added todos for drivetrain system testing and mock inverter interface…

… for use within

lib/systems/include/DrivetrainSystem.h

@@ -6,9 +6,8 @@
 #include "stdint.h"
 struct DrivetrainCommand_s
 {
-    float speeds[NUM_MOTORS];
-    float posTorqueLimits[NUM_MOTORS];
-    float negTorqueLimits[NUM_MOTORS];
+    float speeds_rpm[NUM_MOTORS];
+    float torqueSetpoints[NUM_MOTORS];
 };
 
 struct DrivetrainDynamicReport_s

lib/systems/include/DrivetrainSystem.tpp

@@ -78,11 +78,12 @@ void DrivetrainSystem<InverterType>::reset_drivetrain()
 template <typename InverterType>
 void DrivetrainSystem<InverterType>::command_drivetrain(const DrivetrainCommand_s &data)
 {
-
-    // inverters_[0]->handle_command(data.left_front_inverter_cmd);
-    // inverters_[1]->handle_command(data.right_front_inverter_cmd);
-    // inverters_[2]->handle_command(data.left_rear_inverter_cmd);
-    // inverters_[3]->handle_command(data.right_rear_inverter_cmd);
+    int index = 0;
+    for (auto inv_pointer : inverters_)
+    {
+        inv_pointer->handle_command({data.torqueSetpoints[index], data.speeds_rpm[index]});
+        index++;
+    }
 }
 
 // feedback functions

lib/systems/include/TorqueControllers.h

@@ -52,9 +52,8 @@ class TorqueControllerNone : public TorqueController<TC_NO_CONTROLLER>
 {
 private:
     DrivetrainCommand_s data_ = {
-        .speeds = {0.0, 0.0, 0.0, 0.0},
-        .posTorqueLimits = {0.0, 0.0, 0.0, 0.0},
-        .negTorqueLimits = {0.0, 0.0, 0.0, 0.0}
+        .speeds_rpm = {0.0, 0.0, 0.0, 0.0},
+        .torqueSetpoints= {0.0, 0.0, 0.0, 0.0}
     };
 public:
     TorqueControllerNone(DrivetrainCommand_s& writeout)

lib/systems/src/TorqueControllerMux.cpp

@@ -53,15 +53,12 @@ void TorqueControllerMux::tick(
             bool torqueDeltaPreventsModeChange = false;
             for (int i = 0; i < NUM_MOTORS; i++)
             {
-                float posTorqueDelta = abs(
-                    controllerCommands_[static_cast<int>(muxMode_)].posTorqueLimits[i]
-                    - controllerCommands_[static_cast<int>(dialModeMap_[dashboardDialMode])].posTorqueLimits[i]
+                float torqueDelta = abs(
+                    controllerCommands_[static_cast<int>(muxMode_)].torqueSetpoints[i]
+                    - controllerCommands_[static_cast<int>(dialModeMap_[dashboardDialMode])].torqueSetpoints[i]
                 );
-                float negTorqueDelta = abs(
-                    controllerCommands_[static_cast<int>(muxMode_)].negTorqueLimits[i]
-                    - controllerCommands_[static_cast<int>(dialModeMap_[dashboardDialMode])].negTorqueLimits[i]
-                );
-                if (posTorqueDelta > maxTorqueDeltaForModeChange || negTorqueDelta > maxTorqueDeltaForModeChange)
+
+                if (torqueDelta > maxTorqueDeltaForModeChange)
                 {
                     torqueDeltaPreventsModeChange = true;
                     break;

lib/systems/src/TorqueControllers.cpp

@@ -16,7 +16,7 @@ static inline void TCPosTorqueLimit(DrivetrainCommand_s &command, float torqueLi
 {
     for (int i = 0; i < NUM_MOTORS; i++)
     {
-        command.posTorqueLimits[i] = std::min(command.posTorqueLimits[i], torqueLimit);
+        command.torqueSetpoints[i] = std::min(command.torqueSetpoints[i], torqueLimit);
     }
 }
 
@@ -37,40 +37,31 @@ void TorqueControllerSimple::tick(const SysTick_s& tick, const PedalsSystemData_
             if (accelRequest > 0.0)
             {
                 // Positive torque request
-                data_.speeds[FL] = AMK_MAX_RPM;
-                data_.speeds[FR] = AMK_MAX_RPM;
-                data_.speeds[RL] = AMK_MAX_RPM;
-                data_.speeds[RR] = AMK_MAX_RPM;
+                data_.speeds_rpm[FL] = AMK_MAX_RPM;
+                data_.speeds_rpm[FR] = AMK_MAX_RPM;
+                data_.speeds_rpm[RL] = AMK_MAX_RPM;
+                data_.speeds_rpm[RR] = AMK_MAX_RPM;
 
-                data_.posTorqueLimits[FL] = torqueRequest * frontTorqueScale_;
-                data_.posTorqueLimits[FR] = torqueRequest * frontTorqueScale_;
-                data_.posTorqueLimits[RL] = torqueRequest * rearTorqueScale_;
-                data_.posTorqueLimits[RR] = torqueRequest * rearTorqueScale_;
+                data_.torqueSetpoints[FL] = torqueRequest * frontTorqueScale_;
+                data_.torqueSetpoints[FR] = torqueRequest * frontTorqueScale_;
+                data_.torqueSetpoints[RL] = torqueRequest * rearTorqueScale_;
+                data_.torqueSetpoints[RR] = torqueRequest * rearTorqueScale_;
 
-                data_.negTorqueLimits[FL] = 0.0;
-                data_.negTorqueLimits[FR] = 0.0;
-                data_.negTorqueLimits[RL] = 0.0;
-                data_.negTorqueLimits[RR] = 0.0;
             }
             else
             {
                 // Negative torque request
-                torqueRequest = MAX_REGEN_TORQUE * torqueRequest * -1.0; // TODO: determine whether negative torque limits are signed
+                torqueRequest = MAX_REGEN_TORQUE * torqueRequest * -1.0; 
 
