Tests and comments

lib/interfaces/include/MCUInterface.h

@@ -33,7 +33,6 @@ class MCUInterface
 
     /* Outbound CAN message */
     MCU_status mcu_status_;
-    /* CAN Tx buffer */
 
     /* Shutdown circuit input */
     bool bms_ok_high;
@@ -50,21 +49,24 @@ 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),
+    // PLEASE replace these long lists of parameters with structs
+    // and put initialization in constructor body instead of initializer list
+    // my retinas are in pain
+    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)
+    // Member initialization list            
+    : 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);
     };
-    MCUInterface(CANBufferType *msg_output_queue) : MCUInterface(msg_output_queue, DEFAULT_BMS_OK_READ, DEFAULT_IMD_OK_READ, DEFAULT_BSPD_OK_READ, DEFAULT_SOFTWARE_OK_READ, DEFAULT_BOTS_OK_READ, DEFAULT_BRAKE_LIGHT_CTRL){};
+
+    MCUInterface(CANBufferType *msg_output_queue)
+    // Overloading constructor
+    : MCUInterface(msg_output_queue, DEFAULT_BMS_OK_READ, DEFAULT_IMD_OK_READ,
+    DEFAULT_BSPD_OK_READ, DEFAULT_SOFTWARE_OK_READ, DEFAULT_BOTS_OK_READ, DEFAULT_BRAKE_LIGHT_CTRL){};
 
     /* Initialize shutdown circuit input readings */
     void init();
@@ -102,8 +104,7 @@ class MCUInterface
         bool software_is_ok,
         bool buzzer_is_on,
         bool pack_charge_is_critical,
-        bool button_is_pressed
-    );
+        bool button_is_pressed);
 };
 
 #endif /* __MCU_INTERFACE_H__ */

lib/interfaces/src/MCUInterface.cpp

@@ -13,7 +13,7 @@ void MCUInterface::init() {
     // Should be called from drivetrain
 }
 
-/* Read shutdown system values */
+/* Read shutdown system values (Not ticked, just in main loop)*/
 void MCUInterface::read_mcu_status() {
 
     measure_shutdown_circuit_input();

src/main.cpp

@@ -29,20 +29,27 @@
 /* State machine */
 #include "MCUStateMachine.h"
 
-/* External info sources */
+/*
+    DATA SOURCES
+*/
+
 /* Two CAN lines on Main ECU rev15 */
 FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> INV_CAN;   // Inverter CAN (now both are on same line)
 FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> TELEM_CAN; // telemetry CAN (basically everything except inverters)
 
 /* Set up CAN circular buffer */
 using CircularBufferType = Circular_Buffer<uint8_t, (uint32_t)16, sizeof(CAN_message_t)>;
+
 /* Sensors */
 MCP_ADC<8> ADC1(ADC1_CS);
 MCP_ADC<4> ADC2(ADC2_CS);
 MCP_ADC<4> ADC3(ADC3_CS);
 OrbisBR10 steering1(STEERING_SERIAL);
 
-/* Declare interfaces */
+/*
+    INTERFACES
+*/
+
 DashboardInterface dashboard(&CAN2_txBuffer);
 AMSInterface ams_interface(SOFTWARE_OK);
 WatchdogInterface wd_interface(WATCHDOG_INPUT);
@@ -55,12 +62,15 @@ InverterInterfaceType fr_inv(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND, 9, 8);
 InverterInterfaceType rl_inv(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND, 9, 8);
 InverterInterfaceType rr_inv(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND, 9, 8);
 
-/* Declare systems */
+/*
+    SYSTEMS
+*/
+
 SysClock sys_clock;
+SteeringSystem steering_system(&steering1); // Unify member reference and pointers? tied by reference in this case
 BuzzerController buzzer(BUZZER_ON_INTERVAL);
 SafetySystem safety_system(&ams_interface, &wd_interface); // Tie ams and wd interface to safety system (by pointers)
 PedalsSystem pedals_system({100, 100, 3000, 3000, 0.1}, {100, 100, 3000, 3000, 0.05});
-SteeringSystem steering_system(&steering1); // Unify member reference and pointers? tied by reference in this case
 using DrivetrainSystemType = DrivetrainSystem<InverterInterfaceType>;
 auto drivetrain = DrivetrainSystemType({&fl_inv, &fr_inv, &rl_inv, &rr_inv}, INVERTER_ENABLING_TIMEOUT_INTERVAL); // Tie inverter interfaces to drivetrain system (by pointers)
 /*

