Dev/v1.1.0

.gitignore

@@ -9,4 +9,7 @@ core.*
 result-man/
 result-man
 .cache/
-*.dbc
+*.dbc
+
+compile_commands.json
+*.log

CMakeLists.txt

@@ -27,6 +27,9 @@ configure_file(
     @ONLY
 )
 
+## simulink codegend estimators and controllers
+find_package(codegen CONFIG REQUIRED)
+
 ### this one is generated from nix-proto but using foxglove's 
 # find_package(foxglove-schemas_proto_cpp CONFIG REQUIRED) 
 
@@ -56,9 +59,9 @@ find_package(drivebrain_core REQUIRED)
 
 include(create_package)
 
-#####################
-# created libraries #
-#####################
+###################################
+# created drivebrain sw libraries #
+###################################
 
 # utils
 add_library(drivebrain_common_utils SHARED 
@@ -82,8 +85,11 @@ add_library(drivebrain_comms SHARED
     drivebrain_core_impl/drivebrain_comms/src/foxglove_server.cpp
     drivebrain_core_impl/drivebrain_comms/src/CANComms.cpp
     drivebrain_core_impl/drivebrain_comms/src/VNComms.cpp
-    drivebrain_core_impl/drivebrain_comms/src/MCUETHComms.cpp
     drivebrain_core_impl/drivebrain_comms/src/DBServiceImpl.cpp
+    drivebrain_core_impl/drivebrain_comms/src/ETHSendComms.cpp
+    drivebrain_core_impl/drivebrain_comms/src/SurreyAeroComms.cpp
+    drivebrain_core_impl/drivebrain_comms/src/SpeedTechComms.cpp
+    drivebrain_core_impl/drivebrain_comms/src/ScaleComms.cpp
 )
 
 target_compile_features(drivebrain_comms PUBLIC cxx_std_17)
@@ -100,8 +106,10 @@ target_include_directories(drivebrain_comms PUBLIC
 )
 
 target_link_libraries(drivebrain_comms PUBLIC 
+    codegen::matlab_model
     drivebrain_core::drivebrain_core
     drivebrain_common_utils
+    drivebrain_control
     gRPC::grpc++_reflection
     foxglove_websocket::foxglove_websocket
     protobuf::libprotobuf
@@ -117,7 +125,13 @@ target_link_libraries(drivebrain_comms PUBLIC
 make_cmake_package(drivebrain_comms drivebrain)
 
 
-add_library(drivebrain_control SHARED drivebrain_core_impl/drivebrain_control/src/SimpleController.cpp)
+add_library(drivebrain_control SHARED 
+    drivebrain_core_impl/drivebrain_control/src/SimpleTorqueController.cpp
+    drivebrain_core_impl/drivebrain_control/src/SimpleSpeedController.cpp
+    drivebrain_core_impl/drivebrain_control/src/SimplePowerLimiter.cpp
+    drivebrain_core_impl/drivebrain_control/src/LoadCellVectoringTorqueController.cpp
+)
+
 # drivebrain_core_impl/drivebrain_control/include/SimpleController.hpp
 target_include_directories(drivebrain_control PUBLIC
     $<INSTALL_INTERFACE:drivebrain_core_impl/drivebrain_control/include>
@@ -128,18 +142,20 @@ target_link_libraries(drivebrain_control PUBLIC
     drivebrain_core::drivebrain_core
     hytech_np_proto_cpp::hytech_np_proto_cpp
     protobuf::libprotobuf
+    drivebrain_common_utils
 )
 
 make_cmake_package(drivebrain_control drivebrain)
 
-add_library(drivebrain_mcap_logger SHARED drivebrain_core_impl/drivebrain_mcap_logger/src/MCAPProtobufLogger.cpp)
+add_library(drivebrain_mcap_logger SHARED drivebrain_core_impl/drivebrain_logging/src/DrivebrainMCAPLogger.cpp)
 target_include_directories(drivebrain_mcap_logger PUBLIC
-    $<INSTALL_INTERFACE:drivebrain_core_impl/drivebrain_mcap_logger/include>
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_impl/drivebrain_mcap_logger/include>    
+    $<INSTALL_INTERFACE:drivebrain_core_impl/drivebrain_logging/include>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_impl/drivebrain_logging/include>    
 )
 
 target_link_libraries(drivebrain_mcap_logger PUBLIC
     drivebrain_core::drivebrain_core 
+    codegen::matlab_model
     drivebrain_common_utils
     protobuf::libprotobuf
     mcap::mcap
@@ -160,10 +176,19 @@ target_include_directories(drivebrain_estimation PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_impl/drivebrain_estimation/include>    
 )
 
