builds

.clang-format

@@ -0,0 +1,7 @@
+BasedOnStyle: LLVM  # or Google, Mozilla, etc.
+IndentWidth: 4
+TabWidth: 4
+UseTab: Never  # Ensures spaces instead of tabs are used
+BreakBeforeBraces: Attach  # Optional, adjust brace style
+AllowShortFunctionsOnASingleLine: Empty
+ColumnLimit: 100  # Adjust if desired

.github/workflows/docs.yml

@@ -0,0 +1,30 @@
+name: Generate doxygen docs and deploy to github pages
+
+on:
+  push:
+    branches: 
+      - master
+
+jobs:
+
+  gen_docs:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+
+    - name: Generate docs
+      uses: mattnotmitt/[email protected]
+      with:
+        doxyfile-path: 'Doxyfile'
+
+
+    - name: Install dependencies
+      run: sudo apt-get update && sudo apt-get install -y graphviz
+
+    - name: Deploy to GitHub Pages
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: ./html  # Set this to the Doxygen output directory
+        keep_files: false  # Set to true to keep files that are not in the Doxygen output directory

.github/workflows/unit_tests.yml

@@ -0,0 +1,24 @@
+name: Unit Tests
+
+on: 
+  push
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: cachix/install-nix-action@v29
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          repository: hytech-racing/drivebrain_software
+          ref: ${{ github.ref }}
+
+      - name: Build and test
+        run: |
+          nix develop --command bash -c 'mkdir -p build && cd build && cmake .. && make -j && ctest --output-on-failure'
+
+        
+      

.gitignore

@@ -6,3 +6,6 @@ result-dev
 result-dev/
 *.mcap
 core.*
+result-man/
+result-man
+.cache/

CMakeLists.txt

@@ -8,6 +8,10 @@ set(CMAKE_INCLUDE_HEADERS_IN_COMPILE_COMMANDS ON)
 ### just like "include what you use" and do "find what you use"
 
 ## hytech's upstream libraries
+find_package(fmt REQUIRED)
+find_package(spdlog REQUIRED)
+
+
 
 ### generated via nix-proto from hytech's generated CAN protobufs
 find_package(hytech_np_proto_cpp CONFIG REQUIRED)
@@ -28,53 +32,27 @@ find_package(nlohmann_json REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system program_options)
 find_package(protobuf REQUIRED)
 find_package(GTest REQUIRED)
+
 find_package(mcap REQUIRED)
 
 # custom packaged libraries, code didnt require changes just the packaging
 find_package(dbcppp CONFIG REQUIRED)
 find_package(foxglove_websocket REQUIRED)
 find_package(cmake_macros REQUIRED)
-
+find_package(GTest REQUIRED)
 find_package(gRPC CONFIG REQUIRED)
 find_package(db_service_grpc_cpp REQUIRED)
+find_package(codegen REQUIRED)
+
+find_package(drivebrain_core REQUIRED)
 
 include(create_package)
 
 #####################
 # created libraries #
 #####################
 
-# drivebrain core library
-add_library(drivebrain_core SHARED 
-    drivebrain_core_base/src/JsonFileHandler.cpp 
-    drivebrain_core_base/src/Configurable.cpp 
-    drivebrain_core_base/src/StateEstimator.cpp
-    drivebrain_core_base/src/Logger.cpp)
-
-target_include_directories(drivebrain_core PUBLIC 
-    $<INSTALL_INTERFACE:drivebrain_core_base/include/public>
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_base/include/public>    
-)
-
-# right now we dont want to expose the json file handler directly to all of the 
-# components of drivebrain
-
-target_include_directories(drivebrain_core PRIVATE 
-    $<INSTALL_INTERFACE:drivebrain_core_base/include/private>
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_base/include/private>    
-)
-
-target_link_libraries(drivebrain_core PUBLIC 
-    nlohmann_json::nlohmann_json 
-    Boost::boost
-    Boost::system
-    drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
-    hytech_np_proto_cpp::hytech_np_proto_cpp
-)
-
-make_cmake_package(drivebrain_core drivebrain)
-
-
+# utils
 add_library(drivebrain_common_utils SHARED 
     drivebrain_core_impl/drivebrain_common_utils/src/ProtobufUtils.cpp
 )
@@ -86,6 +64,7 @@ target_include_directories(drivebrain_common_utils PUBLIC
 
 target_link_libraries(drivebrain_common_utils PUBLIC
     protobuf::libprotobuf
+    spdlog::spdlog
 )
 
 make_cmake_package(drivebrain_common_utils drivebrain)
@@ -113,7 +92,7 @@ target_include_directories(drivebrain_comms PUBLIC
 )
 
