Fixed code to pass test_env systems tests

lib/mock_interfaces/AMSInterface.h

@@ -1,60 +1,134 @@
-#ifndef __AMS_INTERFACE_H__
-#define __AMS_INTERFACE_H__
+#ifndef __AMSINTERFACE_H__
+#define __AMSINTERFACE_H__
 
 #include "SysClock.h"
 
-const unsigned long HEARTBEAT_INTERVAL                      = 20;   // milliseconds
+#define CANBufferType_mock int
+#define CAN_message_t_mock int
+
+/**
+ * Mock interface for testing purposes. Please see the real AMSInterface for proper documentation.
+*/
+
+const unsigned long HEARTBEAT_INTERVAL                      = 2000;   // milliseconds
 const unsigned long PACK_CHARGE_CRIT_TOTAL_THRESHOLD        = 420;
-const unsigned long PACK_CHARGE_CRIT_LOWEST_CELL_THRESHOLD  = 35000;
+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;
 const float DEFAULT_TEMP_ALPHA      = 0.8;
 const float DEFAULT_VOLTAGE_ALPHA   = 0.8;
-
-// #define CANBufferType int // Placeholder define for the mock interface
+const unsigned short MAX_PACK_CHARGE      = 48600;
+const unsigned long DEFAULT_INITIALIZATION_WAIT_INTERVAL = 5000;
 
 class AMSInterface
 {
 public:
-    AMSInterface(CANBufferType *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha)
-    {
-        // do nothing
-    };
 
-    /* Overloaded constructor that only takes in software OK pin and uses default voltages and temp*/
-    AMSInterface(CANBufferType *msg_output_queue, int sw_ok_pin):
+    AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin, float init_temp, float init_volt, float temp_alpha, float volt_alpha):        
+        msg_queue_(msg_output_queue),
+        pin_software_ok_(sw_ok_pin),
+        filtered_max_cell_temp(init_temp),
+        filtered_min_cell_voltage(init_volt),
+        cell_temp_alpha(temp_alpha),
+        cell_voltage_alpha(volt_alpha),
+        use_em_for_soc_(true),
+        charge_(0.0f),
+        SoC_(0.0f),
+        has_initialized_charge_(false),
+        has_received_bms_voltage_(false) {};
+
+    AMSInterface(CANBufferType_mock *msg_output_queue, int sw_ok_pin):
         AMSInterface(msg_output_queue, sw_ok_pin, DEFAULT_INIT_TEMP, DEFAULT_INIT_VOLTAGE, DEFAULT_TEMP_ALPHA, DEFAULT_VOLTAGE_ALPHA) {};
-
-        /* Initialize interface pin mode */
-    void init(unsigned long curr_millis) {set_heartbeat(curr_millis);}
 
-    /* Write to Main ECU */
-    // Initialize output value
+
+    void init(SysTick_s &initial_tick) {};
     void set_start_state() {};
-    // Set output value
+    bool heartbeat_received(unsigned long curr_millis) {return ((curr_millis - last_heartbeat_time_) < HEARTBEAT_INTERVAL);};
+    bool pack_charge_is_critical() {};
+
+    //SETTERS//    
     void set_state_ok_high(bool ok_high) {};
-
-    /* Monitor AMS state */
-    void set_heartbeat(unsigned long curr_millis) {last_heartbeat_time_ = curr_millis;}
-    bool heartbeat_received(unsigned long curr_millis)
-    {
-        return ((curr_millis - last_heartbeat_time_) < HEARTBEAT_INTERVAL);
+    void set_heartbeat(unsigned long curr_millis) {last_heartbeat_time_ = curr_millis;};
+
+    //GETTERS//
+    float get_filtered_max_cell_temp() {};
+    float get_filtered_min_cell_voltage() {};
+    float get_acc_derate_factor() {};
+
+    float initialize_charge() {};
+    void calculate_SoC_em(const SysTick_s &tick) {};
+    void calculate_SoC_acu(const SysTick_s &tick) {};
+    float get_SoC() {return SoC_;}
+    void tick(const SysTick_s &tick) {};
+
+    void retrieve_status_CAN(unsigned long curr_millis, CAN_message_t_mock &recvd_msg) {};
+    void retrieve_temp_CAN(CAN_message_t_mock &recvd_msg) {};
+    void retrieve_voltage_CAN(CAN_message_t_mock &recvd_msg) {};
+    void calculate_acc_derate_factor() {};
+
+    void retrieve_em_measurement_CAN(CAN_message_t_mock &can_msg) {};
+    void retrieve_current_shunt_CAN(const CAN_message_t_mock &can_msg) {};
+    bool is_using_em_for_soc() {return use_em_for_soc_;}
+    void set_use_em_for_soc(bool new_use_em_for_soc) {
+        use_em_for_soc_ = new_use_em_for_soc;
     }
-    bool is_below_pack_charge_critical_low_thresh() {};
-    bool is_below_pack_charge_critical_total_thresh();
-    bool pack_charge_is_critical() {};    
+    void enqueue_state_of_charge_CAN() {};
 
-    /* IIR filtered AMS readings */
-    float get_filtered_max_cell_temp();
-    float get_filtered_min_cell_voltage();
+    /** Helper function to enqueue CAN messages using the new CAN library*/
+    //template <typename U>
+    //void enqueue_new_CAN(U *structure, uint32_t (*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *));
+
+    // Getters (for testing purposes)
+    //BMS_VOLTAGES_t get_bms_voltages() {return bms_voltages_;}
+    //EM_MEASUREMENT_t get_em_measurements() {return em_measurements_;}
+    //ACU_SHUNT_MEASUREMENTS_t get_acu_shunt_measurements() {return acu_shunt_measurements_;}
+
 
