost REQUIRED)
 find_package(PahoMqttCpp REQUIRED)
 include_directories(${PahoMqttCpp_INCLUDE_DIRS})
+find_library(GPIOD_LIBRARY REQUIRED NAMES libgpiodcxx.so)
 include(FetchContent)
 FetchContent_Declare(
   rapidjson GIT_REPOSITORY https://github.com/Tencent/rapidjson.git
diff --git a/Dockerfile b/Dockerfile
index 8d7da661..89c300ec 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,7 +3,7 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 # Install dependencies
 RUN apt-get update && \
-    apt-get install -y git clang clang-format clang-tidy libboost-all-dev libeigen3-dev rapidjson-dev build-essential gcc make cmake libssl-dev libncurses5-dev libncursesw5-dev sudo 
+    apt-get install -y git clang clang-format clang-tidy libboost-all-dev libeigen3-dev rapidjson-dev build-essential gcc make cmake libssl-dev libncurses5-dev libncursesw5-dev sudo autoconf-archive
 
 # Install Paho C++
 WORKDIR /home
@@ -12,6 +12,14 @@ WORKDIR /home/paho.mqtt.cpp
 RUN git checkout v1.3.2
 RUN cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_STATIC=ON -DPAHO_BUILD_DOCUMENTATION=OFF -DPAHO_BUILD_SAMPLES=OFF
 RUN sudo cmake --build build/ --target install
+
+# Install libgpiod
+WORKDIR /home
+RUN git clone https://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git
+WORKDIR /home/libgpiod
+RUN git checkout v2.1.x
+RUN ./autogen.sh --enable-tools=yes --enable-bindings-cxx --prefix=/usr && make -j && sudo make install
+
 RUN sudo ldconfig
 
 WORKDIR /home/hyped_entrypoint
diff --git a/config/debug.toml b/config/debug.toml
index c5b32299..80388389 100644
--- a/config/debug.toml
+++ b/config/debug.toml
@@ -35,6 +35,10 @@ address = 0x38
 enabled = false
 bus = "can1"
 
+[sensors.keyence]
+enabled = false
+pin = 1
+
 [motors]
 enabled = false
 bus = "can1"
diff --git a/lib/debug/commands/gpio_commands.cpp b/lib/debug/commands/gpio_commands.cpp
index 0e8c608b..5af79193 100644
--- a/lib/debug/commands/gpio_commands.cpp
+++ b/lib/debug/commands/gpio_commands.cpp
@@ -1,13 +1,15 @@
 #include "gpio_commands.hpp"
 
+#include <io/hardware_gpio.hpp>
+
 namespace hyped::debug {
 
 core::Result GpioCommands::addCommands(core::ILogger &logger, std::shared_ptr<Repl> &repl)
 {
   {
-    const auto *const gpio_read_command_name        = "gpio read";
-    const auto *const gpio_read_command_description = "Read from GPIO pins";
-    const auto *const gpio_read_command_usage       = "gpio read <pin_number>";
+    const std::string gpio_read_command_name        = "gpio read";
+    const std::string gpio_read_command_description = "Read from GPIO pins";
+    const std::string gpio_read_command_usage       = "gpio read <pin_number>";
     const auto gpio_read_command_handler = [&logger, repl](std::vector<std::string> args) {
       if (args.size() != 1) {
         logger.log(core::LogLevel::kFatal, "Invalid number of arguments");
@@ -15,12 +17,12 @@ core::Result GpioCommands::addCommands(core::ILogger &logger, std::shared_ptr<Re
       }
       const auto gpio           = repl->getGpio();
       const auto pin            = std::stoi(args[0]);
-      auto optional_gpio_reader = gpio->getReader(pin, io::Edge::kNone);
+      auto optional_gpio_reader = gpio->getReader(pin);
       if (!optional_gpio_reader) {
-        logger.log(core::LogLevel::kFatal, "Failed to get GPIO reader on pin %d", pin);
+        logger.log(core::LogLevel::kFatal, "Failed to create GPIO reader for pin %d", pin);
         return;
       }
-      const auto gpio_reader = std::move(*optional_gpio_reader);
+      const auto gpio_reader = *optional_gpio_reader;
       const auto value       = gpio_reader->read();
       if (!value) {
         logger.log(core::LogLevel::kFatal, "Failed to read from GPIO pin %d", pin);
@@ -38,9 +40,9 @@ core::Result GpioCommands::addCommands(core::ILogger &logger, std::shared_ptr<Re
     repl->addCommand(std::move(gpio_read_command));
   }
   {
-    const auto *const gpio_write_command_name        = "gpio write";
-    const auto *const gpio_write_command_description = "Write to GPIO pin (0 or 1)";
-    const auto *const gpio_write_command_usage       = "gpio write <pin_number> <value>";
+    const std::string gpio_write_command_name        = "gpio write";
+    const std::string gpio_write_command_description = "Write to GPIO pin (0 or 1)";
+    const std::string gpio_write_command_usage       = "gpio write <pin_number> <value>";
     const auto gpio_write_command_handler = [&logger, repl](std::vector<std::string> args) {
       if (args.size() != 2) {
         logger.log(core::LogLevel::kFatal, "Invalid number of arguments");
@@ -48,12 +50,12 @@ core::Result GpioCommands::addCommands(core::ILogger &logger, std::shared_ptr<Re
       }
       const auto gpio           = repl->getGpio();
       const auto pin            = std::stoi(args[0]);
-      auto optional_gpio_writer = gpio->getWriter(pin, io::Edge::kNone);
+      auto optional_gpio_writer = gpio->getWriter(pin);
       if (!optional_gpio_writer) {
-        logger.log(core::LogLevel::kFatal, "Failed to create GPIO writer on pin %d", pin);
+        logger.log(core::LogLevel::kFatal, "Failed to create GPIO writer for pin %d", pin);
         return;
       }
-      const auto gpio_writer = std::move(*optional_gpio_writer);
+      const auto gpio_writer = *optional_gpio_writer;
       const auto value       = std::stoi(args[1]);
       core::DigitalSignal signal;
       switch (value) {
diff --git a/lib/debug/commands/keyence_commands.cpp b/lib/debug/commands/keyence_commands.cpp
new file mode 100644
index 00000000..eb017ac2
--- /dev/null
+++ b/lib/debug/commands/keyence_commands.cpp
@@ -0,0 +1,66 @@
+#include "keyence_commands.hpp"
+
+#include <cstdint>
+#include <thread>
+
+#include "core/logger.hpp"
+#include "core/time.hpp"
+#include "core/types.hpp"
+#include "sensors/keyence.hpp"
+
+namespace hyped::debug {
+
+core::Result KeyenceCommands::addCommands(core::ILogger &logger,
+                                          std::shared_ptr<Repl> &repl,
+                                          core::ITimeSource &time,
+                                          toml::v3::node_view<toml::v3::node> config)
+{
+  const auto optional_pin = config["pin"].value<std::uint8_t>();
+  if (!optional_pin) {
+    logger.log(core::LogLevel::kFatal, "Invalid pin");
+    return core::Result::kFailure;
+  }
+  const auto pin        = *optional_pin;
+  const auto gpio       = repl->getGpio();
+  auto optional_keyence = sensors::Keyence::create(logger, gpio, pin);
+  if (!optional_keyence) {
+    logger.log(core::LogLevel::kFatal, "Failed to create keyence sensor");
+    return core::Result::kFailure;
+  }
+  const auto keyence                      = *optional_keyence;
+  const std::string keyence_command_name  = "keyence read";
+  const std::string keyence_command_usage = "keyence read <time> <interval>";
+  const std::string keyence_command_description
+    = "Read from the keyence sensor every <interval> seconds for <time> seconds";
+  const auto keyence_command_handler = [&logger, keyence, &time](std::vector<std::string> args) {
+    if (args.size() != 2) {
+      logger.log(core::LogLevel::kFatal, "Invalid number of arguments");
+      return;
+    }
+    const std::uint32_t run_time = std::stoul(args[0], nullptr, 10);
+    const std::uint32_t interval = std::stof(args[1]);
+    const auto start_time        = time.now();
+    auto count                   = 0;
+    while (time.now() - start_time < std::chrono::seconds(run_time)) {
+      const auto result = keyence->updateStripeCount();
+      if (result != core::Result::kSuccess) {
+        logger.log(core::LogLevel::kFatal, "Failed to update stripe count");
+        return;
+      }
+      const auto stripe_count = keyence->getStripeCount();
+      if (stripe_count != count) {
+        logger.log(core::LogLevel::kInfo, "Stripe count: %d", stripe_count);
+        count = stripe_count;
+      }
+      std::this_thread::sleep_for(std::chrono::seconds(interval));
+    }
+  };
+  auto keyence_command = std::make_unique<Command>(keyence_command_name,
+                                                   keyence_command_description,
+                                                   keyence_command_usage,
+                                                   keyence_command_handler);
+  repl->addCommand(std::move(keyence_command));
+  return core::Result::kSuccess;
+}
+
+}  // namespace hyped::debug
diff --git a/lib/debug/commands/keyence_commands.hpp b/lib/debug/commands/keyence_commands.hpp
new file mode 100644
index 00000000..14744788
--- /dev/null
+++ b/lib/debug/commands/keyence_commands.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <memory>
+
+#include <core/logger.hpp>
+#include <core/types.hpp>
+#include <debug/repl.hpp>
+
+namespace hyped::debug {
+
+class KeyenceCommands {
+ public:
+  /**
+   * @brief Add commands to the REPL for reading from keyence stripe counters
+   *
+   * @param logger
+   * @param repl
+   * @param config
+   * @return core::Result kSuccess if commands were added successfully, kFailure otherwise
+   */
+  static core::Result addCommands(core::ILogger &logger,
+                                  std::shared_ptr<Repl> &repl,
+                                  core::ITimeSource &time,
+                                  toml::v3::node_view<toml::v3::node> config);
+};
+
+}  // namespace hyped::debug
diff --git a/lib/debug/repl.cpp b/lib/debug/repl.cpp
index 04927c44..46512b5a 100644
--- a/lib/debug/repl.cpp
+++ b/lib/debug/repl.cpp
@@ -6,6 +6,7 @@
 #include "commands/can_commands.hpp"
 #include "commands/gpio_commands.hpp"
 #include "commands/i2c_commands.hpp"
+#include "commands/keyence_commands.hpp"
 #include "commands/pwm_commands.hpp"
 #include "commands/spi_commands.hpp"
 #include "commands/temperature_commands.hpp"
@@ -20,6 +21,7 @@ namespace hyped::debug {
 // NOLINTBEGIN(readability-function-cognitive-complexity)
 std::optional<std::shared_ptr<Repl>> Repl::create(core::ILogger &logger,
                                                   Terminal &terminal,
+                                                  core::ITimeSource &time,
                                                   const std::string &filename)
 {
   auto repl = std::make_shared<Repl>(logger, terminal);
@@ -79,6 +81,14 @@ std::optional<std::shared_ptr<Repl>> Repl::create(core::ILogger &logger,
       return std::nullopt;
     }
   }
+  if (config["sensors"]["keyence"]["enabled"].value_or(false)) {
+    const auto result
+      = KeyenceCommands::addCommands(logger, repl, time, config["sensors"]["keyence"]);
+    if (result == core::Result::kFailure) {
+      logger.log(core::LogLevel::kFatal, "Error adding keyence commands");
+      return std::nullopt;
+    }
+  }
   if (config["sensors"]["temperature"]["enabled"].value_or(false)) {
     const auto result
       = TemperatureCommands::addCommands(logger, repl, config["sensors"]["temperature"]);
diff --git a/lib/debug/repl.hpp b/lib/debug/repl.hpp
index 8d5ac2c0..609b2eba 100644
--- a/lib/debug/repl.hpp
+++ b/lib/debug/repl.hpp
@@ -28,6 +28,7 @@ class Repl {
  public:
   static std::optional<std::shared_ptr<Repl>> create(core::ILogger &logger,
                                                      Terminal &terminal,
+                                                     core::ITimeSource &time,
                                                      const std::string &filename);
   Repl(core::ILogger &logger, Terminal &terminal);
   void run();
@@ -63,9 +64,11 @@ class Repl {
    *
    * @return std::shared_ptr<io::HardwareGpio> containing the Gpio object
    */
-  std::shared_ptr<io::HardwareGpio> getGpio() { return gpio_; };
+  std::shared_ptr<io::IGpio> getGpio() { return gpio_; };
+
   /**
-   * @brief Get the I2c object associated with the given bus or create a new one if it doesn't exist
+   * @brief Get the I2c object associated with the given bus or create a new one if it doesn't
+   * exist
    * @param bus target bus for the I2c object
    * @return std::optional<std::shared_ptr<io::II2c>> containing the I2c object at bus or
    * std::nullopt if the I2c could not be created
@@ -125,7 +128,7 @@ class Repl {
 
   std::unordered_map<std::uint8_t, std::shared_ptr<io::IAdc>> adc_;
   std::unordered_map<std::string, std::shared_ptr<io::ICan>> can_;
-  std::shared_ptr<io::HardwareGpio> gpio_;
+  std::shared_ptr<io::IGpio> gpio_;
   std::unordered_map<std::uint8_t, std::shared_ptr<io::II2c>> i2c_;
   std::unordered_map<io::PwmModule, std::shared_ptr<io::Pwm>> pwm_;
   std::unordered_map<io::SpiBus, std::shared_ptr<io::ISpi>> spi_;
diff --git a/lib/io/CMakeLists.txt b/lib/io/CMakeLists.txt
index b5e54189..3dcf6dd9 100644
--- a/lib/io/CMakeLists.txt
+++ b/lib/io/CMakeLists.txt
@@ -8,3 +8,4 @@ include_directories(
   "${CMAKE_SOURCE_DIR}/lib"
   "${CMAKE_CURRENT_SOURCE_DIR}"
 )
+target_link_libraries(${target} gpiodcxx)
diff --git a/lib/io/gpio.hpp b/lib/io/gpio.hpp
index 3ff2a043..95ba2634 100644
--- a/lib/io/gpio.hpp
+++ b/lib/io/gpio.hpp
@@ -9,10 +9,6 @@
 
 namespace hyped::io {
 
-// Edge is used to set the interrupt trigger for the pin.
-enum class Edge { kNone = 0, kRising, kFalling, kBoth };
-enum class Direction { kIn = 0, kOut };
-
 /**
  * An abstract interface to read from a GPIO pin. This is to be used whenever read access
  * to GPIO is required.
@@ -38,12 +34,8 @@ class IGpioWriter {
  */
 class IGpio {
  public:
-  virtual std::optional<std::shared_ptr<IGpioReader>> getReader(const std::uint8_t pin,
-                                                                const Edge edge)
-    = 0;
-  virtual std::optional<std::shared_ptr<IGpioWriter>> getWriter(const std::uint8_t pin,
-                                                                const Edge edge)
-    = 0;
+  virtual std::optional<std::shared_ptr<IGpioReader>> getReader(const std::uint8_t pin) = 0;
+  virtual std::optional<std::shared_ptr<IGpioWriter>> getWriter(const std::uint8_t pin) = 0;
 };
 