+target_link_libraries(drivebrain_estimation PUBLIC
+    drivebrain_core::drivebrain_core 
+    drivebrain_common_utils
+    hytech_np_proto_cpp::hytech_np_proto_cpp
+    drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
+    protobuf::libprotobuf
+)
+
 make_cmake_package(drivebrain_estimation drivebrain)
 
 add_library(drivebrain_app SHARED
     drivebrain_app/src/DriveBrainApp.cpp
+    drivebrain_app/src/arg_parse.cpp
 )
 
 target_include_directories(drivebrain_app PUBLIC
@@ -173,21 +198,38 @@ target_include_directories(drivebrain_app PUBLIC
 
 target_link_libraries(drivebrain_app PUBLIC
     drivebrain_core::drivebrain_core
+    codegen::matlab_model
     drivebrain_control
     drivebrain_comms
     drivebrain_mcap_logger
     Boost::program_options
 )
 
-target_link_libraries(drivebrain_estimation PUBLIC
-    drivebrain_core::drivebrain_core 
-    drivebrain_common_utils
-    hytech_np_proto_cpp::hytech_np_proto_cpp
-    drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
+make_cmake_package(drivebrain_app drivebrain)
+
+#####################################
+# drivebrain util / debug libraries #
+#####################################
+
+add_library(drivebrain_utils SHARED
+    drivebrain_utils/src/MCAPReplay.cpp
+)
+
+target_include_directories(drivebrain_utils PUBLIC
+    $<INSTALL_INTERFACE:drivebrain_utils/include>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_utils/include>
+)
+
+target_link_libraries(drivebrain_utils PUBLIC
     protobuf::libprotobuf
+    mcap::mcap
+    Boost::program_options
+    spdlog::spdlog
+    drivebrain_comms # CANDriver
 )
 
-make_cmake_package(drivebrain_app drivebrain)
+
+make_cmake_package(drivebrain_utils drivebrain)
 
 ###############
 # executables #
@@ -203,6 +245,11 @@ make_cmake_package(drivebrain_app drivebrain)
 #     Boost::boost
 # )
 
+
+add_executable(replay_app drivebrain_utils/src/replay_app.cpp)
+
+target_link_libraries(replay_app PUBLIC drivebrain_utils)
+
 add_executable(test_param_server test/test_param_server.cpp)
 
 target_link_libraries(test_param_server PUBLIC 
@@ -211,6 +258,26 @@ target_link_libraries(test_param_server PUBLIC
     zstd::libzstd_shared
 )
 
+add_executable(test_surrey_aero_comms test/test_surrey_aero_comms.cpp)
+
+target_link_libraries(test_surrey_aero_comms PUBLIC 
+    drivebrain_comms
+)
+
+add_executable(test_speedtech_comms test/test_speedtech_comms.cpp)
+
+target_link_libraries(test_speedtech_comms PUBLIC 
+    drivebrain_comms
+)
+
+
+
+add_executable(test_scale_comms test/test_scale_comms.cpp)
+
+target_link_libraries(test_scale_comms PUBLIC 
+    drivebrain_comms
+)
+
 # add_executable(test_dbcan test/test_dbcan.cpp)
 
 # target_link_libraries(test_dbcan PUBLIC
@@ -237,6 +304,14 @@ target_link_libraries(test_db_grpc PUBLIC
     gRPC::grpc++_reflection
 )
 
+add_executable(test_config_schema test/test_configurable.cpp)
+
+target_link_libraries(test_config_schema PRIVATE
+    drivebrain_core::drivebrain_core
+    drivebrain_mcap_logger
+    drivebrain_comms
+)
+
 
 add_executable(test_mcap test/test_mcap/test_mcap_logging.cpp test/test_mcap/BuildFileDescriptorSet.cpp)
 
@@ -260,21 +335,25 @@ target_compile_features(test_vn PUBLIC cxx_std_11)
 ### system executable ###
 ###                   ###
 
-add_executable(alpha_build 
+add_executable(drivebrain_exe
     drivebrain_app/main.cpp
 )
 
 # Add include directory for DriveBrainApp header
-target_include_directories(alpha_build PRIVATE
+target_include_directories(drivebrain_exe PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_app
 )
-target_link_libraries(alpha_build PUBLIC
+
+enable_testing()
+
+target_link_libraries(drivebrain_exe PUBLIC
     drivebrain_app
     drivebrain_core::drivebrain_core
     drivebrain_control
     drivebrain_comms
     drivebrain_mcap_logger
     Boost::program_options
+    codegen::matlab_model
 )
 
 add_executable(test_build 
@@ -291,23 +370,23 @@ target_link_libraries(test_build PUBLIC
 
 enable_testing()
 
