ready to test on car

hytech-racing · Sep 17, 2024 · 8d4a7f1 · 8d4a7f1
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Showing 7 changed files with 64 additions and 26 deletions.
diff --git a/lib/interfaces/include/DrivebrainETHInterface.h b/lib/interfaces/include/DrivebrainETHInterface.h
@@ -0,0 +1,21 @@
+#ifndef __DRIVEBRAINETHINTERFACE_H__
+#define __DRIVEBRAINETHINTERFACE_H__
+#include "hytech_msgs.pb.h"
+#include "DrivebrainData.h"
+
+class DrivebrainETHInterface
+{
+    public:
+        DrivebrainETHInterface() = default;
+
+        void receive_pb_msg(const hytech_msgs_MCUData& msg_in);
+
+        DrivebrainData_s get_latest_data() { return _latest_data; }
+
+    private:
+
+        DrivebrainData_s _latest_data = {};
+
+};
+
+#endif // __DRIVEBRAINETHINTERFACE_H__
diff --git a/...interfaces/include/ProtobufMsgInterface.h → ...terfaces/include/ProtobufMsgInterface.hpp b/...interfaces/include/ProtobufMsgInterface.h → ...terfaces/include/ProtobufMsgInterface.hpp
@@ -6,37 +6,39 @@
 #include "pb_common.h"
 #include "circular_buffer.h"
 #include "NativeEthernet.h"
+#include <functional>
 // #include "InterfaceParams.h"
 
 struct ETHInterfaces
 {
 };
 
-using recv_function_t = void (*)(const uint8_t* buffer, size_t packet_size, ETHInterfaces& interfaces);
+// 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>
-void handle_ethernet_socket_receive(EthernetUDP* socket, recv_function_t recv_function, ETHInterfaces& interfaces)
+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)
 {
     int packet_size = socket->parsePacket();
-    if(packet_size > 0)
+    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, interfaces);
+        recv_function(buffer, read_bytes, interface, desc_pointer);
     }
 }
 
 template <typename pb_struct, size_t buffer_size>
-bool handle_ethernet_socket_send_pb(IPAddress addr, uint16_t port, EthernetUDP* socket, const pb_struct& msg, const pb_msgdesc_t* msg_desc)
+bool handle_ethernet_socket_send_pb(IPAddress addr, uint16_t port, EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
 {
     socket->beginPacket(addr, port);
     uint8_t buffer[buffer_size];
     pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
-    if (!pb_encode(&stream, msg_desc, &msg)) {
+    if (!pb_encode(&stream, msg_desc, &msg))
+    {
         // You can handle error more explicitly by looking at stream.errmsg
         return false;
     }
@@ -46,19 +48,15 @@ bool handle_ethernet_socket_send_pb(IPAddress addr, uint16_t port, EthernetUDP*
     return true;
 }
 
-
-template <typename pb_msg_type>
-std::pair<pb_msg_type, bool> recv_pb_stream_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces& interfaces, const pb_msgdesc_t * desc_pointer)
+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)
 {
     pb_istream_t stream = pb_istream_from_buffer(buffer, packet_size);
     pb_msg_type msg = {};
     if (pb_decode(&stream, desc_pointer, &msg))
     {
-        return {msg, true};
+        interface.receive_pb_msg(msg);
     }
-    return {msg, };
 }
 