 }  // namespace hyped::io
diff --git a/lib/io/hardware_gpio.cpp b/lib/io/hardware_gpio.cpp
index 77dc99f4..36621a72 100644
--- a/lib/io/hardware_gpio.cpp
+++ b/lib/io/hardware_gpio.cpp
@@ -3,223 +3,90 @@
 #include <fcntl.h>
 #include <unistd.h>
 
+#include <cstdint>
+
+#include "core/types.hpp"
+
 namespace hyped::io {
 
-HardwareGpioReader::HardwareGpioReader(core::ILogger &logger, const int read_file_descriptor)
+HardwareGpioReader::HardwareGpioReader(core::ILogger &logger,
+                                       gpiod::chip &chip,
+                                       const std::uint8_t pin)
     : logger_(logger),
-      read_file_descriptor_(read_file_descriptor)
+      chip_(chip),
+      pin_(pin)
 {
 }
 
-HardwareGpioReader::~HardwareGpioReader()
-{
-  close(read_file_descriptor_);
-}
-
 std::optional<core::DigitalSignal> HardwareGpioReader::read()
 {
-  // Read the value from the file
-  char read_buffer[2];  // NOLINT
-  const off_t offset = lseek(read_file_descriptor_, 0, SEEK_SET);
-  if (offset != 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to reset file offset");
-    return std::nullopt;
-  }
-  const ssize_t read_result = ::read(read_file_descriptor_, read_buffer, sizeof(read_buffer));
-  if (read_result != sizeof(read_buffer)) {
-    logger_.log(core::LogLevel::kFatal, "Failed to read GPIO value");
+  try {
+    auto request = chip_.prepare_request()
+                     .set_consumer("hyped")
+                     .add_line_settings(
+                       pin_, gpiod::line_settings().set_direction(gpiod::line::direction::INPUT))
+                     .do_request();
+    gpiod::line::value read_result = request.get_value(pin_);
+    if (read_result == gpiod::line::value::ACTIVE) { return core::DigitalSignal::kHigh; }
+    return core::DigitalSignal::kLow;
+  } catch (const std::exception &e) {
+    logger_.log(core::LogLevel::kFatal, "Error reading from GPIO %d: %s", pin_, e.what());
     return std::nullopt;
   }
-  // Convert the read value to a DigitalSignal
-  const int value = std::atoi(read_buffer);
-  if (value == 0) { return core::DigitalSignal::kLow; }
-  if (value == 1) { return core::DigitalSignal::kHigh; }
-  logger_.log(core::LogLevel::kFatal, "Invalid GPIO value read");
-  return std::nullopt;
 }
 
-HardwareGpioWriter::HardwareGpioWriter(core::ILogger &log, const int write_file_descriptor)
+HardwareGpioWriter::HardwareGpioWriter(core::ILogger &log,
+                                       gpiod::chip &chip,
+                                       const std::uint8_t pin)
     : logger_(log),
-      write_file_descriptor_(write_file_descriptor)
+      chip_(chip),
+      pin_(pin)
 {
 }
 
-HardwareGpioWriter::~HardwareGpioWriter()
-{
-  close(write_file_descriptor_);
-}
-
 core::Result HardwareGpioWriter::write(const core::DigitalSignal state)
 {
-  // Convert DigitalSignal to a string
-  const auto signal_value = static_cast<std::uint8_t>(state);
-  char write_buffer[4];  // NOLINT
-  snprintf(write_buffer, sizeof(write_buffer), "%d", signal_value);
-  // Write the value to the file
-  const ssize_t write_result = ::write(write_file_descriptor_, write_buffer, sizeof(write_buffer));
-  if (write_result != sizeof(write_buffer)) {
-    logger_.log(core::LogLevel::kFatal, "Failed to write GPIO value");
+  try {
+    auto request = chip_.prepare_request()
+                     .set_consumer("hyped")
+                     .add_line_settings(
+                       pin_, gpiod::line_settings().set_direction(gpiod::line::direction::OUTPUT))
+                     .do_request();
+    if (state == core::DigitalSignal::kLow) {
+      request.set_value(pin_, gpiod::line::value::INACTIVE);
+    }
+    if (state == core::DigitalSignal::kHigh) {
+      request.set_value(pin_, gpiod::line::value::ACTIVE);
+    }
+    return core::Result::kSuccess;
+  } catch (const std::exception &e) {
+    logger_.log(core::LogLevel::kFatal, "Error writing to GPIO %d: %s", pin_, e.what());
     return core::Result::kFailure;
   }
-  logger_.log(core::LogLevel::kDebug, "Wrote %d to GPIO", signal_value);
-  return core::Result::kSuccess;
 }
 
-HardwareGpio::HardwareGpio(core::ILogger &log) : logger_(log)
+HardwareGpio::HardwareGpio(core::ILogger &log) : logger_(log), chip_(kGpioChipName)
 {
 }
 
-std::optional<std::shared_ptr<IGpioReader>> HardwareGpio::getReader(const std::uint8_t pin,
-                                                                    const Edge edge)
+std::optional<std::shared_ptr<IGpioReader>> HardwareGpio::getReader(const std::uint8_t pin)
 {
-  const core::Result initialise_result = initialisePin(pin, edge, Direction::kIn);
-  if (initialise_result == core::Result::kFailure) {
-    logger_.log(core::LogLevel::kFatal, "Failed to initialise GPIO %d", pin);
+  if (!used_pins_.insert(pin).second) {
+    logger_.log(
+      core::LogLevel::kFatal, "Cannot create a gpio reader for pin %d: already in use", pin);
     return std::nullopt;
   }
-  const int read_file_descriptor = getFileDescriptor(pin, Direction::kIn);
-  if (read_file_descriptor < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to get file descriptor for GPIO %d", pin);
-    return std::nullopt;
-  }
-  return std::make_shared<HardwareGpioReader>(logger_, read_file_descriptor);
+  return std::make_shared<HardwareGpioReader>(logger_, chip_, pin);
 }
 
-std::optional<std::shared_ptr<IGpioWriter>> HardwareGpio::getWriter(const std::uint8_t pin,
-                                                                    const Edge edge)
+std::optional<std::shared_ptr<IGpioWriter>> HardwareGpio::getWriter(const std::uint8_t pin)
 {
-  const core::Result initialise_result = initialisePin(pin, edge, Direction::kOut);
-  if (initialise_result == core::Result::kFailure) {
-    logger_.log(core::LogLevel::kFatal, "Failed to initialise GPIO %d", pin);
-    return std::nullopt;
-  }
-  const int write_file_descriptor = getFileDescriptor(pin, Direction::kOut);
-  if (write_file_descriptor < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to get file descriptor for GPIO %d", pin);
+  if (!used_pins_.insert(pin).second) {
+    logger_.log(
+      core::LogLevel::kFatal, "Cannot create a gpio writer for pin %d: already in use", pin);
     return std::nullopt;
   }
-  return std::make_shared<HardwareGpioWriter>(logger_, write_file_descriptor);
-}
-
-core::Result HardwareGpio::exportPin(const std::uint8_t pin)
-{
-  const int export_file_descriptor = open("/sys/class/gpio/export", O_WRONLY);
-  if (export_file_descriptor < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to open GPIO export file");
-    return core::Result::kFailure;
-  }
-  char write_buffer[4];  // NOLINT
-  snprintf(write_buffer, sizeof(write_buffer), "%d", pin);
-  const ssize_t write_result = write(export_file_descriptor, write_buffer, sizeof(write_buffer));
-  close(export_file_descriptor);
-  if (write_result != sizeof(write_buffer)) {
-    logger_.log(core::LogLevel::kFatal, "Failed to export GPIO %d", pin);
-    return core::Result::kFailure;
-  }
-  logger_.log(core::LogLevel::kDebug, "Successfully exported GPIO %d", pin);
-  return core::Result::kSuccess;
-}
-
-core::Result HardwareGpio::initialisePin(const std::uint8_t pin,
-                                         const Edge edge,
-                                         const Direction direction)
-{
-  // First check if the pin is already exported, and export it if not
-  char file_path_buffer[50];  // NOLINT
-  snprintf(file_path_buffer, sizeof(file_path_buffer), "/sys/class/gpio/gpio%d", pin);
-  const int access_result = access(file_path_buffer, F_OK);  // Check if the file exists
-  if (access_result < 0) {
-    logger_.log(core::LogLevel::kDebug, "GPIO %d not exported, exporting", pin);
-    const core::Result export_result = exportPin(pin);
-    if (export_result == core::Result::kFailure) {
-      logger_.log(core::LogLevel::kFatal, "Failed to export GPIO %d while initialising", pin);
-      return core::Result::kFailure;
-    }
-  }
-  // Then set the direction
-  snprintf(file_path_buffer, sizeof(file_path_buffer), "/sys/class/gpio/gpio%d/direction", pin);
-  const int direction_file_descriptor = open(file_path_buffer, O_WRONLY);
-  if (direction_file_descriptor < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to open GPIO direction file");
-    return core::Result::kFailure;
-  }
-  const std::string direction_string = getDirectionString(direction);
-  const ssize_t direction_write_result
-    = write(direction_file_descriptor, direction_string.c_str(), direction_string.size() + 1);
-  close(direction_file_descriptor);
-  if (direction_write_result < 0) {
-    logger_.log(core::LogLevel::kFatal,
-                "Failed to set GPIO %d, direction error %d, errno %d",
-                pin,
-                direction_write_result,
-                errno);
-    return core::Result::kFailure;
-  }
-  // Finally set the edge
-  snprintf(file_path_buffer, sizeof(file_path_buffer), "/sys/class/gpio/gpio%d/edge", pin);
-  const int edge_file_descriptor = open(file_path_buffer, O_WRONLY);
-  if (edge_file_descriptor < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to open GPIO edge file");
-    return core::Result::kFailure;
-  }
-  const std::string edge_string = getEdgeString(edge);
-  const ssize_t edge_write_result
-    = write(edge_file_descriptor, edge_string.c_str(), edge_string.size() + 1);
-  close(edge_file_descriptor);
-  if (edge_write_result < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to set the edge for GPIO %d, errno %d", pin, errno);
-    return core::Result::kFailure;
-  }
-  logger_.log(core::LogLevel::kDebug, "Successfully initialised GPIO %d", pin);
-  return core::Result::kSuccess;
-}
-
-int HardwareGpio::getFileDescriptor(const std::uint8_t pin, const Direction direction)
-{
-  // Set up the file path
-  char value_file_path[64];  // NOLINT
-  snprintf(value_file_path, sizeof(value_file_path), "/sys/class/gpio/gpio%d/value", pin);
-  // Set up the file descriptor
-  int file_descriptor;
-  // The direction is used to determine whether the file descriptor is opened for reading or writing
-  if (direction == Direction::kIn) {
-    file_descriptor = open(value_file_path, O_RDONLY);
-  } else {
-    file_descriptor = open(value_file_path, O_WRONLY);
-  }
-  if (file_descriptor < 0) {
-    logger_.log(core::LogLevel::kFatal, "Failed to open GPIO value file");
-    return -1;
-  }
-  return file_descriptor;
-}
-
-std::string HardwareGpio::getEdgeString(const Edge edge)
-{
-  switch (edge) {
-    case Edge::kNone:
-      return "none";
-    case Edge::kRising:
-      return "rising";
-    case Edge::kFalling:
-      return "falling";
-    case Edge::kBoth:
-      return "both";
-    default:  // for compiler
-      return "";
-  }
-}
-
-std::string HardwareGpio::getDirectionString(const Direction direction)
-{
-  switch (direction) {
-    case Direction::kIn:
-      return "in";
-    case Direction::kOut:
-      return "out";
-    default:  // for compiler
-      return "";
-  }
+  return std::make_shared<HardwareGpioWriter>(logger_, chip_, pin);
 }
 
 }  // namespace hyped::io
diff --git a/lib/io/hardware_gpio.hpp b/lib/io/hardware_gpio.hpp
index e604312e..be022bb3 100644
--- a/lib/io/hardware_gpio.hpp
+++ b/lib/io/hardware_gpio.hpp
@@ -5,15 +5,17 @@
 #include <cstdint>
 #include <optional>
 #include <string>
+#include <unordered_set>
 
 #include <core/types.hpp>
+#include <gpiod.hpp>
 
 namespace hyped::io {
 
 class HardwareGpioReader : public IGpioReader {
  public:
-  HardwareGpioReader(core::ILogger &logger, const int read_file_descriptor);
-  ~HardwareGpioReader();
+  HardwareGpioReader(core::ILogger &logger, gpiod::chip &chip, const std::uint8_t pin);
+
   /**
    * @brief Read a high or low from the GPIO pin.
    */
@@ -21,13 +23,13 @@ class HardwareGpioReader : public IGpioReader {
 
  private:
   core::ILogger &logger_;
-  const int read_file_descriptor_;
+  gpiod::chip &chip_;
+  const std::uint8_t pin_;
 };
 
 class HardwareGpioWriter : public IGpioWriter {
  public:
-  HardwareGpioWriter(core::ILogger &logger, const int write_file_descriptor);
-  ~HardwareGpioWriter();
+  HardwareGpioWriter(core::ILogger &logger, gpiod::chip &chip, const std::uint8_t pin);
 