-                data_.speeds[FL] = 0.0;
-                data_.speeds[FR] = 0.0;
-                data_.speeds[RL] = 0.0;
-                data_.speeds[RR] = 0.0;
+                data_.speeds_rpm[FL] = 0.0;
+                data_.speeds_rpm[FR] = 0.0;
+                data_.speeds_rpm[RL] = 0.0;
+                data_.speeds_rpm[RR] = 0.0;
 
-                data_.posTorqueLimits[FL] = 0.0;
-                data_.posTorqueLimits[FR] = 0.0;
-                data_.posTorqueLimits[RL] = 0.0;
-                data_.posTorqueLimits[RR] = 0.0;
-
-                data_.negTorqueLimits[FL] = torqueRequest;
-                data_.negTorqueLimits[FR] = torqueRequest;
-                data_.negTorqueLimits[RL] = torqueRequest;
-                data_.negTorqueLimits[RR] = torqueRequest;
+                data_.torqueSetpoints[FL] = torqueRequest;
+                data_.torqueSetpoints[FR] = torqueRequest;
+                data_.torqueSetpoints[RL] = torqueRequest;
+                data_.torqueSetpoints[RR] = torqueRequest;
             }
 
             // Apply the torque limit
@@ -80,20 +71,16 @@ void TorqueControllerSimple::tick(const SysTick_s& tick, const PedalsSystemData_
         {
             // Both pedals are pressed or an implausibility has been detected
             // Zero out torque
-            data_.speeds[FL] = 0.0;
-            data_.speeds[FR] = 0.0;
-            data_.speeds[RL] = 0.0;
-            data_.speeds[RR] = 0.0;
+            data_.speeds_rpm[FL] = 0.0;
+            data_.speeds_rpm[FR] = 0.0;
+            data_.speeds_rpm[RL] = 0.0;
+            data_.speeds_rpm[RR] = 0.0;
 
-            data_.posTorqueLimits[FL] = 0.0;
-            data_.posTorqueLimits[FR] = 0.0;
-            data_.posTorqueLimits[RL] = 0.0;
-            data_.posTorqueLimits[RR] = 0.0;
+            data_.torqueSetpoints[FL] = 0.0;
+            data_.torqueSetpoints[FR] = 0.0;
+            data_.torqueSetpoints[RL] = 0.0;
+            data_.torqueSetpoints[RR] = 0.0;
 
-            data_.negTorqueLimits[FL] = 0.0;
-            data_.negTorqueLimits[FR] = 0.0;
-            data_.negTorqueLimits[RL] = 0.0;
-            data_.negTorqueLimits[RR] = 0.0;
         }
 
         writeout_ = data_;

test/drivetrain_system_test.h

@@ -1,7 +1,58 @@
 #ifndef DRIVETRAIN_SYSTEM_TEST
 #define DRIVETRAIN_SYSTEM_TEST
+#include "DrivetrainSystem.h"
 
 // TODO @ben
 // TODO handle startup sequence stuff
-// 
+
+class InverterMock
+{
+public:
+    int request_enable_hv_count_, request_enable_inverter_count_;
+
+    InverterMock()
+    {
+        int request_enable_hv_count_ = 0;
+        int request_enable_inverter_count_ = 0;
+        error_ = false;
+        system_ready_ = false;
+        dc_quit_on_ = false;
+        quit_inverter_on_ = false;
+    };
+
+    bool error_, system_ready_, dc_quit_on_, quit_inverter_on_;
+    uint16_t voltage_;
+
+    // want to ensure that we are only sending requests once at a time
+    // stage 1
+    void request_enable_hv()
+    {
+        request_enable_hv_count_++;
+        dc_quit_on_ = true;
+    };
+    // stage 2
+    void request_enable_inverter()
+    {
+        request_enable_inverter_count_++;
+        quit_inverter_on_ = true;
+    };
+
+    void command_no_torque(){};
+    bool error() { return error_; };
+    bool inverter_system_ready() { return system_ready_; };
+    void command_reset() { error_ = false; };
+    uint16_t dc_bus_voltage() { return voltage_; };
+    bool dc_quit_on() { return dc_quit_on_; }
+    bool quit_inverter_on() { return quit_inverter_on_; }
+};
+
+// TODO
+TEST(DrivetrainSystemTesting, test_drivetrain_startup)
+{
+    InverterMock inv_fl, inv_fr, inv_rl, inv_rr;
+    DrivetrainSystem<InverterMock> dt({&inv_fl, &inv_fr, &inv_rl, &inv_rr}, 1000);
+}
+// TODO test startup timeout
+
+// TODO test commanding of drivetrain to ensure that the data is getting accross correctly
 #endif /* DRIVETRAIN_SYSTEM_TEST */

test/main.cpp

@@ -2,7 +2,7 @@
 
 #include "state_machine_test.h"
 #include "pedals_system_test.h"
-
+#include "drivetrain_system_test.h"
 
 
 int main(int argc, char **argv)

test/pedals_system_test.h

@@ -5,7 +5,6 @@ rough draft
 author: Lucas Plant
 */
 
-// TODO @ben
 
 #ifndef PEDALS_SYSTEM_TEST
 #define PEDALS_SYSTEM_TEST
@@ -106,6 +105,5 @@ TEST(PedalsSystemTesting, test_implausibility_duration)
 
     EXPECT_TRUE(data.implausibilityExceededMaxDuration);
 }
-// TODO test implausibility duration alert
 
 #endif /* PEDALS_SYSTEM_TEST */