-
-
 #endif
diff --git a/lib/interfaces/library.json b/lib/interfaces/library.json
@@ -5,7 +5,8 @@
     "dependencies": {
         "can_lib": "*",
         "shared_data": "*",
-        "CASE_lib": "*"
+        "CASE_lib": "*",
+        "nanopb": "*"
       },
     "frameworks": "*",
     "platforms": "*"

diff --git a/lib/interfaces/src/DrivebrainETHInterface.cpp b/lib/interfaces/src/DrivebrainETHInterface.cpp
@@ -0,0 +1,8 @@
+#include "DrivebrainETHInterface.h"
+
+#include <Arduino.h>
+void DrivebrainETHInterface::receive_pb_msg(const hytech_msgs_MCUData& msg_in)
+{
+    Serial.println("msg recvd");
+    _latest_data = {};
+}
diff --git a/lib/systems/include/CASESystem.h b/lib/systems/include/CASESystem.h
@@ -7,7 +7,7 @@
 #include "DrivetrainSystem.h"
 #include "SteeringSystem.h"
 #include "MCUStateMachine.h"
-#include "ProtobufMsgInterface.h"
+#include "ProtobufMsgInterface.hpp"
 // #include "ParameterInterface.h"
 
 struct CASEConfiguration

diff --git a/platformio.ini b/platformio.ini
@@ -4,7 +4,8 @@ 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
+
 [env:test_env]
 platform = native
 test_framework = googletest
@@ -14,7 +15,7 @@ build_src_filter =
 build_unflags = -std=gnu++11 
 
 build_flags = 
-  -std=c++17 
+  -std=c++17
   -g
   -D TESTING_SYSTEMS
 lib_ignore =
@@ -57,6 +58,7 @@ upload_protocol = teensy-cli
 extra_scripts = pre:extra_script.py
 lib_deps = 
   ${common.lib_deps_shared}
+  Nanopb
   SPI
   https://github.com/hytech-racing/shared_firmware_interfaces.git#shared_types
   https://github.com/tonton81/FlexCAN_T4

diff --git a/src/main.cpp b/src/main.cpp
@@ -7,9 +7,10 @@
 #include "HyTech_CAN.h"
 #include "MCU_rev15_defs.h"
 // #include "NativeEthernet.h"
-
+#include "pb.h"
 // /* Interfaces */
-
+#include "DrivebrainETHInterface.h"
+#include "ProtobufMsgInterface.hpp"
 #include "HytechCANInterface.h"
 #include "ThermistorInterface.h"
 #include "Teensy_ADC.h"
@@ -34,15 +35,17 @@
 #include "DrivetrainSystem.h"
 #include "PedalsSystem.h"
 #include "DrivebrainController.h"
-// #include "TorqueControllerMux.h"
 #include "TorqueControllerMux.h"
 
 #include "CASESystem.h"
 // /* State machine */
 #include "MCUStateMachine.h"
 #include "HT08_CASE.h"
 
+#include "InterfaceParams.h"
 #include "PrintLogger.h"
+
+#include "hytech_msgs.pb.h"
 /*
     PARAMETER STRUCTS
 */
@@ -322,6 +325,7 @@ MCUStateMachine<DriveSys_t> fsm(&buzzer, &drivetrain, &dashboard, &pedals_system
 // */
 
 DrivebrainInterface db_interface(&CAN3_txBuffer);
+DrivebrainETHInterface db_eth_interface;
 CANInterfaces<CircularBufferType> CAN_receive_interfaces = {&inv.fl, &inv.fr, &inv.rl, &inv.rr, &vn_interface, &dashboard, &ams_interface, &sab_interface, &db_interface};
 
 /*
@@ -348,9 +352,9 @@ void setup()
     // initialize CAN communication
     init_all_CAN_devices();
 
-    // Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
-    // protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
-    // protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
+    Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
+    protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
+    protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
 
     SPI.begin();
     a1.init();
@@ -412,7 +416,7 @@ void loop()
     // get latest tick from sys clock
     SysTick_s curr_tick = sys_clock.tick(micros());
 
-    // handle_ethernet_interface_comms();
+    handle_ethernet_interface_comms();
 
     // process received CAN messages
     process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
@@ -687,5 +691,9 @@ void handle_ethernet_interface_comms()
     // via the union message. this is a little bit cursed ngl.
     // TODO un fuck this and make it more sane
     // Serial.println("bruh");
-    // handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
+
+
+    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);
+
 }