   /**
    * @brief Writes a high or low to the GPIO pin.
@@ -37,49 +39,32 @@ class HardwareGpioWriter : public IGpioWriter {
 
  private:
   core::ILogger &logger_;
-  const int write_file_descriptor_;
+  gpiod::chip &chip_;
+  const std::uint8_t pin_;
 };
 
 /**
  * Hardware GPIO interface, requires physical GPIO pins to be present. This should only
  * be instantiated at the top level and then provided to users through the IGpio interface.
- * Ensure inputted pins are defined as pin = 32*X + Y (GPIOX_Y)
  */
-class HardwareGpio {
+class HardwareGpio : public IGpio {
  public:
-  explicit HardwareGpio(core::ILogger &logger);
+  explicit HardwareGpio(core::ILogger &log);
 
-  virtual std::optional<std::shared_ptr<IGpioReader>> getReader(const std::uint8_t pin,
-                                                                const Edge edge);
-  virtual std::optional<std::shared_ptr<IGpioWriter>> getWriter(const std::uint8_t pin,
-                                                                const Edge edge);
+  std::optional<std::shared_ptr<IGpioReader>> getReader(const std::uint8_t pin) override;
 
- private:
-  /**
-   * @brief Initialises the GPIO pin for reading or writing.
-   * @param pin The pin to initialise.
-   * @param edge The edge to trigger on. Defaults to "both".
-   * @param direction The direction of the pin.
-   */
-  core::Result initialisePin(const std::uint8_t pin, const Edge edge, const Direction direction);
+  std::optional<std::shared_ptr<IGpioWriter>> getWriter(const std::uint8_t pin) override;
 
-  /**
-   * @brief Exports the GPIO pin to the filesystem.
-   * @details This is required to be able to access the pin. Normally hidden from userspace.
-   * @param pin The pin to export.
-   */
-  core::Result exportPin(const std::uint8_t pin);
+  std::optional<core::DigitalSignal> read(const std::uint8_t pin);
 
-  /**
-   * @brief Get the file descriptor for the pin depending on if we are reading or writing.
-   */
-  int getFileDescriptor(const std::uint8_t pin, const Direction direction);
-
-  // Helper functions to get the string representation of the edge and direction.
-  static std::string getEdgeString(const Edge edge);
-  static std::string getDirectionString(const Direction direction);
+  core::Result write(const std::uint8_t pin, const core::DigitalSignal state);
 
+ private:
   core::ILogger &logger_;
+  gpiod::chip chip_;
+  std::unordered_set<std::uint8_t> used_pins_;
+
+  static constexpr std::string kGpioChipName = "/dev/gpiochip0";
 };
 
 }  // namespace hyped::io
diff --git a/lib/motors/time_frequency_calculator.hpp b/lib/motors/time_frequency_calculator.hpp
index 0ebb0242..c1173031 100644
--- a/lib/motors/time_frequency_calculator.hpp
+++ b/lib/motors/time_frequency_calculator.hpp
@@ -5,6 +5,7 @@
 #include <chrono>
 #include <cstdint>
 #include <memory>
+#include <optional>
 #include <string>
 #include <vector>
 
diff --git a/lib/sensors/keyence.cpp b/lib/sensors/keyence.cpp
index 3dfe6ae1..9ed64ece 100644
--- a/lib/sensors/keyence.cpp
+++ b/lib/sensors/keyence.cpp
@@ -4,23 +4,22 @@
 
 namespace hyped::sensors {
 
-std::optional<Keyence> Keyence::create(core::ILogger &logger,
-                                       const std::shared_ptr<io::IGpio> &gpio,
-                                       const std::uint8_t pin)
+std::optional<std::shared_ptr<sensors::Keyence>> Keyence::create(
+  core::ILogger &logger, const std::shared_ptr<io::IGpio> &gpio, const std::uint8_t pin)
 {
-  const auto reader = gpio->getReader(pin, io::Edge::kNone);
+  auto reader = gpio->getReader(pin);
   if (!reader) {
-    logger.log(core::LogLevel::kFatal, "Failed to create Keyence instance");
+    logger.log(core::LogLevel::kFatal, "Failed to create GPIO reader for pin %d", pin);
     return std::nullopt;
   }
-  logger.log(core::LogLevel::kDebug, "Successfully created Keyence instance");
-  return Keyence(logger, *reader);
+  return std::make_shared<Keyence>(logger, *reader);
 }
 
 Keyence::Keyence(core::ILogger &logger, std::shared_ptr<io::IGpioReader> gpio_reader)
     : gpio_reader_(std::move(gpio_reader)),
       logger_(logger),
-      stripe_count_(0)
+      stripe_count_(0),
+      last_signal_(core::DigitalSignal::kLow)
 {
 }
 
@@ -29,12 +28,20 @@ std::uint8_t Keyence::getStripeCount() const
   return stripe_count_;
 }
 
-void Keyence::updateStripeCount()
+core::Result Keyence::updateStripeCount()
 {
-  if (gpio_reader_->read() == core::DigitalSignal::kHigh) {
+  const auto optional_signal = gpio_reader_->read();
+  if (!optional_signal) {
+    logger_.log(core::LogLevel::kFatal, "Failed to read GPIO");
+    return core::Result::kFailure;
+  }
+  const auto signal = *optional_signal;
+  if (signal == core::DigitalSignal::kHigh && last_signal_ == core::DigitalSignal::kLow) {
     ++stripe_count_;
     logger_.log(core::LogLevel::kDebug, "Stripe count increased to %d", stripe_count_);
   };
+  last_signal_ = signal;
+  return core::Result::kSuccess;
 }
 
 }  // namespace hyped::sensors
diff --git a/lib/sensors/keyence.hpp b/lib/sensors/keyence.hpp
index 7d936283..8b7b5e99 100644
--- a/lib/sensors/keyence.hpp
+++ b/lib/sensors/keyence.hpp
@@ -2,7 +2,6 @@
 
 #include <cstdint>
 #include <memory>
-#include <optional>
 
 #include <core/logger.hpp>
 #include <io/gpio.hpp>
@@ -10,20 +9,19 @@
 namespace hyped::sensors {
 class Keyence {
  public:
-  static std::optional<Keyence> create(core::ILogger &logger,
-                                       const std::shared_ptr<io::IGpio> &gpio,
-                                       const std::uint8_t new_pin);
+  static std::optional<std::shared_ptr<sensors::Keyence>> create(
+    core::ILogger &logger, const std::shared_ptr<io::IGpio> &gpio, const std::uint8_t pin);
 
-  std::uint8_t getStripeCount() const;
+  Keyence(core::ILogger &logger, std::shared_ptr<io::IGpioReader> gpio_reader);
 
-  void updateStripeCount();
+  std::uint8_t getStripeCount() const;
+  core::Result updateStripeCount();
 
  private:
-  Keyence(core::ILogger &logger, std::shared_ptr<io::IGpioReader> gpio_reader);
-
   std::uint8_t stripe_count_;
   std::shared_ptr<io::IGpioReader> gpio_reader_;
   core::ILogger &logger_;
+  core::DigitalSignal last_signal_;
 };
 
 }  // namespace hyped::sensors
diff --git a/lib/utils/dummy_gpio.cpp b/lib/utils/dummy_gpio.cpp
index 15734ed9..d37d4119 100644
--- a/lib/utils/dummy_gpio.cpp
+++ b/lib/utils/dummy_gpio.cpp
@@ -34,14 +34,12 @@ DummyGpio::DummyGpio(DummyGpioReader::ReadHandler read_handler,
 {
 }
 
-std::optional<std::shared_ptr<io::IGpioReader>> DummyGpio::getReader(const std::uint8_t pin,
-                                                                     const io::Edge edge)
+std::optional<std::shared_ptr<io::IGpioReader>> DummyGpio::getReader(const std::uint8_t pin)
 {
   return std::make_shared<DummyGpioReader>(DummyGpioReader(pin, read_handler_));
 }
 
-std::optional<std::shared_ptr<io::IGpioWriter>> DummyGpio::getWriter(const std::uint8_t pin,
-                                                                     const io::Edge edge)
+std::optional<std::shared_ptr<io::IGpioWriter>> DummyGpio::getWriter(const std::uint8_t pin)
 {
   return std::make_shared<DummyGpioWriter>(DummyGpioWriter(pin, write_handler_));
 }
diff --git a/lib/utils/dummy_gpio.hpp b/lib/utils/dummy_gpio.hpp
index a30d20c0..979c9e27 100644
--- a/lib/utils/dummy_gpio.hpp
+++ b/lib/utils/dummy_gpio.hpp
@@ -50,10 +50,8 @@ class DummyGpio : public io::IGpio {
  public:
   DummyGpio(DummyGpioReader::ReadHandler read_handler, DummyGpioWriter::WriteHandler write_handler);
 
-  std::optional<std::shared_ptr<io::IGpioReader>> getReader(const std::uint8_t pin,
-                                                            const io::Edge edge) override;
-  std::optional<std::shared_ptr<io::IGpioWriter>> getWriter(const std::uint8_t pin,
-                                                            const io::Edge edge) override;
+  std::optional<std::shared_ptr<io::IGpioReader>> getReader(const std::uint8_t pin) override;
+  std::optional<std::shared_ptr<io::IGpioWriter>> getWriter(const std::uint8_t pin) override;
 
  private:
   DummyGpioReader::ReadHandler read_handler_;
diff --git a/src/debugger/main.cpp b/src/debugger/main.cpp
index 30550761..e59c8460 100644
--- a/src/debugger/main.cpp
+++ b/src/debugger/main.cpp
@@ -11,7 +11,7 @@ int main(const int argc, char **argv)
   terminal.initialize_window();
   hyped::debug::ReplLogger logger("REPL", hyped::core::LogLevel::kDebug, time, terminal);
   if (argc > 1) {
-    auto optional_repl = hyped::debug::Repl::create(logger, terminal, argv[1]);
+    auto optional_repl = hyped::debug::Repl::create(logger, terminal, time, argv[1]);
     if (!optional_repl) {
       logger.log(
         hyped::core::LogLevel::kFatal, "Failed to create debugger using file: %s", argv[1]);
@@ -23,4 +23,4 @@ int main(const int argc, char **argv)
     logger.log(hyped::core::LogLevel::kFatal, "Usage: %s [config_file]", argv[0]);
     return 1;
   }
-}
\ No newline at end of file
+}
diff --git a/test/utils/dummy_gpio.cpp b/test/utils/dummy_gpio.cpp
index 2cb8227b..57010711 100644
--- a/test/utils/dummy_gpio.cpp
+++ b/test/utils/dummy_gpio.cpp
@@ -15,11 +15,10 @@ TEST(DummyGpio, construct)
 
 void testRead(utils::DummyGpio &dummy_gpio,
               const std::uint8_t pin,
-              const io::Edge edge,
               const std::string &expected_output)
 {
   testing::internal::CaptureStdout();
-  auto dummy_gpio_reader_opt = dummy_gpio.getReader(pin, edge);
+  auto dummy_gpio_reader_opt = dummy_gpio.getReader(pin);
   ASSERT_TRUE(dummy_gpio_reader_opt);
   auto dummy_gpio_reader = *dummy_gpio_reader_opt;
   ASSERT_TRUE(dummy_gpio_reader);
@@ -30,12 +29,11 @@ void testRead(utils::DummyGpio &dummy_gpio,
 
 void testWrite(utils::DummyGpio &dummy_gpio,
                const std::uint8_t pin,
-               const io::Edge edge,
                const core::DigitalSignal state,
                const std::string &expected_output)
 {
   testing::internal::CaptureStdout();
-  auto dummy_gpio_writer_opt = dummy_gpio.getWriter(pin, edge);
+  auto dummy_gpio_writer_opt = dummy_gpio.getWriter(pin);
   ASSERT_TRUE(dummy_gpio_writer_opt);
   auto dummy_gpio_writer = *dummy_gpio_writer_opt;
   ASSERT_TRUE(dummy_gpio_writer);
@@ -64,15 +62,14 @@ TEST(DummyGpio, printToStdout)
       std::cout << " to " << static_cast<int>(pin) << "\n";
       return hyped::core::Result::kSuccess;
     });
-  testRead(dummy_gpio, 4, hyped::io::Edge::kNone, "read from 4\n");
-  testRead(dummy_gpio, 42, hyped::io::Edge::kNone, "read from 42\n");
-  testRead(dummy_gpio, 255, hyped::io::Edge::kNone, "read from 255\n");
-  testRead(dummy_gpio, 0, hyped::io::Edge::kNone, "read from 0\n");
-  testWrite(dummy_gpio, 4, hyped::io::Edge::kNone, core::DigitalSignal::kHigh, "wrote high to 4\n");
-  testWrite(dummy_gpio, 42, hyped::io::Edge::kNone, core::DigitalSignal::kLow, "wrote low to 42\n");
-  testWrite(
-    dummy_gpio, 255, hyped::io::Edge::kNone, core::DigitalSignal::kHigh, "wrote high to 255\n");
-  testWrite(dummy_gpio, 0, hyped::io::Edge::kNone, core::DigitalSignal::kLow, "wrote low to 0\n");
+  testRead(dummy_gpio, 4, "read from 4\n");
+  testRead(dummy_gpio, 42, "read from 42\n");
+  testRead(dummy_gpio, 255, "read from 255\n");
+  testRead(dummy_gpio, 0, "read from 0\n");
+  testWrite(dummy_gpio, 4, core::DigitalSignal::kHigh, "wrote high to 4\n");
+  testWrite(dummy_gpio, 42, core::DigitalSignal::kLow, "wrote low to 42\n");
+  testWrite(dummy_gpio, 255, core::DigitalSignal::kHigh, "wrote high to 255\n");
+  testWrite(dummy_gpio, 0, core::DigitalSignal::kLow, "wrote low to 0\n");
 }
 
 }  // namespace hyped::test

From 2764a99cca274496995ce6b866c7f61f75ea20b6 Mon Sep 17 00:00:00 2001
From: David Beechey <david@dtbeechey.dev>
Date: Sun, 26 May 2024 16:53:16 +0100
Subject: [PATCH 2/4] TEL - E2E Testing (#90)

