Merge pull request #23 from hytech-racing/system-wrapper-class

creation of drivebrain app wrapper

CMakeLists.txt

@@ -152,6 +152,25 @@ target_include_directories(drivebrain_estimation PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_core_impl/drivebrain_estimation/include>    
 )
 
+make_cmake_package(drivebrain_estimation drivebrain)
+
+add_library(drivebrain_app SHARED
+    drivebrain_app/src/DriveBrainApp.cpp
+)
+
+target_include_directories(drivebrain_app PUBLIC
+    $<INSTALL_INTERFACE:drivebrain_app/include>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_app/include>
+)
+
+target_link_libraries(drivebrain_app PUBLIC
+    drivebrain_core::drivebrain_core
+    drivebrain_control
+    drivebrain_comms
+    drivebrain_mcap_logger
+    Boost::program_options
+)
+
 target_link_libraries(drivebrain_estimation PUBLIC
     drivebrain_core::drivebrain_core 
     drivebrain_common_utils
@@ -162,7 +181,7 @@ target_link_libraries(drivebrain_estimation PUBLIC
     protobuf::libprotobuf
 )
 
-make_cmake_package(drivebrain_estimation drivebrain)
+make_cmake_package(drivebrain_app drivebrain)
 
 ###############
 # executables #
@@ -227,7 +246,14 @@ target_compile_features(test_vn PUBLIC cxx_std_11)
 ### system executable ###
 ###                   ###
 
-add_executable(alpha_build drivebrain_app/main.cpp)
+add_executable(alpha_build 
+    drivebrain_app/main.cpp
+)
+
+# Add include directory for DriveBrainApp header
+target_include_directories(alpha_build PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/drivebrain_app
+)
 
 enable_testing()
 
@@ -237,6 +263,7 @@ add_executable(alpha_test
 )
 
 target_link_libraries(alpha_build PUBLIC
+    drivebrain_app
     drivebrain_core::drivebrain_core
     drivebrain_control
     drivebrain_comms

cmake/drivebrain_appConfig.cmake.in

@@ -0,0 +1,8 @@
+@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+
+find_dependency(drivebrain_core)
+find_dependency(Boost COMPONENTS program_options)
+
+include("${CMAKE_CURRENT_LIST_DIR}/drivebrain_appTargets.cmake")

drivebrain_app/include/DriveBrainApp.hpp

@@ -0,0 +1,81 @@
+// DriveBrainApp.hpp
+#pragma once
+
+#include <JsonFileHandler.hpp>
+#include <CANComms.hpp>
+#include <SimpleController.hpp>
+#include <StateEstimator.hpp>
+#include <MCUETHComms.hpp>
+#include <VNComms.hpp>
+#include <MsgLogger.hpp>
+#include <MCAPProtobufLogger.hpp>
+#include <mcap/writer.hpp>
+#include <DrivebrainBase.hpp>
+#include <foxglove_server.hpp>
+#include <DBServiceImpl.hpp>
+
+#include <thread>
+#include <chrono>
+#include <condition_variable>
+#include <cassert>
+#include <boost/program_options.hpp>
+#include <boost/asio.hpp>
+#include <memory>
+#include <optional>
+#include <csignal>
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+#include <spdlog/spdlog.h>
+#include <atomic>
+
+struct DriveBrainSettings {
+    bool run_db_service{true};
+    bool run_io_context{true};
+    bool run_process_loop{true};
+};
+
+class DriveBrainApp {
+public:
+    DriveBrainApp(const std::string& param_path, const std::string& dbc_path,  const DriveBrainSettings& settings = DriveBrainSettings{});
+    ~DriveBrainApp();
+
+    void run();
+    void stop();
+
+private:
+    // Private member functions
+    void _process_loop();
+
+private:
+    // Private member variables
+    static std::atomic<bool> _stop_signal;
+    const std::string _param_path;
+    core::Logger _logger;
+    core::JsonFileHandler _config;
+    std::optional<std::string> _dbc_path;
+    boost::asio::io_context _io_context;
+
+    core::common::ThreadSafeDeque<std::shared_ptr<google::protobuf::Message>> _rx_queue;
+    core::common::ThreadSafeDeque<std::shared_ptr<google::protobuf::Message>> _tx_queue;
+    core::common::ThreadSafeDeque<std::shared_ptr<google::protobuf::Message>> _eth_tx_queue;
+    core::common::ThreadSafeDeque<std::shared_ptr<google::protobuf::Message>> _live_telem_queue;
+
+    std::vector<core::common::Configurable*> _configurable_components;
+    std::unique_ptr<common::MCAPProtobufLogger> _mcap_logger;
+    std::unique_ptr<control::SimpleController> _controller;
+    std::unique_ptr<estimation::Tire_Model_Codegen_MatlabModel> _matlab_math;
+    std::unique_ptr<core::FoxgloveWSServer> _foxglove_server;
+    std::shared_ptr<core::MsgLogger<std::shared_ptr<google::protobuf::Message>>> _message_logger;
+    std::unique_ptr<core::StateEstimator> _state_estimator;
+    std::unique_ptr<comms::CANDriver> _driver;
+    std::unique_ptr<comms::MCUETHComms> _eth_driver;
+    std::unique_ptr<comms::VNDriver> _vn_driver;
+    std::unique_ptr<DBInterfaceImpl> _db_service;
+
+    std::thread _process_thread;
+    std::thread _io_context_thread;
+    std::thread _db_service_thread;
+
+    const DriveBrainSettings _settings;
+};