Making tests and fixing interfaces

lib/interfaces/include/AMSInterface.h

@@ -5,9 +5,12 @@
 #include "HyTech_CAN.h"
 #include "SysClock.h"
 
+/* Heartbeat Interval is the allowable amount of time between BMS status messages before car delatches */
 const unsigned long HEARTBEAT_INTERVAL                      = 20;   // milliseconds
+/* The total pcc threshold is the lowest allowable voltage of the entire pack (in Volts)*/
 const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD        = 420;
-const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD  = 35000;
+/* The lowest pcc threshold is the lowest allowable single cell voltage (in 100 microvolts)*/
+const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD  = 35000; //equivalent to 3.5V
 
 const float DEFAULT_INIT_TEMP       = 40.0;
 const float DEFAULT_INIT_VOLTAGE    = 3.5;
@@ -17,6 +20,11 @@ const float DEFAULT_VOLTAGE_ALPHA   = 0.8;
 class AMSInterface
 {
 public:
+    /*!
+        Constructor for the AMS Interface
+        @param sw_ok_pin The software ok pin number.
+        This pin is connected to the shutdown line and will go low if the AMS times out
+    */
     AMSInterface(int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha):        
         pin_software_ok_(sw_ok_pin),
         filtered_max_cell_temp(init_temp),
@@ -26,22 +34,26 @@ class AMSInterface
     {
         // Set pin mode
         pinMode(pin_software_ok_, OUTPUT);
-    };
+    }
+
+    /* Overloaded constructor that only takes in software OK pin, and uses default voltages and temp*/
     AMSInterface(int sw_ok_pin):
         AMSInterface(sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
 
-    /* Initialize interface pin mode */
-    void init(const SysTick_s &tick);
+    /* Initialize the heartbeat timer */
+    void init();
 
     /* Write to Main ECU */
-    // Initialize output value
+
+    /* Init software OK pin by setting high*/
     void set_start_state();
-    // Set output value
+
+    /* set software OK pin */
     void set_state_ok_high(bool ok_high);
 
     /* Monitor AMS state */
-    void set_heartbeat(unsigned long millis);
-    bool heartbeat_received(const SysTick_s &tick);
+    void set_heartbeat();
+    bool heartbeat_received();
     bool is_below_pack_charge_critical_low_thresh();
     bool is_below_pack_charge_critical_total_thresh();
     bool pack_charge_is_critical();    

lib/interfaces/include/DashboardInterface.h

@@ -87,10 +87,10 @@ class DashboardInterface
 private:
     /* Pointer to the circular buffer to write new messages */
     CANBufferType *msg_queue_;
-
-public:
     /* The instantiated data struct used to access data by member functions */
     DashComponentInterface_s _data;
+
+public:
     /*!
         Constructor for new DashboardInterface, All that it is inited with
         is the pointer to the telem circular buffer that is used to write new messages

lib/interfaces/include/MCUInterface.h

@@ -51,13 +51,16 @@ class MCUInterface
 
 
 public:
-    MCUInterface(CANBufferType *msg_output_queue, int bms_pin, int imd_pin, int bspd_pin, int sw_ok_pin, int bots_ok_pin, int brake_light_pin): msg_queue_(msg_output_queue),
-                                                                                                                                                 pin_bms_ok_read_(bms_pin),
-                                                                                                                                                 pin_imd_ok_read_(imd_pin),
-                                                                                                                                                 pin_bspd_ok_read_(bspd_pin),
-                                                                                                                                                 pin_software_ok_read_(sw_ok_pin),
-                                                                                                                                                 pin_bots_ok_read_(bots_ok_pin),
-                                                                                                                                                 pin_brake_light_ctrl_(brake_light_pin)
+    MCUInterface(CANBufferType *msg_output_queue, int bms_pin, int imd_pin, int bspd_pin, int sw_ok_pin, int bots_ok_pin, int brake_light_pin): 
+
+
+    msg_queue_(msg_output_queue),
+    pin_bms_ok_read_(bms_pin),
+    pin_imd_ok_read_(imd_pin),
+    pin_bspd_ok_read_(bspd_pin),
+    pin_software_ok_read_(sw_ok_pin),
+    pin_bots_ok_read_(bots_ok_pin),
+    pin_brake_light_ctrl_(brake_light_pin)
     {
         // Set pin mode
         pinMode(pin_brake_light_ctrl_, OUTPUT);
@@ -69,6 +72,7 @@ class MCUInterface
 
     /* Read from Main ECU */
     void read_mcu_status();
+
     /* Write to Main ECU */
     void set_brake_light(bool brake_pedal_is_active); // Called from PedalInterface/System
 

lib/interfaces/src/AMSInterface.cpp

@@ -1,9 +1,9 @@
 #include "AMSInterface.h"
 
 /* Pin mode output to watchdog reset */
-void AMSInterface::init(const SysTick_s &tick) {
+void AMSInterface::init() {
 
-    set_heartbeat(tick.millis);
+    set_heartbeat();
 
 }
 
@@ -23,13 +23,13 @@ void AMSInterface::set_state_ok_high(bool ok_high) {
 }
 
 /* Set AMS last heartbeat receive time */
-void AMSInterface::set_heartbeat(unsigned long millis) {
-    last_heartbeat_time = millis;
+void AMSInterface::set_heartbeat() {
+    last_heartbeat_time = millis();
 }
 
 /* Check if AMS heartbeat is received */
-bool AMSInterface::heartbeat_received(const SysTick_s &tick) {
-    return ((tick.millis - last_heartbeat_time) < HEARTBEAT_INTERVAL);
+bool AMSInterface::heartbeat_received() {
+    return ((millis() - last_heartbeat_time) < HEARTBEAT_INTERVAL);
 }
 