-add_executable(alpha_test 
+add_executable(drivebrain_test 
     unit_test/main.cpp
-    unit_test/SimpleControllerTest.cpp
+    unit_test/SimpleSpeedControllerTest.cpp
+    unit_test/SimpleTorqueControllerTest.cpp
+    unit_test/test_controller_manager.cpp
+    unit_test/ControllerTesting.cpp
 )
 
-
-
-
-target_link_libraries(alpha_test PUBLIC 
+target_link_libraries(drivebrain_test PUBLIC 
     drivebrain_core::drivebrain_core
     drivebrain_control
     drivebrain_comms
     Boost::program_options
     gtest
 )
 
-add_test(NAME MyTest COMMAND alpha_test)
+add_test(NAME Drivebrain_Tests COMMAND drivebrain_test)
 
 target_link_libraries(mcu_standin PUBLIC
     drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
@@ -317,8 +396,21 @@ target_link_libraries(mcu_standin PUBLIC
 
 include(GNUInstallDirs)
 install(TARGETS 
-        alpha_build
+        drivebrain_exe
         test_param_server
         test_build
     RUNTIME 
         DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+
+add_executable(TCMUX_integration_test test/controller_manager_integration.cpp)
+
+target_link_libraries(
+    TCMUX_integration_test PUBLIC
+    hytech_np_proto_cpp::hytech_np_proto_cpp
+    drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
+    drivebrain_core::drivebrain_core
+    drivebrain_control
+    Boost::boost
+    drivebrain_app
+)

README.md

@@ -1,3 +1,39 @@
+# execution
+
+```bash
+./build/drivebrain_exe -h
+Allowed options:
+  -h [ --help ]           produce help message
+  -p [ --param-path ] arg Path to the parameter JSON file
+  -d [ --dbc-path ] arg   Path to the DBC file (optional)
+  -c [ --2-can ] arg      use secondary CAN
+```
+
+```bash
+ ./build/replay_app -h
+Allowed options:
+  -h [ --help ]         produce help message
+  -m [ --mcap ] arg     Path to mcap file
+  -c [ --config ] arg   Path to config file
+  -d [ --dbc ] arg      Path to dbc file
+```
+- drivebrain:
+```
+./build/drivebrain_exe -p ./config/drivebrain_config.json -d ./config/hytech.dbc -c false
+```
+
+- replay app:
+
+```bash
+./build/replay_app -m <path_to_car_recorded_mcap_file> -c ./config/drivebrain_config.json -d ./config/hytech.dbc
+```
+
+## `grpcui` connection for start/stop recording and switching controllers in devshell
+
+within the devshell:
+```bash
+grpcui -plaintext localhost:6969
+```
 # About
 
 This repo contains the main executable that runs on the Drivebrain embedded computer on HyTech Racing's cars. This code is deployed as a `systemd` service onto the car within HyTech's [raspberry pi nixos description](https://github.com/hytech-racing/hytech_nixos). This service handles, among other things:
@@ -115,4 +151,24 @@ example `c_cpp_properties.json` file to be placed in your `.vscode/`:
     ],
     "version": 4
 }
+```
+
+## debugging example `launch.json`
+
+```json
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "Debug",
+      "type": "cppdbg", // use "cppdbg" with gdb on Linux
+      "request": "launch",
+      "program": "${workspaceFolder}/build/drivebrain_exe",
+      "args": ["-p", "./config/drivebrain_config.json", "-d", "./config/hytech.dbc", "-c", "false"],
+      "cwd": "${workspaceFolder}",
+      "stopAtEntry": false,
+      "internalConsoleOptions": "openOnSessionStart"
+    }
+  ]
+}
 ```

cmake/drivebrain_utilsConfig.cmake.in

@@ -0,0 +1,11 @@
+@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+
+find_dependency(mcap)
+find_dependency(fmt)
+find_dependency(spdlog)
+find_dependency(protobuf)
+find_dependency(Boost COMPONENTS program_options)
+
+include("${CMAKE_CURRENT_LIST_DIR}/drivebrain_utilsTargets.cmake")

config/config_test.json

@@ -0,0 +1,14 @@
+{
+    "ConfigureableTest" :
+    {
+        "test_float": 1.0,
+        "test_bool": false,
+        "test_double": 2.0,
+        "test_string": "asdf",
+        "test_int": 2
+    },
+    "asdf2":
+    {
+        "test_val": 3.0 
+    }
+}