Co-authored-by: Conrad Thomson <s2076431@ed.ac.uk>
---
 .github/workflows/telemetry.yml               |   4 +-
 telemetry/Dockerfile                          |   3 +
 telemetry/build.sh                            |   1 +
 telemetry/docker-compose.yml                  |   6 +-
 telemetry/package.json                        |   3 +-
 telemetry/packages/e2e-tests/.gitignore       |   5 +
 telemetry/packages/e2e-tests/lib/mqtt.ts      |  57 ++++++++
 telemetry/packages/e2e-tests/package.json     |  19 +++
 .../packages/e2e-tests/playwright.config.ts   |  57 ++++++++
 .../packages/e2e-tests/tests/example.spec.ts  |  23 +++
 .../packages/e2e-tests/tests/test-todo.md     | 101 +++++++++++++
 telemetry/packages/e2e-tests/tsconfig.json    |   6 +
 telemetry/packages/ui/tsconfig.tsbuildinfo    |   2 +-
 telemetry/pnpm-lock.yaml                      | 134 +++++++++++++++++-
 telemetry/turbo.json                          |   7 +-
 15 files changed, 418 insertions(+), 10 deletions(-)
 create mode 100644 telemetry/packages/e2e-tests/.gitignore
 create mode 100644 telemetry/packages/e2e-tests/lib/mqtt.ts
 create mode 100644 telemetry/packages/e2e-tests/package.json
 create mode 100644 telemetry/packages/e2e-tests/playwright.config.ts
 create mode 100644 telemetry/packages/e2e-tests/tests/example.spec.ts
 create mode 100644 telemetry/packages/e2e-tests/tests/test-todo.md
 create mode 100644 telemetry/packages/e2e-tests/tsconfig.json

diff --git a/.github/workflows/telemetry.yml b/.github/workflows/telemetry.yml
index f77492d6..ee5841e8 100644
--- a/.github/workflows/telemetry.yml
+++ b/.github/workflows/telemetry.yml
@@ -16,8 +16,8 @@ jobs:
       - name: Docker
         uses: docker/setup-buildx-action@v3
 
-      - name: Lint
-        run: ./telemetry.sh ci
+      - name: Build, lint and test
+        run: ./telemetry.sh ci -m
 
   telemetry-formatting:
     name: Telemetry formatting
diff --git a/telemetry/Dockerfile b/telemetry/Dockerfile
index 054ea874..1b39c6e7 100644
--- a/telemetry/Dockerfile
+++ b/telemetry/Dockerfile
@@ -16,17 +16,20 @@ COPY packages/public-app/package.json ./packages/public-app/
 COPY packages/fake/package.json ./packages/fake/
 COPY packages/eslint-config/package.json ./packages/eslint-config/
 COPY packages/tsconfig/package.json ./packages/tsconfig/
+COPY packages/e2e-tests/package.json ./packages/e2e-tests/
 COPY pnpm-lock.yaml ./
 COPY pnpm-workspace.yaml ./
 COPY patches ./patches
 COPY turbo.json ./
 RUN pnpm install --frozen-lockfile
+RUN pnpm --filter=e2e-tests exec playwright install --with-deps
 
 # Expose ports
 EXPOSE 5173
 EXPOSE 3000
 EXPOSE 3001
 EXPOSE 8086
+EXPOSE 9323
 
 # Entrypoint
 COPY entry.sh ./
diff --git a/telemetry/build.sh b/telemetry/build.sh
index 1783f199..f162cff1 100755
--- a/telemetry/build.sh
+++ b/telemetry/build.sh
@@ -78,4 +78,5 @@ MSYS_NO_PATHCONV=1 docker run -e PNPM_SCRIPT=build --name $CONTAINER_NAME -v $(p
   -v /usr/src/app/packages/public-app/.next \
   -v /usr/src/app/packages/fake/node_modules \
   -v /usr/src/app/packages/eslint-config/node_modules \
+  -v /usr/src/app/packages/e2e-tests/node_modules \
   $IMAGE_NAME
\ No newline at end of file
diff --git a/telemetry/docker-compose.yml b/telemetry/docker-compose.yml
index dce5bc5b..713c31c7 100644
--- a/telemetry/docker-compose.yml
+++ b/telemetry/docker-compose.yml
@@ -10,9 +10,12 @@ services:
       - 5173:5173
       - 3000:3000
       - 3001:3001
+      - 9323:9323
     environment:
       - PNPM_SCRIPT
       - IS_DOCKER=true
+      - E2E_TEST_MQTT_BROKER=mqtt://mosquitto:1883
+      - PWTEST_SKIP_TEST_OUTPUT=1
     volumes:
       - ./:/usr/src/app
       # Exclude node_modules from being mounted
@@ -25,8 +28,7 @@ services:
       - /usr/src/app/packages/public-app/.next
       - /usr/src/app/packages/fake/node_modules
       - /usr/src/app/packages/eslint-config/node_modules
-      # persist turborepo cache
-      - /usr/src/app/.turborepo
+      - /usr/src/app/packages/e2e-tests/node_modules
     networks:
       - telemetry
   influxdb:
diff --git a/telemetry/package.json b/telemetry/package.json
index bd47490c..a465122d 100644
--- a/telemetry/package.json
+++ b/telemetry/package.json
@@ -6,10 +6,11 @@
     "start": "turbo run start",
     "dev": "turbo run dev",
     "dev:test": "turbo run dev:test",
-    "ci": "turbo run build lint",
+    "ci": "turbo run build lint e2e:test",
     "lint": "turbo run lint --parallel",
     "lint:fix": "turbo run lint:fix --parallel",
     "format": "prettier --write \"**/*.{ts,tsx,md}\"",
+    "e2e:test": "turbo run e2e:test",
     "format:check": "prettier --check \"**/*.{ts,tsx,md}\"",
     "build": "turbo run build"
   },
diff --git a/telemetry/packages/e2e-tests/.gitignore b/telemetry/packages/e2e-tests/.gitignore
new file mode 100644
index 00000000..68c5d18f
--- /dev/null
+++ b/telemetry/packages/e2e-tests/.gitignore
@@ -0,0 +1,5 @@
+node_modules/
+/test-results/
+/playwright-report/
+/blob-report/
+/playwright/.cache/
diff --git a/telemetry/packages/e2e-tests/lib/mqtt.ts b/telemetry/packages/e2e-tests/lib/mqtt.ts
new file mode 100644
index 00000000..8f0af886
--- /dev/null
+++ b/telemetry/packages/e2e-tests/lib/mqtt.ts
@@ -0,0 +1,57 @@
+import mqtt from 'mqtt';
+
+export const client = mqtt.connect(
+  process.env.E2E_TEST_MQTT_BROKER || 'mqtt://localhost:1883',
+);
+
+type MqttMessageValidation = (receivedTopic: string, message: Buffer) => void;
+
+/**
+ * Validates a message received on an MQTT topic.
+ * @param topic The topic the message will be send on
+ * @param validate A validation function which will be called with the received topic and message values
+ * @param timeout Time to wait (in ms) before giving up
+ */
+export async function validateMqttMessage(
+  trigger: () => void,
+  validate: MqttMessageValidation,
+  timeout = 1000,
+): Promise<void> {
+  const receivedMessages: { topic: string; message: Buffer }[] = [];
+
+  return new Promise(async (resolve, reject) => {
+    const client = mqtt.connect(
+      process.env.E2E_TEST_MQTT_BROKER || 'mqtt://localhost:1883',
+    );
+
+    client.on('connect', async () => {
+      await client.subscribeAsync('#');
+
+      // Handle incoming messages
+      client.on('message', (receivedTopic, message) => {
+        receivedMessages.push({ topic: receivedTopic, message });
+      });
+
+      trigger();
+
+      // Check that the message is in the received messages
+      const interval = setInterval(() => {
+        for (const receivedMessage of receivedMessages) {
+          try {
+            validate(receivedMessage.topic, receivedMessage.message);
+            clearInterval(interval);
+            client.end();
+            resolve();
+          } catch (e) {
+            // Ignore errors
+          }
+        }
+      }, 100);
+    });
+
+    // Timeout if the message is not received
+    setTimeout(() => {
+      reject(new Error(`Timeout waiting for message.`));
+    }, timeout);
+  });
+}
diff --git a/telemetry/packages/e2e-tests/package.json b/telemetry/packages/e2e-tests/package.json
new file mode 100644
index 00000000..61f48fe6
--- /dev/null
+++ b/telemetry/packages/e2e-tests/package.json
@@ -0,0 +1,19 @@
+{
+  "name": "@hyped/e2e-tests",
+  "version": "1.0.0",
+  "description": "End-to-end tests for HYPED Telemetry",
+  "main": "index.js",
+  "scripts": {
+    "e2e:test": "playwright test"
+  },
+  "dependencies": {
+    "@hyped/telemetry-server": "workspace:*",
+    "@hyped/telemetry-ui": "workspace:*",
+    "mqtt": "^5.5.0"
+  },
+  "devDependencies": {
+    "@hyped/tsconfig": "workspace:*",
+    "@playwright/test": "^1.42.1",
+    "@types/node": "^20.11.28"
+  }
+}
diff --git a/telemetry/packages/e2e-tests/playwright.config.ts b/telemetry/packages/e2e-tests/playwright.config.ts
new file mode 100644
index 00000000..92dbb44c
--- /dev/null
+++ b/telemetry/packages/e2e-tests/playwright.config.ts
@@ -0,0 +1,57 @@
+import { defineConfig, devices } from '@playwright/test';
+
+/**
+ * Read environment variables from file.
+ * https://github.com/motdotla/dotenv
+ */
+// require('dotenv').config();
+
+/**
+ * See https://playwright.dev/docs/test-configuration.
+ */
+export default defineConfig({
+  testDir: './tests',
+  /* Run tests in files in parallel */
+  fullyParallel: true,
+  /* Fail the build on CI if you accidentally left test.only in the source code. */
+  forbidOnly: !!process.env.CI,
+  /* Retry on CI only */
+  retries: process.env.CI ? 2 : 0,
+  /* Opt out of parallel tests on CI. */
+  workers: process.env.CI ? 1 : undefined,
+  /* Reporter to use. See https://playwright.dev/docs/test-reporters */
+  reporter: 'html',
+  /* Shared settings for all the projects below. See https://playwright.dev/docs/api/class-testoptions. */
+  use: {
+    /* Base URL to use in actions like `await page.goto('/')`. */
+    // baseURL: 'http://127.0.0.1:3000',
+
+    /* Collect trace when retrying the failed test. See https://playwright.dev/docs/trace-viewer */
+    trace: 'on-first-retry',
+  },
+
+  /* Configure projects for major browsers */
+  projects: [
+    {
+      name: 'chromium',
+      use: { ...devices['Desktop Chrome'] },
+    },
+
+    {
+      name: 'firefox',
+      use: { ...devices['Desktop Firefox'] },
+    },
+
+    {
+      name: 'webkit',
+      use: { ...devices['Desktop Safari'] },
+    },
+  ],
+
+  /* Run your local dev server before starting the tests */
+  webServer: {
+    command: 'cd ../../ && pnpm dev:test', // run from the root of the monorepo
+    url: 'http://localhost:5173',
+    reuseExistingServer: !process.env.CI,
+  },
+});
diff --git a/telemetry/packages/e2e-tests/tests/example.spec.ts b/telemetry/packages/e2e-tests/tests/example.spec.ts
new file mode 100644
index 00000000..52252180
--- /dev/null
+++ b/telemetry/packages/e2e-tests/tests/example.spec.ts
@@ -0,0 +1,23 @@
+import { test, expect } from '@playwright/test';
+import { client, validateMqttMessage } from '../lib/mqtt';
+
+test('has title', async ({ page }) => {
+  await page.goto('http://localhost:5173');
+
+  await expect(page).toHaveTitle('HYPED24 | Telemetry');
+});
+
+test('example mqtt test', async () => {
+  await validateMqttMessage(
+    // Pass in the function which will trigger the MQTT message to be sent.
+    // For example, this could be pushing a button on the GUI.
+    () => {
+      client.publish('hello', 'world');
+    },
+    // The validation function. Here you can validate that the topic and message body received is as expected.
+    (topic, message) => {
+      expect(topic).toBe('hello');
+      expect(message.toString()).toBe('world');
+    },
+  );
+});
diff --git a/telemetry/packages/e2e-tests/tests/test-todo.md b/telemetry/packages/e2e-tests/tests/test-todo.md
new file mode 100644
index 00000000..6b411d0a
--- /dev/null
+++ b/telemetry/packages/e2e-tests/tests/test-todo.md
@@ -0,0 +1,101 @@
+# End to End Testing Briefing
+
+Full list: [Issue #102](https://github.com/Hyp-ed/hyped-2024/issues/102)
+
+<ol>
+<li><span class="totest">All inputs on the sidebar, including setting levitation height, are visible with correct labels and the correct MQTT state transition message is emitted (for the GO button, make sure that the enable toggle works)
+</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+    <li>Setting Levitation Height</li>
+    <li>Correct Labels Visible</li>
+    <li>MQTT State Transition Message Emitted (<em>Enable Toggle should work for 'GO' button</em>)</li>
+  </ul>
+</details>
+
+</li>
+<hr>
+
+<li><span class="totest">Switching between pods changes the selected pod for certain elements</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+    <li>Setting Levitation Height</li>
+    <li>Correct Labels Visible</li>
+    <li>MQTT State Transition Message Emitted (<em>Enable Toggle should work for 'GO' button</em>)</li>
+  </ul>
+</details>
+</li>
+<hr>
+
+<li><span class="totest">All view options are listed, visible and render the correct component</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+    <li>Setting Levitation Height</li>
+    <li>Correct Labels Visible</li>
+    <li>MQTT State Transition Message Emitted (<em>Enable Toggle should work for 'GO' button</em>)</li>
+  </ul>
+</details>
+</li>
+<hr>
+
+<li><span class="totest">State machine diagram renders with the expected nodes visible</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+  </ul>
+</details>
+</li>
+<hr>
+
+<li><span class="totest">Open MCT plots measurements on graphs correctly (historical test)</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+  </ul>
+</details>
+</li>
+<hr>
+
+<li><span class="totest">Open MCT plots live measurements from MQTT messages (realtime test)</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+  </ul>
+</details>
+</li>
+<hr>
+
+<li><span class="totest">Open MCT logs a fault when a measurement limit is exceeded (check warning and critical limits)</span>
+<details>
+  <summary>Issues</summary>
+  <ul>
+  </ul>
+</details>
+</li>
+<hr>
+</ol>
+
+<span>More to come...</span>
+
+</ol>
+
+<style>
+  .totest {
+    color: #FF7F7F;
+  }
+  .doing {
+    color: #00BFFF;
+    font-weight: bold;
+  }
+  .done {
+    color: lime;
+    text-decoration: underline;
+  }
+  summary {
+    font-size: 14px;
+    font-weight: bold;
+  }
+</style>
diff --git a/telemetry/packages/e2e-tests/tsconfig.json b/telemetry/packages/e2e-tests/tsconfig.json
new file mode 100644
index 00000000..956c40ff
--- /dev/null
+++ b/telemetry/packages/e2e-tests/tsconfig.json
@@ -0,0 +1,6 @@
+{
+  "extends": "@hyped/tsconfig/base.json",
+  "compilerOptions": {
+    "jsx": "react",
+  }
+}
diff --git a/telemetry/packages/ui/tsconfig.tsbuildinfo b/telemetry/packages/ui/tsconfig.tsbuildinfo
index 03a7fce1..62517fa6 100644
--- a/telemetry/packages/ui/tsconfig.tsbuildinfo
+++ b/telemetry/packages/ui/tsconfig.tsbuildinfo
@@ -1 +1 @@
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\ No newline at end of file
diff --git a/telemetry/pnpm-lock.yaml b/telemetry/pnpm-lock.yaml
index ab8f6c99..872da499 100644
--- a/telemetry/pnpm-lock.yaml
+++ b/telemetry/pnpm-lock.yaml
@@ -53,6 +53,28 @@ importers:
         specifier: ^5.3.3
         version: 5.3.3
 