test/test_interfaces/AMS_interface_test.h

@@ -43,4 +43,11 @@ void test_AMS_heartbeat()
     TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
     delay(20);
     TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
+
+    ams_interface.set_heartbeat(millis());
+    TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
+    delay(19);
+    TEST_ASSERT_EQUAL(true, ams_interface.heartbeat_received(millis()));
+    delay(1);
+    TEST_ASSERT_EQUAL(false, ams_interface.heartbeat_received(millis()));
 }

test/test_interfaces/MCU_interface_test.h

@@ -3,3 +3,19 @@
 
 #include "MCUInterface.h"
 
+Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> mcu_CAN_buffer;
+
+MCUInterface mcu_interface(&mcu_CAN_buffer);
+
+void test_set_brake_light(void)
+{
+    mcu_interface.set_brake_light(true);
+    TEST_ASSERT_EQUAL(HIGH, digitalRead(7));
+    mcu_interface.set_brake_light(false);
+    TEST_ASSERT_EQUAL(LOW, digitalRead(7));
+}
+
+void test_mcu_circular_buffer(void)
+{
+
+}

test/test_interfaces/dashboard_interface_test.h

@@ -4,7 +4,7 @@
 #include "hytech.h"
 #include "DashboardInterface.h"
 
-Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> CAN_buffer;
+Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer;
 
 /* CHAT GPT FUNCTIONS */
 void printMemoryHex(void* ptr, size_t length) {
@@ -22,7 +22,7 @@ void printMemoryHex(void* ptr, size_t length) {
 
 void test_dashboard_unpacking_can_message(void)
 {
-  DashboardInterface dash_interface(&CAN_buffer);
+  DashboardInterface dash_interface(&dash_CAN_buffer);
 
   // Chat GPT code that iterates through a truth table
   for (int i = 0; i < (1 << 10); ++i) { // 2^10 possible combinations
@@ -63,8 +63,8 @@ void test_dashboard_unpacking_can_message(void)
 void test_dashboard_circular_buffer(void)
 {
 
-    Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> CAN_buffer_2;
-    DashboardInterface dash_interface(&CAN_buffer_2);
+    Circular_Buffer <uint8_t, (uint32_t)16, sizeof(CAN_message_t)> dash_CAN_buffer_2;
+    DashboardInterface dash_interface(&dash_CAN_buffer_2);
 
     uint8_t LED[12] = {};
 
@@ -110,7 +110,7 @@ void test_dashboard_circular_buffer(void)
     CAN_message_t packed_message = dash_interface.write();
 
     uint8_t buffer[sizeof(CAN_message_t)];
-    CAN_buffer_2.pop_front(buffer, sizeof(CAN_message_t));
+    dash_CAN_buffer_2.pop_front(buffer, sizeof(CAN_message_t));
 
     delay(1000);
 

test/test_interfaces/run_embedded_tests.cpp

@@ -4,11 +4,12 @@
 #include "AMS_interface_test.h"
 #include "dashboard_interface_test.h"
 #include "Watchdog_interface_test.h"
-#include "can_interface_test.h"
+#include "MCU_interface_test.h"
+// #include "can_interface_test.h"
 
 void setUp(void)
 {
-    init_can_interface();
+    // init_can_interface();
 }
 
 void tearDown(void)
@@ -26,9 +27,11 @@ int runUnityTests(void)
     RUN_TEST(test_AMS_heartbeat);
     /* TEST WATCHDOG */
     RUN_TEST(test_watchdog_kick);
-    // testing can interface
-    RUN_TEST(test_can_interface_send)
-    RUN_TEST(test_can_interface_send_and_receive_raw)
+    /* TEST CAN INTERFACE */
+    // RUN_TEST(test_can_interface_send)
+    // RUN_TEST(test_can_interface_send_and_receive_raw)
+    /* TEST MCU */
+    RUN_TEST(test_set_brake_light);
 
     return UNITY_END();
 }