 /* Check if lowest cell temperature is below threshold */
@@ -70,7 +70,7 @@ float AMSInterface::get_filtered_min_cell_voltage() {
 /* Retrieve CAN messages */
 void AMSInterface::retrieve_status_CAN(CAN_message_t &recvd_msg, unsigned long cur_millis) {
     bms_status_.load(recvd_msg.buf);
-    set_heartbeat(cur_millis);
+    set_heartbeat();
 }
 
 void AMSInterface::retrieve_temp_CAN(CAN_message_t &recvd_msg) {

lib/interfaces/src/DashboardInterface.cpp

@@ -3,25 +3,25 @@
 void DashboardInterface::read(const CAN_message_t &can_msg)
 {
 
-    DASHBOARD_STATE_t msg;
-    Unpack_DASHBOARD_STATE_hytech(&msg, can_msg.buf, NULL);
+    DASHBOARD_STATE_t dash_state;
+    Unpack_DASHBOARD_STATE_hytech(&dash_state, can_msg.buf, NULL);
 
-    _data.dial_mode = static_cast<DialMode_e>(msg.dial_state);
+    _data.dial_mode = static_cast<DialMode_e>(dash_state.dial_state);
 
-    _data.ssok = msg.ssok_above_threshold;
-    _data.shutdown = msg.shutdown_h_above_threshold;
-
-    _data.button.start = msg.start_button;
-    _data.button.mark = msg.mark_button;
-    _data.button.mode = msg.mode_button;
-    _data.button.mc_cycle = msg.motor_controller_cycle_button;
-    _data.button.launch_ctrl = msg.launch_ctrl_button;
-    _data.button.torque_mode = msg.torque_mode_button;
-    _data.button.led_dimmer = msg.led_dimmer_button;
-    _data.button.left_shifter = msg.left_shifter_button;
-    _data.button.right_shifter = msg.right_shifter_button;
-
-    _data.buzzer_state = msg.drive_buzzer;
+    _data.ssok = dash_state.ssok_above_threshold;
+    _data.shutdown = dash_state.shutdown_h_above_threshold;
+
+    _data.button.start = dash_state.start_button;
+    _data.button.mark = dash_state.mark_button;
+    _data.button.mode = dash_state.mode_button;
+    _data.button.mc_cycle = dash_state.motor_controller_cycle_button;
+    _data.button.launch_ctrl = dash_state.launch_ctrl_button;
+    _data.button.torque_mode = dash_state.torque_mode_button;
+    _data.button.led_dimmer = dash_state.led_dimmer_button;
+    _data.button.left_shifter = dash_state.left_shifter_button;
+    _data.button.right_shifter = dash_state.right_shifter_button;
+
+    _data.buzzer_state = dash_state.drive_buzzer;
 
 }
 

lib/mock_interfaces/AMSInterface.h

@@ -19,7 +19,7 @@ class AMSInterface
         // Set pin mode
     };
         /* Initialize interface pin mode */
-    void init(const SysTick_s &tick);
+    void init();
 
     /* Write to Main ECU */
     // Initialize output value
@@ -28,8 +28,8 @@ class AMSInterface
     void set_state_ok_high(bool ok_high);
 
     /* Monitor AMS state */
-    void set_heartbeat(const SysTick_s &tick);
-    bool heartbeat_received(const SysTick_s &tick);
+    void set_heartbeat();
+    bool heartbeat_received();
     bool is_below_pack_charge_critical_low_thresh();
     bool is_below_pack_charge_critical_total_thresh();
     bool pack_charge_is_critical();    

lib/systems/src/SafetySystem.cpp

@@ -15,7 +15,7 @@ void SafetySystem::software_shutdown(const SysTick_s &tick) {
 
     // If AMS heartbeat is not received within reasonable interval
     // Set software is not ok
-    if (!ams_->heartbeat_received(tick)) {
+    if (!ams_->heartbeat_received()) {
         software_is_ok = false;
     }
     if (software_is_ok)

src/main.cpp

@@ -114,7 +114,7 @@ void setup() {
     /* Initialize interface */
     main_ecu.init();    // initial shutdown circuit readings, 
     wd_interface.init(curr_tick);   // initialize wd kick time
-    ams_interface.init(curr_tick);  // initialize last heartbeat time
+    ams_interface.init();  // initialize last heartbeat time
 
     /* Initialize system */
     safety_system.init();   // write software_ok high, write wd_input high, set software ok state true

test/test_interfaces/AMS_interface_test.h

@@ -0,0 +1,46 @@
+#include <Arduino.h>
+#include <unity.h>
+
+#include "AMSInterface.h"
+
+void test_AMS_unpacking_BMS_status_message()
+{
+    /*
+    Need clarification on what these states are.
+    Why is nothing else in the message read by AMSInterface
+    */
+    BMS_status bms_status{};
+    bms_status.set_state(5);
+
+}
+
+void test_AMS_unpacking_BMS_temperatures_message()
+{
+
+}
+
+void test_AMS_unpacking_BMS_voltages_message()
+{
+
+}
+
+void test_AMS_charge_critical_threshold()
+{
+
+}
+
+void test_AMS_filtered_readings()
+{
+
+}
+
+void test_AMS_heartbeat()
+{   
+    //setting arbitrary pin 20
+    AMSInterface ams_interface(20);
+    ams_interface.init();
+    ams_interface.set_start_state();
+    TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received());
+    delay(20);
+    TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received());
+}

test/test_interfaces/MCU_interface_test.h

@@ -0,0 +1,5 @@
+#include <Arduino.h>
+#include <unity.h>
+
+#include "MCUInterface.h"
+