+  packages/e2e-tests:
+    dependencies:
+      '@hyped/telemetry-server':
+        specifier: workspace:*
+        version: link:../server
+      '@hyped/telemetry-ui':
+        specifier: workspace:*
+        version: link:../ui
+      mqtt:
+        specifier: ^5.5.0
+        version: 5.5.0
+    devDependencies:
+      '@hyped/tsconfig':
+        specifier: workspace:*
+        version: link:../tsconfig
+      '@playwright/test':
+        specifier: ^1.42.1
+        version: 1.42.1
+      '@types/node':
+        specifier: ^20.11.28
+        version: 20.11.28
+
   packages/eslint-config:
     dependencies:
       '@typescript-eslint/eslint-plugin':
@@ -1758,6 +1780,14 @@ packages:
     engines: {node: '>=6.9.0'}
     dependencies:
       regenerator-runtime: 0.14.1
+    dev: false
+
+  /@babel/runtime@7.24.4:
+    resolution: {integrity: sha512-dkxf7+hn8mFBwKjs9bvBlArzLVxVbS8usaPUDd5p2a9JCL9tB8OaOVN1isD4+Xyk4ns89/xeOmbQvgdK7IIVdA==}
+    engines: {node: '>=6.9.0'}
+    dependencies:
+      regenerator-runtime: 0.14.1
+    dev: false
 
   /@babel/template@7.22.15:
     resolution: {integrity: sha512-QPErUVm4uyJa60rkI73qneDacvdvzxshT3kksGqlGWYdOTIUOwJ7RDUL8sGqslY1uXWSL6xMFKEXDS3ox2uF0w==}
@@ -2783,6 +2813,14 @@ packages:
     transitivePeerDependencies:
       - encoding
 
+  /@playwright/test@1.42.1:
+    resolution: {integrity: sha512-Gq9rmS54mjBL/7/MvBaNOBwbfnh7beHvS6oS4srqXFcQHpQCV1+c8JXWE8VLPyRDhgS3H8x8A7hztqI9VnwrAQ==}
+    engines: {node: '>=16'}
+    hasBin: true
+    dependencies:
+      playwright: 1.42.1
+    dev: true
+
   /@preact/signals-core@1.5.1:
     resolution: {integrity: sha512-dE6f+WCX5ZUDwXzUIWNMhhglmuLpqJhuy3X3xHrhZYI0Hm2LyQwOu0l9mdPiWrVNsE+Q7txOnJPgtIqHCYoBVA==}
     dev: false
@@ -4241,6 +4279,11 @@ packages:
     dependencies:
       undici-types: 5.26.5
 
+  /@types/node@20.11.28:
+    resolution: {integrity: sha512-M/GPWVS2wLkSkNHVeLkrF2fD5Lx5UC4PxA0uZcKc6QqbIQUJyW1jVjueJYi1z8n0I5PxYrtpnPnWglE+y9A0KA==}
+    dependencies:
+      undici-types: 5.26.5
+
   /@types/normalize-package-data@2.4.1:
     resolution: {integrity: sha512-Gj7cI7z+98M282Tqmp2K5EIsoouUEzbBJhQQzDE3jSIRk6r9gsz0oUokqIUR4u1R3dMHo0pDHM7sNOHyhulypw==}
     dev: true
@@ -4283,7 +4326,7 @@ packages:
   /@types/readable-stream@4.0.10:
     resolution: {integrity: sha512-AbUKBjcC8SHmImNi4yK2bbjogQlkFSg7shZCcicxPQapniOlajG8GCc39lvXzCWX4lLRRs7DM3VAeSlqmEVZUA==}
     dependencies:
-      '@types/node': 18.11.18
+      '@types/node': 20.11.28
       safe-buffer: 5.1.2
     dev: false
 
@@ -7426,7 +7469,7 @@ packages:
     peerDependencies:
       eslint: ^3 || ^4 || ^5 || ^6 || ^7 || ^8
     dependencies:
-      '@babel/runtime': 7.23.9
+      '@babel/runtime': 7.22.6
       aria-query: 5.1.3
       array-includes: 3.1.6
       array.prototype.flatmap: 1.3.1
@@ -7442,7 +7485,7 @@ packages:
       minimatch: 3.1.2
       object.entries: 1.1.6
       object.fromentries: 2.0.6
-      semver: 6.3.1
+      semver: 6.3.0
     dev: true
 
   /eslint-plugin-only-warn@1.1.0:
@@ -7968,6 +8011,14 @@ packages:
   /fast-safe-stringify@2.1.1:
     resolution: {integrity: sha512-W+KJc2dmILlPplD/H4K9l9LcAHAfPtP6BY84uVLXQ6Evcz9Lcg33Y2z1IVblT6xdY54PXYVHEv+0Wpq8Io6zkA==}
 
+  /fast-unique-numbers@8.0.13:
+    resolution: {integrity: sha512-7OnTFAVPefgw2eBJ1xj2PGGR9FwYzSUso9decayHgCDX4sJkHLdcsYTytTg+tYv+wKF3U8gJuSBz2jJpQV4u/g==}
+    engines: {node: '>=16.1.0'}
+    dependencies:
+      '@babel/runtime': 7.24.4
+      tslib: 2.6.2
+    dev: false
+
   /fast-unique-numbers@9.0.0:
     resolution: {integrity: sha512-lgIjiflW23W7qgagregmo5FFzM+m4/dWaDUVneRi2AV7o2k5npggeEX7srSKlYfJU9fKXvQV2Gzk3272fJT65w==}
     engines: {node: '>=18.2.0'}
@@ -8200,6 +8251,14 @@ packages:
   /fs.realpath@1.0.0:
     resolution: {integrity: sha512-OO0pH2lK6a0hZnAdau5ItzHPI6pUlvI7jMVnxUQRtw4owF2wk8lOSabtGDCTP4Ggrg2MbGnWO9X8K1t4+fGMDw==}
 
+  /fsevents@2.3.2:
+    resolution: {integrity: sha512-xiqMQR4xAeHTuB9uWm+fFRcIOgKBMiOBP+eXiyT7jsgVCq1bkVygt00oASowB7EdtpOHaaPgKt812P9ab+DDKA==}
+    engines: {node: ^8.16.0 || ^10.6.0 || >=11.0.0}
+    os: [darwin]
+    requiresBuild: true
+    dev: true
+    optional: true
+
   /fsevents@2.3.3:
     resolution: {integrity: sha512-5xoDfX+fL7faATnagmWPpbFtwh/R77WmMMqqHGS65C3vvB0YHrgF+B1YmZ3441tMj5n63k0212XNoJwzlhffQw==}
     engines: {node: ^8.16.0 || ^10.6.0 || >=11.0.0}
@@ -10397,6 +10456,33 @@ packages:
       - utf-8-validate
     dev: false
 
+  /mqtt@5.5.0:
+    resolution: {integrity: sha512-8WGQpjEzABcCh/UwLj7XaEoLsSLHJrJK3YLu57fJoLUBdz6zPGFdxWK3i1YYdPqKDu0sU6YHt+tly/qdLsLiyg==}
+    engines: {node: '>=16.0.0'}
+    hasBin: true
+    dependencies:
+      '@types/readable-stream': 4.0.10
+      '@types/ws': 8.5.10
+      commist: 3.2.0
+      concat-stream: 2.0.0
+      debug: 4.3.4
+      help-me: 5.0.0
+      lru-cache: 10.2.0
+      minimist: 1.2.8
+      mqtt-packet: 9.0.0
+      number-allocator: 1.0.14
+      readable-stream: 4.5.2
+      reinterval: 1.1.0
+      rfdc: 1.3.0
+      split2: 4.2.0
+      worker-timers: 7.1.7
+      ws: 8.16.0
+    transitivePeerDependencies:
+      - bufferutil
+      - supports-color
+      - utf-8-validate
+    dev: false
+
   /mri@1.2.0:
     resolution: {integrity: sha512-tzzskb3bG8LvYGFF/mDTpq3jpI6Q9wc3LEmBaghu+DdCssd1FakN7Bc0hVNmEyGq1bq3RgfkCb3cmQLpNPOroA==}
     engines: {node: '>=4'}
@@ -11086,6 +11172,22 @@ packages:
       find-up: 4.1.0
     dev: true
 
+  /playwright-core@1.42.1:
+    resolution: {integrity: sha512-mxz6zclokgrke9p1vtdy/COWBH+eOZgYUVVU34C73M+4j4HLlQJHtfcqiqqxpP0o8HhMkflvfbquLX5dg6wlfA==}
+    engines: {node: '>=16'}
+    hasBin: true
+    dev: true
+
+  /playwright@1.42.1:
+    resolution: {integrity: sha512-PgwB03s2DZBcNRoW+1w9E+VkLBxweib6KTXM0M3tkiT4jVxKSi6PmVJ591J+0u10LUrgxB7dLRbiJqO5s2QPMg==}
+    engines: {node: '>=16'}
+    hasBin: true
+    dependencies:
+      playwright-core: 1.42.1
+    optionalDependencies:
+      fsevents: 2.3.2
+    dev: true
+
   /pluralize@8.0.0:
     resolution: {integrity: sha512-Nc3IT5yHzflTfbjgqWcCPpo7DaKy4FnpB0l/zCAW0Tc7jxAiuqSxHasntB3D7887LSrA93kDJ9IXovxJYxyLCA==}
     engines: {node: '>=4'}
@@ -11785,6 +11887,7 @@ packages:
 
   /regenerator-runtime@0.14.1:
     resolution: {integrity: sha512-dYnhHh0nJoMfnkZs6GmmhFknAGRrLznOu5nc9ML+EJxGvrx6H7teuevqVqCuPcPK//3eDrrjQhehXVx9cnkGdw==}
+    dev: false
 
   /regenerator-transform@0.15.1:
     resolution: {integrity: sha512-knzmNAcuyxV+gQCufkYcvOqX/qIIfHLv0u5x79kRxuGojfYVky1f15TzZEu2Avte8QGepvUNTnLskf8E6X6Vyg==}
@@ -14392,6 +14495,15 @@ packages:
       worker-timers-worker: 7.0.66
     dev: false
 
+  /worker-timers-broker@6.1.7:
+    resolution: {integrity: sha512-8hb4lSMAijDY/Dp/MOw9Hc2x6uU59XWFYjcWQgC4bai+sxcLXjeexd9aYKdYMFZPiPoieGzMYIs9WGpv2Co3eA==}
+    dependencies:
+      '@babel/runtime': 7.24.4
+      fast-unique-numbers: 8.0.13
+      tslib: 2.6.2
+      worker-timers-worker: 7.0.70
+    dev: false
+
   /worker-timers-worker@7.0.66:
     resolution: {integrity: sha512-VCLa0H5K9fE2DVI/9r5zDuFrMQIpNL3UD/h4Ui49fIiRBTgv1Sqe0RM12brr83anBsm103aUQkvKvCBL+KpNtg==}
     dependencies:
@@ -14399,6 +14511,13 @@ packages:
       tslib: 2.6.2
     dev: false
 
+  /worker-timers-worker@7.0.70:
+    resolution: {integrity: sha512-lemWEME0RHB78hzGkkQcKfF6L82gqVhV3T9iY14jHBhbLxLq9t1RRCLmPDBZV7sdnUoW6Khkfn6coqPjgEK6cw==}
+    dependencies:
+      '@babel/runtime': 7.24.4
+      tslib: 2.6.2
+    dev: false
+
   /worker-timers@7.1.2:
     resolution: {integrity: sha512-iqhXt5+Mc3u2nHj3G/w/E9pXqhlueniA2NlyelB/MQSHQuuW2fmmZGkveAv6yi4SSZvrpbveBBlqPSZ0MDCLww==}
     dependencies:
@@ -14408,6 +14527,15 @@ packages:
       worker-timers-worker: 7.0.66
     dev: false
 
