seemingly working ethernet integration

include/InterfaceParams.h

@@ -8,7 +8,7 @@ namespace EthParams
     {0x04, 0xe9, 0xe5, 0x10, 0x1f, 0x22};
 
     const IPAddress default_MCU_ip(192, 168, 1, 30);
-    const IPAddress default_TCU_ip(192, 168, 1, 68);
+    const IPAddress default_TCU_ip(192, 168, 1, 69);
 
     const uint16_t default_protobuf_send_port = 2001;
     const uint16_t default_protobuf_recv_port = 2000;

lib/interfaces/include/DrivebrainETHInterface.h

@@ -2,20 +2,19 @@
 #define __DRIVEBRAINETHINTERFACE_H__
 #include "hytech_msgs.pb.h"
 #include "DrivebrainData.h"
-
+#include "SharedDataTypes.h"
 class DrivebrainETHInterface
 {
-    public:
-        DrivebrainETHInterface() = default;
-
-        void receive_pb_msg(const hytech_msgs_MCUData& msg_in);
-
-        DrivebrainData_s get_latest_data() { return _latest_data; }
+public:
+    DrivebrainETHInterface() = default;
 
-    private:
+    void receive_pb_msg(const hytech_msgs_MCUCommandData &msg_in, unsigned long curr_millis);
 
-        DrivebrainData_s _latest_data = {};
+    hytech_msgs_MCUOutputData make_db_msg(const SharedCarState_s &shared_state);
+    DrivebrainData_s get_latest_data() { return _latest_data; }
 
+private:
+    DrivebrainData_s _latest_data = {};
 };
 
 #endif // __DRIVEBRAINETHINTERFACE_H__

lib/interfaces/include/ProtobufMsgInterface.h

@@ -13,21 +13,18 @@ struct ETHInterfaces
 {
 };
 
-// using recv_function_t = void (*)(const uint8_t* buffer, size_t packet_size, ETHInterfaces& interfaces);
 
 // this should be usable with arbitrary functions idk something
 template <size_t buffer_size, typename pb_msg_type, class eth_interface>
-void handle_ethernet_socket_receive(EthernetUDP *socket, std::function<void(const uint8_t *, size_t, eth_interface &, const pb_msgdesc_t *)> recv_function, eth_interface &interface, const pb_msgdesc_t *desc_pointer)
+void handle_ethernet_socket_receive(const SysTick_s& tick, EthernetUDP *socket, std::function<void(unsigned long, const uint8_t *, size_t, eth_interface &, const pb_msgdesc_t *)> recv_function, eth_interface &interface, const pb_msgdesc_t *desc_pointer)
 {
     int packet_size = socket->parsePacket();
     if (packet_size > 0)
-    {
-        Serial.println("packet size");
-        Serial.println(packet_size);
+        {
         uint8_t buffer[buffer_size];
         size_t read_bytes = socket->read(buffer, sizeof(buffer));
         socket->read(buffer, UDP_TX_PACKET_MAX_SIZE);
-        recv_function(buffer, read_bytes, interface, desc_pointer);
+        recv_function(tick.millis, buffer, read_bytes, interface, desc_pointer);
     }
 }
 
@@ -49,13 +46,13 @@ bool handle_ethernet_socket_send_pb(IPAddress addr, uint16_t port, EthernetUDP *
 }
 
 template <typename pb_msg_type, class eth_interface>
-void recv_pb_stream_msg(const uint8_t *buffer, size_t packet_size, eth_interface &interface, const pb_msgdesc_t *desc_pointer)
+void recv_pb_stream_msg(unsigned long curr_millis, const uint8_t *buffer, size_t packet_size, eth_interface &interface, const pb_msgdesc_t *desc_pointer)
 {
     pb_istream_t stream = pb_istream_from_buffer(buffer, packet_size);
     pb_msg_type msg = {};
     if (pb_decode(&stream, desc_pointer, &msg))
     {
-        interface.receive_pb_msg(msg);
+        interface.receive_pb_msg(msg, curr_millis);
     }
 }
 

lib/interfaces/src/DrivebrainETHInterface.cpp

@@ -1,8 +1,31 @@
 #include "DrivebrainETHInterface.h"
-
+#include "SharedDataTypes.h"
 #include <Arduino.h>
-void DrivebrainETHInterface::receive_pb_msg(const hytech_msgs_MCUData& msg_in)
+
+hytech_msgs_MCUOutputData DrivebrainETHInterface::make_db_msg(const SharedCarState_s &shared_state)
+{
+    hytech_msgs_MCUOutputData out;
+    out.accel_percent = shared_state.pedals_data.accelPercent;
+    out.brake_percent = shared_state.pedals_data.brakePercent;
+    out.rpm_data = {shared_state.drivetrain_data.measuredSpeeds[0],
+                    shared_state.drivetrain_data.measuredSpeeds[1],
+                    shared_state.drivetrain_data.measuredSpeeds[2],
+                    shared_state.drivetrain_data.measuredSpeeds[3]};
+    return out;
+}
+
+void DrivebrainETHInterface::receive_pb_msg(const hytech_msgs_MCUCommandData &msg_in, unsigned long curr_millis)
 {
-    Serial.println("msg recvd");
-    _latest_data = {};
+    // Serial.println("msg recvd in here");
+    veh_vec<float> nm_lim;
+    nm_lim.construct(msg_in.torque_limit_nm.FL, msg_in.torque_limit_nm.FR, msg_in.torque_limit_nm.RL, msg_in.torque_limit_nm.RR);
+
+    veh_vec<float> speed_set;
+    speed_set.construct(msg_in.desired_rpms.FL, msg_in.desired_rpms.FR, msg_in.desired_rpms.RL, msg_in.desired_rpms.RR);
+    // Serial.println(msg_in.desired_rpms.FL);
+
+    _latest_data.torque_limits_nm = nm_lim;
+    _latest_data.speed_setpoints_rpm = speed_set;
+    _latest_data.last_torque_lim_receive_time_millis = curr_millis;
+    _latest_data.last_speed_setpoint_receive_time_millis = curr_millis;
 }

lib/shared_data/include/Utility.h

@@ -20,12 +20,12 @@ struct veh_vec
     T RL;
     T RR;
 