 target_link_libraries(drivebrain_comms PUBLIC 
-    drivebrain_core
+    drivebrain_core::drivebrain_core
     drivebrain_common_utils
     gRPC::grpc++_reflection
     foxglove_websocket::foxglove_websocket
@@ -123,7 +102,8 @@ target_link_libraries(drivebrain_comms PUBLIC
     drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
     db_service_grpc_cpp::db_service_grpc_cpp
     libvncxx::libvncxx
-
+    drivebrain_estimation
+    spdlog::spdlog
 )
 
 make_cmake_package(drivebrain_comms drivebrain)
@@ -137,7 +117,7 @@ target_include_directories(drivebrain_control PUBLIC
 )
 
 target_link_libraries(drivebrain_control PUBLIC 
-    drivebrain_core
+    drivebrain_core::drivebrain_core
     hytech_np_proto_cpp::hytech_np_proto_cpp
     protobuf::libprotobuf
 )
@@ -151,21 +131,38 @@ target_include_directories(drivebrain_mcap_logger PUBLIC
 )
 
 target_link_libraries(drivebrain_mcap_logger PUBLIC
-    drivebrain_core 
+    drivebrain_core::drivebrain_core 
     drivebrain_common_utils
     protobuf::libprotobuf
     mcap::mcap
-
-)
-target_link_libraries(drivebrain_mcap_logger INTERFACE
-    mcap::mcap
 )
+
 target_include_directories(drivebrain_mcap_logger PUBLIC
     $<INSTALL_INTERFACE:version_header>
     $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/version_header>    
 )
 make_cmake_package(drivebrain_mcap_logger drivebrain)
 
+add_library(drivebrain_estimation SHARED 
+    drivebrain_core_impl/drivebrain_estimation/src/StateEstimator.cpp
+)
+
+target_include_directories(drivebrain_estimation PUBLIC
+    $<INSTALL_INTERFACE:drivebrain_core_impl/drivebrain_estimation/include>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_impl/drivebrain_estimation/include>    
+)
+
+target_link_libraries(drivebrain_estimation PUBLIC
+    drivebrain_core::drivebrain_core 
+    drivebrain_common_utils
+    codegen::Tire_Model_Codegen
+    codegen::matlab_model
+    hytech_np_proto_cpp::hytech_np_proto_cpp
+    drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
+    protobuf::libprotobuf
+)
+
+make_cmake_package(drivebrain_estimation drivebrain)
 
 ###############
 # executables #
@@ -208,13 +205,13 @@ target_link_libraries(test_db_grpc PUBLIC
 )
 
 
-add_executable(test_mcap test/test_mcap/test_mcap_logging.cpp test/test_mcap/BuildFileDescriptorSet.cpp)
+# add_executable(test_mcap test/test_mcap/test_mcap_logging.cpp test/test_mcap/BuildFileDescriptorSet.cpp)
 
-target_link_libraries(test_mcap PUBLIC
-    drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
-    protobuf::libprotobuf
-    mcap::mcap
-)
+# target_link_libraries(test_mcap PUBLIC
+#     drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
+#     protobuf::libprotobuf
+#     mcap::mcap
+# )
 
 set(CMAKE_CXX_STANDARD 17) 
 add_executable(test_vn test/test_vn.cpp)
@@ -232,14 +229,32 @@ target_compile_features(test_vn PUBLIC cxx_std_11)
 
 add_executable(alpha_build drivebrain_app/main.cpp)
 
+enable_testing()
+
+add_executable(alpha_test 
+    unit_test/main.cpp
+    unit_test/SimpleControllerTest.cpp
+)
+
 target_link_libraries(alpha_build PUBLIC
-    drivebrain_core
+    drivebrain_core::drivebrain_core
     drivebrain_control
     drivebrain_comms
     drivebrain_mcap_logger
     Boost::program_options
 )
 
+
+target_link_libraries(alpha_test PUBLIC 
+    drivebrain_core::drivebrain_core
+    drivebrain_control
+    drivebrain_comms
+    Boost::program_options
+    gtest
+)
+
+add_test(NAME MyTest COMMAND alpha_test)
+
 target_link_libraries(mcu_standin PUBLIC
     drivebrain_core_msgs_proto_cpp::drivebrain_core_msgs_proto_cpp
     protobuf::libprotobuf
@@ -250,4 +265,4 @@ include(GNUInstallDirs)
 install(TARGETS 
         alpha_build
     RUNTIME 
-        DESTINATION ${CMAKE_INSTALL_BINDIR})
+        DESTINATION ${CMAKE_INSTALL_BINDIR})