+  /worker-timers@7.1.7:
+    resolution: {integrity: sha512-Dr4La61d94SjOA8P57h2LN8W3MXOVe/m1P7jER8cmuIy+JaDMqPttSwo6QRJFSK6YnG9cD6SU7J8m7CVlu8jlw==}
+    dependencies:
+      '@babel/runtime': 7.24.4
+      tslib: 2.6.2
+      worker-timers-broker: 6.1.7
+      worker-timers-worker: 7.0.70
+    dev: false
+
   /wrap-ansi@3.0.1:
     resolution: {integrity: sha512-iXR3tDXpbnTpzjKSylUJRkLuOrEC7hwEB221cgn6wtF8wpmz28puFXAEfPT5zrjM3wahygB//VuWEr1vTkDcNQ==}
     engines: {node: '>=4'}
diff --git a/telemetry/turbo.json b/telemetry/turbo.json
index 796ad15d..265277e9 100644
--- a/telemetry/turbo.json
+++ b/telemetry/turbo.json
@@ -11,7 +11,12 @@
       "persistent": true
     },
     "dev:test": {
-      "dependsOn": ["^build", "build:fake"],
+      "dependsOn": ["^build"],
+      "cache": false,
+      "persistent": true
+    },
+    "e2e:test": {
+      "dependsOn": ["^build"],
       "cache": false,
       "persistent": true
     },

From 6e722028021b82f5c3f47e70884592f84976d8be Mon Sep 17 00:00:00 2001
From: Tom Lonergan <43603330+TomLonergan03@users.noreply.github.com>
Date: Mon, 1 Jul 2024 23:32:06 +0100
Subject: [PATCH 3/4] Infra - Fix Paho build (#123)

---
 Dockerfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 89c300ec..a28a7444 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -9,8 +9,8 @@ RUN apt-get update && \
 WORKDIR /home
 RUN git clone --recurse-submodules https://github.com/eclipse/paho.mqtt.cpp.git
 WORKDIR /home/paho.mqtt.cpp
-RUN git checkout v1.3.2
-RUN cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_STATIC=ON -DPAHO_BUILD_DOCUMENTATION=OFF -DPAHO_BUILD_SAMPLES=OFF
+RUN git checkout v1.4.0
+RUN cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_STATIC=OFF -DPAHO_BUILD_DOCUMENTATION=OFF -DPAHO_BUILD_SAMPLES=OFF -DPAHO_BUILD_SHARED=ON
 RUN sudo cmake --build build/ --target install
 
 # Install libgpiod

From 4f0f768c8e4a859ebd2e36e1f5c1aceb09ab3442 Mon Sep 17 00:00:00 2001
From: Michael Belyaev <110101418+misha7b@users.noreply.github.com>
Date: Tue, 2 Jul 2024 00:08:07 +0100
Subject: [PATCH 4/4] NAV - MQTT node for navigation (#119)

Co-authored-by: Tom Lonergan <tomlonergan91@gmail.com>
---
 config/pod.toml                               |   5 +-
 lib/core/mqtt_logger.cpp                      |   2 +-
 lib/core/mqtt_topics.hpp                      |  36 ++-
 lib/core/types.hpp                            |  29 +-
 lib/navigation/control/CMakeLists.txt         |   9 +-
 lib/navigation/control/consts.hpp             |   5 +-
 lib/navigation/control/navigator.cpp          | 271 ++++++++++++++++--
 lib/navigation/control/navigator.hpp          |  62 +++-
 lib/navigation/filtering/kalman_matrices.cpp  |   7 +-
 .../preprocess_accelerometer.cpp              |   4 +-
 .../preprocessing/preprocess_keyence.cpp      |   1 +
 .../preprocessing/preprocess_optical.cpp      |   7 +-
 .../preprocessing/preprocess_optical.hpp      |   7 +-
 lib/state_machine/state_machine.cpp           |   4 +-
 src/pod/CMakeLists.txt                        |   3 +
 src/pod/main.cpp                              |   4 +
 .../accelerometer_preprocessing.cpp           |  56 +---
 test/navigation/kalman_filter.cpp             |   2 +-
 18 files changed, 382 insertions(+), 132 deletions(-)

diff --git a/config/pod.toml b/config/pod.toml
index 8b7c9dd7..8c5658bc 100644
--- a/config/pod.toml
+++ b/config/pod.toml
@@ -9,7 +9,7 @@ host = "192.168.1.0"
 port = 4556
 
 [raspberry]
-nodes = ["state_machine", "mqtt_broker"]
+nodes = ["state_machine", "mqtt_broker", "navigator"]
 
 [state_machine]
 # Possible transition tables are "full_run",
@@ -26,3 +26,6 @@ topic = 'accelerometer'
 format = 'float'
 type = 'acceleration'
 unit = 'm/s²'
+
+[navigator]
+maxVelocity = 10
diff --git a/lib/core/mqtt_logger.cpp b/lib/core/mqtt_logger.cpp
index 4108bd00..f6576d05 100644
--- a/lib/core/mqtt_logger.cpp
+++ b/lib/core/mqtt_logger.cpp
@@ -20,7 +20,7 @@ MqttLogger::MqttLogger(const char *const label,
 void MqttLogger::log(const LogLevel level, const char *format, ...)
 {
   logger_.log(level, format);
-  const auto topic                                     = MqttTopic::kTest;
+  const auto topic                                     = MqttTopic::kLogs;
   std::shared_ptr<rapidjson::Document> message_payload = std::make_shared<rapidjson::Document>();
   message_payload->SetObject();
   message_payload->AddMember("log", *format, message_payload->GetAllocator());
diff --git a/lib/core/mqtt_topics.hpp b/lib/core/mqtt_topics.hpp
index 528c2b7c..f959a29d 100644
--- a/lib/core/mqtt_topics.hpp
+++ b/lib/core/mqtt_topics.hpp
@@ -5,11 +5,39 @@
 
 namespace hyped::core {
 
-enum class MqttTopic { kTest, kState };
+enum class MqttTopic {
+  kState,
+  kStateRequest,
+  kAccelerometer,
+  kOpticalFlow,
+  kKeyence,
+  kStarted,
+  kDisplacement,
+  kVelocity,
+  kAcceleration,
+  kLogs
+};
 
 const std::unordered_map<MqttTopic, std::string> mqtt_topic_to_string
-  = {{MqttTopic::kTest, "test"}, {MqttTopic::kState, "state"}};
+  = {{MqttTopic::kState, "hyped/cart_2024/state/state"},
+     {MqttTopic::kStateRequest, "hyped/cart_2024/state/state_request"},
+     {MqttTopic::kAccelerometer, "hyped/cart_2024/measurement/accelerometer"},
+     {MqttTopic::kOpticalFlow, "hyped/cart_2024/measurement/optical_flow"},
+     {MqttTopic::kKeyence, "hyped/cart_2024/measurement/keyence"},
+     {MqttTopic::kDisplacement, "hyped/cart_2024/navigation/displacement"},
+     {MqttTopic::kVelocity, "hyped/cart_2024/navigation/velocity"},
+     {MqttTopic::kAcceleration, "hyped/cart_2024/navigation/acceleration"},
+     {MqttTopic::kLogs, "hyped/cart_2024/logs"}};
+
 const std::unordered_map<std::string, MqttTopic> mqtt_string_to_topic
-  = {{"test", MqttTopic::kTest}, {"state", MqttTopic::kState}};
+  = {{"hyped/cart_2024/state/state", MqttTopic::kState},
+     {"hyped/cart_2024/state/state_request", MqttTopic::kState},
+     {"hyped/cart_2024/measurement/accelerometer", MqttTopic::kAccelerometer},
+     {"hyped/cart_2024/measurement/optical_flow", MqttTopic::kOpticalFlow},
+     {"hyped/cart_2024/measurement/keyence", MqttTopic::kKeyence},
+     {"hyped/cart_2024/navigation/displacement", MqttTopic::kDisplacement},
+     {"hyped/cart_2024/navigation/velocity", MqttTopic::kVelocity},
+     {"hyped/cart_2024/navigation/acceleration", MqttTopic::kAcceleration},
+     {"hyped/cart_2024/logs", MqttTopic::kLogs}};
 
-}  // namespace hyped::core
\ No newline at end of file
+}  // namespace hyped::core
diff --git a/lib/core/types.hpp b/lib/core/types.hpp
index 2ba532c9..5d89659d 100644
--- a/lib/core/types.hpp
+++ b/lib/core/types.hpp
@@ -23,10 +23,9 @@ struct Trajectory {
 };
 
 // number of each type of sensors
-static constexpr std::uint8_t kNumAccelerometers = 4;
+static constexpr std::uint8_t kNumAccelerometers = 1;
 static constexpr std::uint8_t kNumAxis           = 3;
-static constexpr std::uint8_t kNumEncoders       = 4;
-static constexpr std::uint8_t kNumKeyence        = 2;
+static constexpr std::uint8_t kNumKeyence        = 1;
 static constexpr std::uint8_t kNumOptical        = 1;
 
 // data format for raw sensor data
@@ -38,25 +37,11 @@ using OpticalData          = std::array<std::array<Float, 2>, kNumOptical>;
 // data produced by the accelerometer sensor
 // values are in milli-g (standard gravity)
 struct RawAccelerationData {
-  RawAccelerationData(const std::int32_t x,
-                      const std::int32_t y,
-                      const std::int32_t z,
-                      const TimePoint measured_at,
-                      const bool is_sensor_active)
-      : x(x),
-        y(y),
-        z(z),
-        measured_at(measured_at),
-        is_sensor_active(is_sensor_active)
-
-  {
-  }
-
-  const std::int32_t x;
-  const std::int32_t y;
-  const std::int32_t z;
-  const TimePoint measured_at;
-  const bool is_sensor_active;
+  std::int32_t x;
+  std::int32_t y;
+  std::int32_t z;
+  TimePoint measured_at;
+  bool is_sensor_active;
 };
 
 }  // namespace hyped::core
diff --git a/lib/navigation/control/CMakeLists.txt b/lib/navigation/control/CMakeLists.txt
index c120ef37..4f5ce055 100644
--- a/lib/navigation/control/CMakeLists.txt
+++ b/lib/navigation/control/CMakeLists.txt
@@ -9,4 +9,11 @@ include_directories(
   "${CMAKE_CURRENT_SOURCE_DIR}"
   "${CMAKE_SOURCE_DIR}/lib/navigation"
 )
-target_link_libraries(${target} Eigen3::Eigen hyped_core)
+target_link_libraries(
+  ${target}
+  Eigen3::Eigen
+  hyped_core
+  tomlplusplus::tomlplusplus
+  hyped_navigation_filters
+  hyped_navigation_preprocessing
+)
diff --git a/lib/navigation/control/consts.hpp b/lib/navigation/control/consts.hpp
index 8dcffbd5..a6d366eb 100644
--- a/lib/navigation/control/consts.hpp
+++ b/lib/navigation/control/consts.hpp
@@ -8,8 +8,8 @@
 namespace hyped::navigation {
 
 // TODOLater: move most of these to a config file
-static constexpr core::Float kTrackLength     = 100.0;  // m
-static constexpr core::Float kBrakingDistance = 20.0;   // m TODOLater:check!
+static constexpr core::Float kTrackLength     = 6.0;  // m
+static constexpr core::Float kBrakingDistance = 2.0;  // m TODOLater:check!
 static constexpr core::Float kStripeDistance  = 5.0;
 static constexpr bool kIsKeyenceActive        = true;
 
@@ -30,4 +30,5 @@ class INavigator {
     = 0;
   virtual core::Result opticalUpdate(const core::OpticalData &optical_data) = 0;
 };
+
 }  // namespace hyped::navigation
diff --git a/lib/navigation/control/navigator.cpp b/lib/navigation/control/navigator.cpp
index f7c4e4db..92d94d81 100644
--- a/lib/navigation/control/navigator.cpp
+++ b/lib/navigation/control/navigator.cpp
@@ -1,19 +1,27 @@
 #include "navigator.hpp"
 
+#include "core/mqtt.hpp"
+#include "core/mqtt_topics.hpp"
+#include "core/types.hpp"
+#include "core/wall_clock.hpp"
+#include "navigation/filtering/kalman_matrices.hpp"
+#include "preprocessing/preprocess_optical.hpp"
+
 namespace hyped::navigation {
-// TODOLater: check we stop once near calculated safe stopping distance
 
-Navigator::Navigator(core::ILogger &logger, const core::ITimeSource &time)
+Navigator::Navigator(core::ILogger &logger,
+                     const core::ITimeSource &time,
+                     std::shared_ptr<core::IMqtt> mqtt)
     : logger_(logger),
       time_(time),
+      mqtt_(std::move(mqtt)),
       keyence_preprocessor_(logger),
-      optical_preprocessor_(logger),
       accelerometer_preprocessor_(logger, time),
       previous_accelerometer_data_(0.0),
       previous_optical_reading_(0.0),
       previous_keyence_reading_(0.0),
-      kalman_filter_(initial_state,  // TODOLater: If initial position not known exactly, modify
-                     initial_covariance,  // TODOLater: If initial position not known exactly, tune
+      kalman_filter_(initial_state,
+                     initial_covariance,
                      kStateTransitionMatrix,
                      kControlMatrix,
                      kErrorCovarianceMatrix,
@@ -24,8 +32,6 @@ Navigator::Navigator(core::ILogger &logger, const core::ITimeSource &time)
 
 std::optional<core::Trajectory> Navigator::currentTrajectory()
 {
-  // TODOLater: check fail state if required
-
   control_input_vector << previous_accelerometer_data_;
   measurement_vector << previous_keyence_reading_, previous_optical_reading_;
 
@@ -38,7 +44,7 @@ std::optional<core::Trajectory> Navigator::currentTrajectory()
 
   kalman_filter_.filter(measurement_vector, control_input_vector);
   previous_keyence_reading_ = 0.0;  // Reset keyence reading to 0.0 after use so that next step uses
-                                    // optical measurment matrix only.
+                                    // optical measurement matrix only.
 