-    void construct(T FL, T FR, T RL, T RR)
+    void construct(T _FL, T _FR, T _RL, T _RR)
     {
-        FL = FL;
-        FR = FR;
-        RL = RL;
-        RR = RR;
+        FL = _FL;
+        FR = _FR;
+        RL = _RL;
+        RR = _RR;
     }
 
     /// @brief copy values to array in FL, FR, RL, RR order 

lib/systems/include/DrivebrainController.h

@@ -1,7 +1,7 @@
 #ifndef __DRIVEBRAINCONTROLLER_H__
 #define __DRIVEBRAINCONTROLLER_H__
 
-#include "DrivebrainInterface.h"
+
 #include "TorqueControllers.h"
 #include "DrivebrainData.h"
 #include "BaseController.h"

lib/systems/src/DrivebrainController.cpp

@@ -7,7 +7,7 @@ TorqueControllerOutput_s DrivebrainController::evaluate(const SharedCarState_s &
 
     auto sys_tick = state.systick;
     auto db_input = state.db_data;     
-
+    
     bool speed_setpoint_too_latent = (::abs((int)(sys_tick.millis - db_input.last_speed_setpoint_receive_time_millis)) > (int)_params.allowed_latency);
     bool torque_setpoint_too_latent = (::abs((int)(sys_tick.millis - db_input.last_torque_lim_receive_time_millis)) > (int)_params.allowed_latency);
 

platformio.ini

@@ -4,7 +4,7 @@ lib_deps_shared =
   git+ssh://git@github.com/hytech-racing/CASE_lib.git#v49
   https://github.com/hytech-racing/shared_firmware_types.git#feb3b83
   https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
-  https://github.com/hytech-racing/HT_proto/releases/download/2024-09-15T16_39_42/hytech_msgs_pb_lib.tar.gz
+  https://github.com/hytech-racing/HT_proto/releases/download/2024-09-17T03_08_13/hytech_msgs_pb_lib.tar.gz
 
 [env:test_env]
 platform = native

src/main.cpp

@@ -341,7 +341,7 @@ void tick_all_systems(const SysTick_s &current_system_tick);
 /* Reset inverters */
 void drivetrain_reset();
 
-void handle_ethernet_interface_comms();
+void handle_ethernet_interface_comms(const SysTick_s& systick, const hytech_msgs_MCUOutputData& out_msg);
 
 /*
     SETUP
@@ -416,7 +416,6 @@ void loop()
     // get latest tick from sys clock
     SysTick_s curr_tick = sys_clock.tick(micros());
 
-    handle_ethernet_interface_comms();
 
     // process received CAN messages
     process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
@@ -435,9 +434,13 @@ void loop()
                                     load_cell_interface.getLoadCellForces(),
                                     pedals_system.getPedalsSystemData(),
                                     vn_interface.get_vn_struct(),
-                                    db_interface.get_latest_db_data(),
+                                    db_eth_interface.get_latest_data(),
                                     torque_controller_mux.get_tc_mux_status());
 
+    hytech_msgs_MCUOutputData out_eth_msg = db_eth_interface.make_db_msg(car_state_inst);
+
+    handle_ethernet_interface_comms(curr_tick, out_eth_msg);
+
     tick_all_systems(curr_tick);
 
     // inverter procedure before entering state machine
@@ -458,7 +461,8 @@ void loop()
     send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
 
     // Basic debug prints
-    if (curr_tick.triggers.trigger5)
+    // if (curr_tick.triggers.trigger5)
+    if (false)
     {
         Serial.print("Steering system reported angle (deg): ");
         Serial.println(steering_system.getSteeringSystemData().angle);
@@ -685,15 +689,19 @@ void tick_all_systems(const SysTick_s &current_system_tick)
 
 }
 
-void handle_ethernet_interface_comms()
+void handle_ethernet_interface_comms(const SysTick_s& systick, const hytech_msgs_MCUOutputData& out_msg)
 {
     // function that will handle receiving and distributing of all messages to all ethernet interfaces
     // via the union message. this is a little bit cursed ngl.
     // TODO un fuck this and make it more sane
     // Serial.println("bruh");
 
 
-    std::function<void(const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUData, DrivebrainETHInterface>;
-    handle_ethernet_socket_receive<1024, hytech_msgs_MCUData>(&protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUData_fields);
+    std::function<void(unsigned long, const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUCommandData, DrivebrainETHInterface>;
+    handle_ethernet_socket_receive<1024, hytech_msgs_MCUCommandData>(systick, &protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUCommandData_fields);
 
+    if(systick.triggers.trigger500)
+    {
+        handle_ethernet_socket_send_pb<hytech_msgs_MCUOutputData, 1024>(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port, &protobuf_send_socket, out_msg, hytech_msgs_MCUOutputData_fields);
+    }
 }