-    /* Retrieve CAN */
 private:
+
+    const float VOLTAGE_LOOKUP_TABLE[101] = {3.972, 3.945, 3.918, 3.891, 3.885, 3.874, 3.864, 3.858, 3.847, 3.836, 3.82, 3.815, 3.815, 3.798, 3.788,
+    3.782, 3.771, 3.755, 3.744, 3.744, 3.733, 3.728, 3.723, 3.712, 3.701, 3.695, 3.69, 3.679, 3.679, 3.668, 3.663, 3.657, 3.647,
+    3.647, 3.636, 3.625, 3.625, 3.625, 3.614, 3.609, 3.603, 3.603, 3.592, 3.592, 3.592, 3.581, 3.581, 3.571, 3.571, 3.571, 3.56,
+    3.56, 3.56, 3.549, 3.549, 3.549, 3.549, 3.538, 3.538, 3.551, 3.546, 3.535, 3.535, 3.535, 3.53, 3.524, 3.524, 3.524, 3.513,
+    3.513, 3.513, 3.503, 3.503, 3.492, 3.492, 3.492, 3.487, 3.481, 3.481, 3.476, 3.471, 3.46, 3.46, 3.449, 3.444, 3.428, 3.428,
+    3.417, 3.401, 3.39, 3.379, 3.363, 3.331, 3.299, 3.267, 3.213, 3.149, 3.041, 3, 3, 0};
+
+    CANBufferType_mock *msg_queue_;
+
+    /* software OK pin */
+    int pin_software_ok_;
+
     /* AMS CAN messages */
-    // Outbound
+    //BMS_status          bms_status_;
+    //BMS_temperatures    bms_temperatures_;
+    //ACU_SHUNT_MEASUREMENTS_t         acu_shunt_measurements_;
+    //EM_MEASUREMENT_t                 em_measurements_;
+    //BMS_VOLTAGES_t                   bms_voltages_;
+
     /* AMS last heartbeat time */
     unsigned long last_heartbeat_time_;
+
+    /* IIR filter parameters */
+    float bms_high_temp;
+    float bms_low_voltage;
+    float filtered_max_cell_temp;
+    float filtered_min_cell_voltage;
+    float cell_temp_alpha;
+    float cell_voltage_alpha;
+
+    float acc_derate_factor;
+    bool use_em_for_soc_ = true;
+    float charge_;
+    float SoC_;
+    SysTick_s last_tick_;
+    bool has_initialized_charge_;
+    bool has_received_bms_voltage_;
+    unsigned long timestamp_start_;
+
+    bool is_below_pack_charge_critical_low_thresh();
+    bool is_below_pack_charge_critical_total_thresh();
+
 };
 
-#endif /* __AMS_INTERFACE_H__ */
+#endif /* __AMSINTERFACE_H__ */

platformio.ini

@@ -11,7 +11,11 @@ lib_ignore =
 test_ignore=
   test_interfaces*
 lib_deps=
-    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v45    
+    SPI
+    Nanopb
+    https://github.com/vjmuzik/NativeEthernet.git
+    https://github.com/RCMast3r/hytech_can#4ffbba4
+    https://github.com/hytech-racing/HT_params/releases/download/2024-05-07T06_59_33/ht_eth_pb_lib.tar.gz
     https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
 
 [env:teensy41]

test/test_systems/safety_system_test.h

@@ -9,33 +9,49 @@
 
 
 TEST(SafetySystemTest, test_software_shutdown) {
-    SysClock sys_clock;
-
-    SysTick_s curr_tick = sys_clock.tick(0);
+    // Initial tick
+    SysTick_s tick_zero;
+    tick_zero.millis = 100L;
+    tick_zero.micros = 100000L;
 
     AMSInterface ams_interface(0, 0, 0, 0, 0, 0);
     WatchdogInterface wd_interface(0);
     SafetySystem safety_system(&ams_interface, &wd_interface);
 
-    ams_interface.init(curr_tick.millis);
-    wd_interface.init(curr_tick.millis);
+    ams_interface.init(tick_zero);
+    wd_interface.init(tick_zero.millis);
     safety_system.init();
 
     ASSERT_EQ(safety_system.get_software_is_ok(), true);
 
     // 10 milliseconds later
-    curr_tick = sys_clock.tick(10 * 1000);
-    ams_interface.set_heartbeat(curr_tick.millis);
+    SysTick_s tick_one;
+    tick_one.millis = 110L;
+    tick_one.micros = 110000L;
+    ams_interface.set_heartbeat(tick_one.millis);
 
-    safety_system.software_shutdown(curr_tick);
+    safety_system.software_shutdown(tick_one);
 
     ASSERT_EQ(safety_system.get_software_is_ok(), true);
 
-    // 45 milliseconds later
-    curr_tick = sys_clock.tick(45 * 1000);
-    safety_system.software_shutdown(curr_tick);
+    // 1999 milliseconds later (should be within 2000ms window)
+    SysTick_s tick_two;
+    tick_two.millis = 2109L;
+    tick_two.micros = 2109000L;
+
+    safety_system.software_shutdown(tick_two);
+
+    ASSERT_EQ(ams_interface.heartbeat_received(tick_two.millis), true);
+
+
+    // 1999 milliseconds later (should fail)
+    SysTick_s tick_three;
+    tick_three.millis = 2110L;
+    tick_three.micros = 2110000L;
+
+    safety_system.software_shutdown(tick_three);
 
-    ASSERT_EQ(ams_interface.heartbeat_received(curr_tick.millis), false);
+    ASSERT_EQ(ams_interface.heartbeat_received(tick_three.millis), false);
 
     ASSERT_EQ(safety_system.get_software_is_ok(), false);