   trajectory_.displacement = kalman_filter_.getStateEstimate()(0);
   trajectory_.velocity     = kalman_filter_.getStateEstimate()(1);
@@ -52,13 +58,13 @@ std::optional<core::Trajectory> Navigator::currentTrajectory()
   if (trajectory_.displacement
       > static_cast<core::Float>(kTrackLength - (1.5 * kBrakingDistance))) {
     logger_.log(core::LogLevel::kFatal, "Time to brake!");
+    requestBraking();
     return std::nullopt;
   }
 
   return trajectory_;
 }
 
-// TODOLater: check input from sensors matches this
 core::Result Navigator::keyenceUpdate(const core::KeyenceData &keyence_data)
 {
   // Check keyence strictly increasing
@@ -74,15 +80,16 @@ core::Result Navigator::keyenceUpdate(const core::KeyenceData &keyence_data)
     return core::Result::kFailure;
   }
 
-  previous_keyence_reading_ = keyence_data[0];
+  previous_keyence_reading_ = keyence_data.at(0);
 
-  logger_.log(core::LogLevel::kInfo, "Keyence data successfully updated");
+  logger_.log(core::LogLevel::kDebug, "Keyence data successfully updated");
   return core::Result::kSuccess;
 }
+
 core::Result Navigator::opticalUpdate(const core::OpticalData &optical_data)
 {
   // Run preprocessing on optical
-  const auto clean_optical_data = optical_preprocessor_.processData(optical_data);
+  const auto clean_optical_data = OpticalPreprocessor::processData(optical_data);
 
   // get mean value
   previous_optical_reading_ = 0.0;
@@ -92,25 +99,14 @@ core::Result Navigator::opticalUpdate(const core::OpticalData &optical_data)
   }
   previous_optical_reading_ /= core::kNumOptical;
 
-  logger_.log(core::LogLevel::kInfo, "Optical flow data successfully updated");
+  logger_.log(core::LogLevel::kDebug, "Optical flow data successfully updated");
   return core::Result::kSuccess;
 }
 
-core::Result Navigator::accelerometerUpdate(
-  const std::array<core::RawAccelerationData, core::kNumAccelerometers> &accelerometer_data)
+core::Result Navigator::accelerometerUpdate(const core::RawAccelerometerData &accelerometer_data)
 {
-  // reformat raw data
-  core::RawAccelerometerData reformatted_data;
-  std::array<core::Float, core::kNumAxis> temp_array;
-  for (std::size_t i = 0; i < core::kNumAccelerometers; ++i) {
-    temp_array.at(0)       = accelerometer_data.at(i).x;
-    temp_array.at(1)       = accelerometer_data.at(i).y;
-    temp_array.at(2)       = accelerometer_data.at(i).z;
-    reformatted_data.at(i) = temp_array;
-  }
-
   // run preprocessing, get filtered acceleration data
-  auto clean_accelerometer_data = accelerometer_preprocessor_.processData(reformatted_data);
+  auto clean_accelerometer_data = accelerometer_preprocessor_.processData(accelerometer_data);
   if (!clean_accelerometer_data) {
     logger_.log(core::LogLevel::kFatal, "Reliability error in accelerometer data");
     return core::Result::kFailure;
@@ -123,7 +119,228 @@ core::Result Navigator::accelerometerUpdate(
   }
   previous_accelerometer_data_ /= core::kNumAccelerometers;
 
-  logger_.log(core::LogLevel::kInfo, "Accelerometer data successfully updated");
+  logger_.log(core::LogLevel::kDebug, "Accelerometer data successfully updated");
+  return core::Result::kSuccess;
+}
+
+void Navigator::requestFailure()
+{
+  std::string failure_message = "kFailure";
+  const auto topic            = core::MqttTopic::kState;
+  auto message_payload        = std::make_shared<rapidjson::Document>();
+  message_payload->SetObject();
+
+  rapidjson::Value message_value;
+  message_value.SetString(failure_message.c_str(), message_payload->GetAllocator());
+  message_payload->AddMember("transition", message_value, message_payload->GetAllocator());
+
+  const core::MqttMessage::Header header{
+    .timestamp = static_cast<std::uint64_t>(time_.now().time_since_epoch().count()),
+    .priority  = core::MqttMessagePriority::kNormal};
+  const core::MqttMessage message{topic, header, message_payload};
+  mqtt_->publish(message, core::MqttMessageQos::kExactlyOnce);
+}
+
+void Navigator::requestBraking()
+{
+  const auto topic           = core::MqttTopic::kState;
+  const auto message_payload = std::make_shared<rapidjson::Document>();
+  message_payload->SetObject();
+  rapidjson::Value message_value;
+  message_value.SetString("kLimBrake", message_payload->GetAllocator());
+  message_payload->AddMember("state", message_value, message_payload->GetAllocator());
+  const core::MqttMessage::Header header{
+    .timestamp = static_cast<std::uint64_t>(time_.now().time_since_epoch().count()),
+    .priority  = core::MqttMessagePriority::kNormal};
+  const core::MqttMessage message{topic, header, message_payload};
+  mqtt_->publish(message, core::MqttMessageQos::kExactlyOnce);
+}
+
+core::Result Navigator::publishCurrentTrajectory()
+{
+  const auto trajectory = currentTrajectory();
+  if (!trajectory) {
+    logger_.log(core::LogLevel::kFatal, "Failed to get current trajectory");
+    return core::Result::kFailure;
+  }
+  {
+    const auto topic     = core::MqttTopic::kDisplacement;
+    auto message_payload = std::make_shared<rapidjson::Document>();
+    message_payload->SetObject();
+    rapidjson::Value displacement(trajectory->displacement);
+    message_payload->AddMember("displacement", displacement, message_payload->GetAllocator());
+    const core::MqttMessage::Header header{
+      .timestamp = static_cast<std::uint64_t>(time_.now().time_since_epoch().count()),
+      .priority  = core::MqttMessagePriority::kNormal};
+    const core::MqttMessage message{topic, header, message_payload};
+    mqtt_->publish(message, core::MqttMessageQos::kExactlyOnce);
+  }
+  {
+    const auto topic     = core::MqttTopic::kVelocity;
+    auto message_payload = std::make_shared<rapidjson::Document>();
+    message_payload->SetObject();
+    rapidjson::Value velocity(trajectory->velocity);
+    message_payload->AddMember("velocity", velocity, message_payload->GetAllocator());
+    const core::MqttMessage::Header header{
+      .timestamp = static_cast<std::uint64_t>(time_.now().time_since_epoch().count()),
+      .priority  = core::MqttMessagePriority::kNormal};
+    const core::MqttMessage message{topic, header, message_payload};
+    mqtt_->publish(message, core::MqttMessageQos::kExactlyOnce);
+  }
+  {
+    const auto topic     = core::MqttTopic::kAcceleration;
+    auto message_payload = std::make_shared<rapidjson::Document>();
+    message_payload->SetObject();
+    rapidjson::Value acceleration(trajectory->acceleration);
+    message_payload->AddMember("acceleration", acceleration, message_payload->GetAllocator());
+    const core::MqttMessage::Header header{
+      .timestamp = static_cast<std::uint64_t>(time_.now().time_since_epoch().count()),
+      .priority  = core::MqttMessagePriority::kNormal};
+    const core::MqttMessage message{topic, header, message_payload};
+    mqtt_->publish(message, core::MqttMessageQos::kExactlyOnce);
+  }
+  return core::Result::kSuccess;
+}
+
+void Navigator::publishStart()
+{
+  const auto topic     = core::MqttTopic::kStarted;
+  auto message_payload = std::make_shared<rapidjson::Document>();
+  message_payload->SetObject();
+
+  rapidjson::Value message_value;
+  message_value.SetString("Nav module running", message_payload->GetAllocator());
+  message_payload->AddMember("message", message_value, message_payload->GetAllocator());
+
+  const core::MqttMessage::Header header{
+    .timestamp = static_cast<std::uint64_t>(time_.now().time_since_epoch().count()),
+    .priority  = core::MqttMessagePriority::kNormal};
+  const core::MqttMessage message{topic, header, message_payload};
+  mqtt_->publish(message, core::MqttMessageQos::kExactlyOnce);
+}
+
+core::Result Navigator::subscribeToTopics()
+{
+  for (const auto &topic : kSubscribedTopics) {
+    const auto result = mqtt_->subscribe(topic);
+    if (result == core::Result::kFailure) {
+      logger_.log(core::LogLevel::kFatal,
+                  "Failed to subscribe to topic: %s",
+                  core::mqtt_topic_to_string.find(topic));
+      return core::Result::kFailure;
+    }
+  }
+  return core::Result::kSuccess;
+}
+
+void Navigator::updateSensorData(core::KeyenceData &keyence_data,
+                                 core::OpticalData &optical_data,
+                                 core::RawAccelerometerData &accelerometer_data)
+{
+  auto keyence_update_result = keyenceUpdate(keyence_data);
+  if (keyence_update_result == core::Result::kFailure) {
+    logger_.log(core::LogLevel::kFatal, "Failed to update Keyence sensor data");
+    requestFailure();
+    return;
+  }
+  auto optical_update_result = opticalUpdate(optical_data);
+  if (optical_update_result == core::Result::kFailure) {
+    logger_.log(core::LogLevel::kFatal, "Failed to update Optical sensor data");
+    requestFailure();
+    return;
+  }
+  auto accelerometer_update_result = accelerometerUpdate(accelerometer_data);
+  if (accelerometer_update_result == core::Result::kFailure) {
+    logger_.log(core::LogLevel::kFatal, "Failed to update Accelerometer sensor data");
+    requestFailure();
+    return;
+  }
+}
+
+void Navigator::run()
+{
+  publishStart();
+  core::Result result = subscribeToTopics();
+  if (result == core::Result::kFailure) {
+    logger_.log(core::LogLevel::kFatal, "Failed to subscribe to topics");
+    requestFailure();
+    return;
+  }
+
+  // TODOLater: all these are assuming there is only one sensor each
+  std::optional<core::KeyenceData> most_recent_keyence_data                = std::nullopt;
+  std::optional<core::OpticalData> most_recent_optical_data                = std::nullopt;
+  std::optional<core::RawAccelerometerData> most_recent_accelerometer_data = {std::nullopt};
+
+  while (true) {
+    most_recent_keyence_data       = std::nullopt;
+    most_recent_optical_data       = std::nullopt;
+    most_recent_accelerometer_data = std::nullopt;
+
+    while (
+      !(most_recent_keyence_data && most_recent_optical_data && most_recent_accelerometer_data)) {
+      const auto consume_result = mqtt_->consume();
+      if (consume_result == core::Result::kFailure) {
+        logger_.log(core::LogLevel::kFatal, "Invalid message received from MQTT");
+      }
+      auto optional_message = mqtt_->getMessage();
+      if (!optional_message) { continue; }
+      auto message = *optional_message;
+
+      // TODOLater: make the parsing more robust
+      switch (message.topic) {
+        case core::MqttTopic::kKeyence: {
+          auto payload             = message.payload;
+          const auto keyence_data  = core::KeyenceData{(*payload)["keyence_data"].GetUint()};
+          most_recent_keyence_data = core::KeyenceData{keyence_data};
+          break;
+        }
+        case core::MqttTopic::kOpticalFlow: {
+          auto payload             = message.payload;
+          const auto x             = (*payload)["x"].GetFloat();
+          const auto y             = (*payload)["y"].GetFloat();
+          const auto optical_data  = core::OpticalData{{x, y}};
+          most_recent_optical_data = core::OpticalData{optical_data};
+          break;
+        }
+        case core::MqttTopic::kAccelerometer: {
+          auto payload                   = message.payload;
+          const auto x                   = (*payload)["x"].GetFloat();
+          const auto y                   = (*payload)["y"].GetFloat();
+          const auto z                   = (*payload)["z"].GetFloat();
+          most_recent_accelerometer_data = core::RawAccelerometerData{{x, y, z}};
+          break;
+        }
+        default:
+          break;
+      }
+    }
+
+    updateSensorData(
+      *most_recent_keyence_data, *most_recent_optical_data, *most_recent_accelerometer_data);
+    const auto result = publishCurrentTrajectory();
+    if (result == core::Result::kFailure) {
+      logger_.log(core::LogLevel::kFatal, "Failed to publish current trajectory");
+      requestFailure();
+      return;
+    }
+  }
+}
+
+core::Result Navigator::startNode(toml::v3::node_view<const toml::v3::node> config,
+                                  const std::string &mqtt_ip,
+                                  const std::uint32_t mqtt_port)
+{
+  auto time          = core::WallClock();
+  auto logger        = core::Logger("Navigation", core::LogLevel::kDebug, time);
+  auto optional_mqtt = core::Mqtt::create(logger, "Navigation", mqtt_ip, mqtt_port);
+  if (!optional_mqtt) {
+    logger.log(core::LogLevel::kFatal, "Failed to create MQTT client");
+    return core::Result::kFailure;
+  }
+  auto mqtt = *optional_mqtt;
+  Navigator navigator(logger, time, mqtt);
+  navigator.run();
   return core::Result::kSuccess;
 }
 
diff --git a/lib/navigation/control/navigator.hpp b/lib/navigation/control/navigator.hpp
index 597ba180..9ff863ad 100644
--- a/lib/navigation/control/navigator.hpp
+++ b/lib/navigation/control/navigator.hpp
@@ -3,21 +3,31 @@
 #include "consts.hpp"
 
 #include <array>
+#include <memory>
 #include <optional>
 
 #include <core/logger.hpp>
+#include <core/mqtt.hpp>
 #include <core/types.hpp>
 #include <navigation/filtering/kalman_filter.hpp>
 #include <navigation/filtering/kalman_matrices.hpp>
 #include <navigation/preprocessing/preprocess_accelerometer.hpp>
 #include <navigation/preprocessing/preprocess_keyence.hpp>
 #include <navigation/preprocessing/preprocess_optical.hpp>
+#include <toml++/toml.hpp>
 
 namespace hyped::navigation {
 
 class Navigator : public INavigator {
  public:
-  Navigator(core::ILogger &logger, const core::ITimeSource &time);
+  Navigator(core::ILogger &logger,
+            const core::ITimeSource &time,
+            std::shared_ptr<core::IMqtt> mqtt);
+
+  // Run the navigator as an mqtt node
+  static core::Result startNode(toml::v3::node_view<const toml::v3::node> config,
+                                const std::string &mqtt_ip,
+                                const std::uint32_t mqtt_port);
 
   /**
    *@brief runs cross checking and returns trajectory
@@ -41,27 +51,71 @@ class Navigator : public INavigator {
    *
    * @param accelerometer_data
    */
-  core::Result accelerometerUpdate(
-    const std::array<core::RawAccelerationData, core::kNumAccelerometers> &accelerometer_data);
+  core::Result accelerometerUpdate(const core::RawAccelerometerData &accelerometer_data) override;
 
  private:
+  void run();
+  /**
+   * @brief Publishes the current trajectory to the MQTT broker
+   */
+  core::Result publishCurrentTrajectory();
+
+  /**
+   * @brief Publishes a failure message to the MQTT broker
+   */
+  void requestFailure();
+
+  /**
+   * @brief Publishes a start message to the MQTT broker
+   */
+  void publishStart();
+
+  /**
+   * @brief Publishes a failure message to the MQTT broker
+   */
+  void requestBraking();
+
+  /**
+   * @brief Subscribes to topics
+   */
+  core::Result subscribeToTopics();
+
+  /**
+   * @brief Updates the sensor data and the trajectory
+   *
+   * @param keyence_data
+   * @param optical_data
+   * @param accelerometer_data
+   */
+  void updateSensorData(core::KeyenceData &keyence_data,
+                        core::OpticalData &optical_data,
+                        core::RawAccelerometerData &accelerometer_data);
+
   core::ILogger &logger_;
   const core::ITimeSource &time_;
 
+  std::shared_ptr<core::IMqtt> mqtt_;
+
   KalmanFilter kalman_filter_;
 
   // navigation functionality
   KeyencePreprocessor keyence_preprocessor_;
   AccelerometerPreprocessor accelerometer_preprocessor_;
-  OpticalPreprocessor optical_preprocessor_;
 
   // previous readings
   core::Float previous_optical_reading_;
   core::Float previous_keyence_reading_;
   core::Float previous_accelerometer_data_;
 
+  core::Result keyence_update_result       = core::Result::kSuccess;
+  core::Result optical_update_result       = core::Result::kSuccess;
+  core::Result accelerometer_update_result = core::Result::kSuccess;
+
   // current navigation trajectory
   core::Trajectory trajectory_;
+
+  constexpr static std::array<core::MqttTopic, 3> kSubscribedTopics
+    = {core::MqttTopic::kKeyence, core::MqttTopic::kOpticalFlow, core::MqttTopic::kAccelerometer};
 };
 
 }  // namespace hyped::navigation
diff --git a/lib/navigation/filtering/kalman_matrices.cpp b/lib/navigation/filtering/kalman_matrices.cpp
index 60d941d8..da628dbb 100644
--- a/lib/navigation/filtering/kalman_matrices.cpp
+++ b/lib/navigation/filtering/kalman_matrices.cpp
@@ -1,6 +1,7 @@
 #include "kalman_matrices.hpp"
 
 namespace hyped::navigation {
+// TODOLater: this entire thing is awful, fix it
 
 // Constant matrices
 const StateTransitionMatrix kStateTransitionMatrix
@@ -32,6 +33,10 @@ const StateTransitionCovarianceMatrix transition_covariance
 const MeasurementNoiseCovarianceMatrix kMeasurementNoiseCovarianceMatrix
   = (MeasurementNoiseCovarianceMatrix() << 0.01, 0, 0, 0).finished();
 
+// TODOLater: this is entirely arbitrary, someone needs to work out what it should be
+const ErrorCovarianceMatrix kErrorCovarianceMatrix
+  = (ErrorCovarianceMatrix() << 0.01, 0, 0, 0.01).finished();
+
 // Changing matrices
 StateVector initial_state = (StateVector::Zero());
 
@@ -43,4 +48,4 @@ MeasurementVector measurement_vector = MeasurementVector::Zero();
 
 MeasurementMatrix measurement_matrix = ((MeasurementMatrix() << 0, 0, 0, kDeltaT).finished());
 
-}  // namespace hyped::navigation
\ No newline at end of file
+}  // namespace hyped::navigation
diff --git a/lib/navigation/preprocessing/preprocess_accelerometer.cpp b/lib/navigation/preprocessing/preprocess_accelerometer.cpp
index 853a87dc..513a5b3f 100644
--- a/lib/navigation/preprocessing/preprocess_accelerometer.cpp
+++ b/lib/navigation/preprocessing/preprocess_accelerometer.cpp
@@ -8,8 +8,8 @@ AccelerometerPreprocessor::AccelerometerPreprocessor(core::ILogger &logger,
                                                      const core::ITimeSource &time)
     : logger_(logger),
       time_(time),
-      num_outliers_per_accelerometer_({0, 0, 0, 0}),
-      are_accelerometers_reliable_({true, true, true, true}),
+      num_outliers_per_accelerometer_({0}),
+      are_accelerometers_reliable_({true}),
       num_reliable_accelerometers_(core::kNumAccelerometers)
 {
 }
diff --git a/lib/navigation/preprocessing/preprocess_keyence.cpp b/lib/navigation/preprocessing/preprocess_keyence.cpp
index b9f5cd6d..ef3e7a60 100644
--- a/lib/navigation/preprocessing/preprocess_keyence.cpp
+++ b/lib/navigation/preprocessing/preprocess_keyence.cpp
@@ -7,6 +7,7 @@ KeyencePreprocessor::KeyencePreprocessor(core::ILogger &logger)
       previous_data_status_(KeyenceDataStatus::kAgreed)
 {
 }
+
 SensorChecks KeyencePreprocessor::checkKeyenceAgrees(const core::KeyenceData &keyence_data)
 {
   KeyenceDataStatus current_data_status = KeyenceDataStatus::kDisagreed;
diff --git a/lib/navigation/preprocessing/preprocess_optical.cpp b/lib/navigation/preprocessing/preprocess_optical.cpp
index 40e14748..a8ff8d64 100644
--- a/lib/navigation/preprocessing/preprocess_optical.cpp
+++ b/lib/navigation/preprocessing/preprocess_optical.cpp
@@ -2,11 +2,8 @@
 
 namespace hyped::navigation {
 
-OpticalPreprocessor::OpticalPreprocessor(core::ILogger &logger) : logger_(logger)
-{
-}
-
-std::optional<std::array<core::Float, 2>> processData(const core::OpticalData raw_optical_data)
+std::optional<std::array<core::Float, 2>> OpticalPreprocessor::processData(
+  const core::OpticalData raw_optical_data)
 {
   // Take magnitude
   std::array<core::Float, 2> optical_data;
diff --git a/lib/navigation/preprocessing/preprocess_optical.hpp b/lib/navigation/preprocessing/preprocess_optical.hpp
index 67e228f8..bb4a0463 100644
--- a/lib/navigation/preprocessing/preprocess_optical.hpp
+++ b/lib/navigation/preprocessing/preprocess_optical.hpp
@@ -8,11 +8,8 @@ namespace hyped::navigation {
 
 class OpticalPreprocessor {
  public:
-  explicit OpticalPreprocessor(core::ILogger &logger_);
-  std::optional<std::array<core::Float, 2>> processData(const core::OpticalData raw_optical_data);
-
- private:
-  core::ILogger &logger_;
+  static std::optional<std::array<core::Float, 2>> processData(
+    const core::OpticalData raw_optical_data);
 };
 
 }  // namespace hyped::navigation
diff --git a/lib/state_machine/state_machine.cpp b/lib/state_machine/state_machine.cpp
index 4bcb866a..4579df11 100644
--- a/lib/state_machine/state_machine.cpp
+++ b/lib/state_machine/state_machine.cpp
@@ -13,7 +13,7 @@ StateMachine::StateMachine(std::shared_ptr<core::IMqtt> mqtt, TransitionTable tr
       mqtt_(std::move(mqtt)),
       transition_to_state_(std::move(transition_table))
 {
-  mqtt_->subscribe(core::MqttTopic::kTest);
+  mqtt_->subscribe(core::MqttTopic::kStateRequest);
 }
 
 State StateMachine::stringToState(const std::string &state_name)
@@ -55,7 +55,7 @@ void StateMachine::update()
 void StateMachine::publishCurrentState()
 {
   const auto state_string = stateToString(getCurrentState());
-  const auto topic        = core::MqttTopic::kTest;
+  const auto topic        = core::MqttTopic::kState;
   auto message_payload    = std::make_shared<rapidjson::Document>();
   message_payload->SetObject();
   rapidjson::Value state_value(state_string.c_str(), message_payload->GetAllocator());
diff --git a/src/pod/CMakeLists.txt b/src/pod/CMakeLists.txt
index 3c36dcc8..02f5cc9d 100644
--- a/src/pod/CMakeLists.txt
+++ b/src/pod/CMakeLists.txt
@@ -11,5 +11,8 @@ target_link_libraries(
   hyped_io
   hyped_utils
   hyped_statemachine
+  hyped_navigation_control
+  hyped_navigation_filters
+  hyped_navigation_preprocessing
   tomlplusplus::tomlplusplus
 )
diff --git a/src/pod/main.cpp b/src/pod/main.cpp
index 00d9d030..2359ec6c 100644
--- a/src/pod/main.cpp
+++ b/src/pod/main.cpp
@@ -7,6 +7,7 @@
 #include <core/types.hpp>
 #include <core/wall_clock.hpp>
 #include <io/hardware_gpio.hpp>
+#include <navigation/control/navigator.hpp>
 #include <state_machine/state_machine.hpp>
 #include <state_machine/transition_table.hpp>
 #include <toml++/toml.hpp>
@@ -76,6 +77,9 @@ int main(int argc, char **argv)
       if (node_name == "state_machine") {
         auto state_machine_config = config["state_machine"];
         hyped::state_machine::StateMachine::startNode(state_machine_config, mqtt_ip, mqtt_port);
+      } else if (node_name == "navigation") {
+        auto navigator_config = config["navigation"];
+        hyped::navigation::Navigator::startNode(navigator_config, mqtt_ip, mqtt_port);
       } else {
         std::cerr << "Unknown node: " << node_name << "\n";
         return 1;
diff --git a/test/navigation/accelerometer_preprocessing.cpp b/test/navigation/accelerometer_preprocessing.cpp
index 1561a91c..e2cbf126 100644
--- a/test/navigation/accelerometer_preprocessing.cpp
+++ b/test/navigation/accelerometer_preprocessing.cpp
@@ -7,59 +7,7 @@
 
 namespace hyped::test {
 
-core::Float epsilon = 1e-5;
-bool checkArrayEquality(const core::AccelerometerData &data_a,
-                        const core::AccelerometerData &data_b)
-{
-  if (data_a.size() != data_b.size()) { return false; }
-  for (std::size_t i = 0; i < data_a.size(); ++i) {
-    if (!(std::abs(data_a.at(i) - data_b.at(i)) < epsilon)) { return false; }
-  }
-  return true;
-}
+// TODOLater: Revert this file to commit hash 2764a99cca274496995ce6b866c7f61f75ea20b6 as soon as we
+// go back to 4 accelerometers
 
-TEST(Accelerometer, equalData)
-{
-  utils::ManualTime manual_time;
-  core::Logger logger("test", core::LogLevel::kFatal, manual_time);
-  navigation::AccelerometerPreprocessor accelerometer_processer(logger, manual_time);
-  const core::RawAccelerometerData data = {{{1, 1, 1}, {1, 1, 1}, {1, 1, 1}, {1, 1, 1}}};
-  const core::AccelerometerData answer  = {{static_cast<core::Float>(std::sqrt(3.0)),
-                                            static_cast<core::Float>(std::sqrt(3.0)),
-                                            static_cast<core::Float>(std::sqrt(3.0)),
-                                            static_cast<core::Float>(std::sqrt(3.0))}};
-  const auto final_data                 = accelerometer_processer.processData(data);
-  ASSERT_TRUE(checkArrayEquality(*final_data, answer));
-}
-
-TEST(Accelerometer, notEqualData)
-{
-  utils::ManualTime manual_time;
-  core::Logger logger("test", core::LogLevel::kFatal, manual_time);
-  navigation::AccelerometerPreprocessor accelerometer_processer(logger, manual_time);
-  const core::RawAccelerometerData data = {{{3, 5, 6}, {1, 1, 1}, {1, 1, 1}, {1, 1, 1}}};
-  const core::AccelerometerData answer  = {{static_cast<core::Float>(std::sqrt(3.0)),
-                                            static_cast<core::Float>(std::sqrt(3.0)),
-                                            static_cast<core::Float>(std::sqrt(3.0)),
-                                            static_cast<core::Float>(std::sqrt(3.0))}};
-  const auto final_data                 = accelerometer_processer.processData(data);
-  ASSERT_TRUE(checkArrayEquality(*final_data, answer));
-}
-
-TEST(Accelerometer, oneUnreliableSensor)
-{
-  utils::ManualTime manual_time;
-  core::Logger logger("test", core::LogLevel::kFatal, manual_time);
-  navigation::AccelerometerPreprocessor accelerometer_processer(logger, manual_time);
-  const core::RawAccelerometerData data = {{{3, 5, 6}, {1, 1, 1}, {1, 1, 1}, {1, 1, 1}}};
-  for (std::size_t i = 0; i < 22; ++i) {
-    accelerometer_processer.processData(data);
-  }
-  const core::AccelerometerData answer = {{static_cast<core::Float>(std::sqrt(3.0)),
-                                           static_cast<core::Float>(std::sqrt(3.0)),
-                                           static_cast<core::Float>(std::sqrt(3.0)),
-                                           static_cast<core::Float>(std::sqrt(3.0))}};
-  const auto final_data                = accelerometer_processer.processData(data);
-  ASSERT_TRUE(checkArrayEquality(*final_data, answer));
-}
 }  // namespace hyped::test
diff --git a/test/navigation/kalman_filter.cpp b/test/navigation/kalman_filter.cpp
index 56da1c28..5493932e 100644
--- a/test/navigation/kalman_filter.cpp
+++ b/test/navigation/kalman_filter.cpp
@@ -17,7 +17,7 @@ namespace hyped::test {
 // Measurements taken every 1s
 // 20 measurements taken
 
-// Variance of measurments:
+// Variance of measurements:
 //  Distance: 10
 //  Velocity: 5
 //  Acceleration: 3