Feature/integrate simulink automation

CMakeLists.txt

@@ -12,6 +12,7 @@ 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)
 find_package(drivebrain_core_msgs_proto_cpp CONFIG REQUIRED)
@@ -41,45 +42,17 @@ find_package(cmake_macros REQUIRED)
 find_package(GTest REQUIRED)
 find_package(gRPC CONFIG REQUIRED)
 find_package(db_service_grpc_cpp REQUIRED)
-find_package(matlab_math 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/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
-    spdlog::spdlog
-)
-
-make_cmake_package(drivebrain_core drivebrain)
-
-
+# utils
 add_library(drivebrain_common_utils SHARED 
     drivebrain_core_impl/drivebrain_common_utils/src/ProtobufUtils.cpp
 )
@@ -119,7 +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
@@ -144,7 +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
 )
@@ -158,7 +131,7 @@ 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
@@ -171,7 +144,6 @@ target_include_directories(drivebrain_mcap_logger PUBLIC
 make_cmake_package(drivebrain_mcap_logger drivebrain)
 
 add_library(drivebrain_estimation SHARED 
-    drivebrain_core_impl/drivebrain_estimation/src/MatlabMath.cpp
     drivebrain_core_impl/drivebrain_estimation/src/StateEstimator.cpp
 )
 
@@ -181,9 +153,13 @@ target_include_directories(drivebrain_estimation PUBLIC
 )
 
 target_link_libraries(drivebrain_estimation PUBLIC
-    drivebrain_core 
+    drivebrain_core::drivebrain_core 
     drivebrain_common_utils
-    matlab_math::matlab_math_lib
+    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)
@@ -261,7 +237,7 @@ add_executable(alpha_test
 )
 
 target_link_libraries(alpha_build PUBLIC
-    drivebrain_core
+    drivebrain_core::drivebrain_core
     drivebrain_control
     drivebrain_comms
     drivebrain_mcap_logger
@@ -270,7 +246,7 @@ target_link_libraries(alpha_build PUBLIC
 
 
 target_link_libraries(alpha_test PUBLIC 
-    drivebrain_core
+    drivebrain_core::drivebrain_core
     drivebrain_control
     drivebrain_comms
     Boost::program_options

config/drivebrain_config.json

@@ -16,41 +16,41 @@
         "port": 1,
         "freq_divisor": 1
     },
-    "MatlabMath":
+    "Tire_Model_Codegen_MatlabModel":
     {
-        "lmux_fl": 1,
-        "lmuy_fl": 1,
-        "lmux_fr": 1,
-        "lmuy_fr": 1,
-        "lmux_rl": 1,
-        "lmuy_rl": 1,
-        "lmux_rr": 1,
-        "lmuy_rr": 1,
-        "x1_fl": 604,
-        "x2_fl": 1073,
-        "x3_fl": 1320,
-        "y1_fl": 385,
-        "y2_fl": 598,
-        "y3_fl": 718,
-        "x1_fr": 761,
-        "x2_fr": 1276,
-        "x3_fr": 1570,
-        "y1_fr": 440,
-        "y2_fr": 654,
-        "y3_fr": 684,
-        "x1_rl": 906,
-        "x2_rl": 1160,
-        "x3_rl": 1496,
-        "y1_rl": 517,
-        "y2_rl": 637,
-        "y3_rl": 819,
-        "x1_rr": 638,
-        "x2_rr": 855,
-        "x3_rr": 1165,
-        "y1_rr": 451,
-        "y2_rr": 565,
-        "y3_rr": 734,
-        "use_fake_data": false,
+        "LMUXFL": 1,
+        "LMUYFL": 1,
+        "LMUXFR": 1,
+        "LMUYFR": 1,
+        "LMUXRL": 1,
+        "LMUYRL": 1,
+        "LMUXRR": 1,
+        "LMUYRR": 1,
+        "Interp_x1_FL": 604,
+        "Interp_x2_FL": 1073,
+        "Interp_x3_FL": 1320,
+        "interp_y1_FL": 385,
+        "interp_y2_FL": 598,
+        "interp_y3_FL": 718,
+        "Interp_x1_FR": 761,
+        "Interp_x2_FR": 1276,
+        "Interp_x3_FR": 1570,
+        "interp_y1_FR": 440,
+        "interp_y2_FR": 654,
+        "interp_y3_FR": 684,
+        "Interp_x1_RL": 906,
+        "Interp_x2_RL": 1160,
+        "Interp_x3_RL": 1496,
+        "interp_y1_RL": 517,
+        "interp_y2_RL": 637,
+        "interp_y3_RL": 819,
+        "Interp_x1_RR": 638,
+        "Interp_x2_RR": 855,
+        "Interp_x3_RR": 1165,
+        "interp_y1_RR": 451,
+        "interp_y2_RR": 565,
+        "interp_y3_RR": 734,
+        "useFakeData": false,
         "Fake_Vx": 3.0,
         "DriveBiasFront": 1.0,
         "BrakeBiasFront": 1.0,

db-core.nix

@@ -0,0 +1,7 @@
+{ pkgs, stdenv, cmake, boost, pkg-config, cmake_macros, protobuf, drivebrain_core_msgs_proto_cpp, hytech_np_proto_cpp, nlohmann_json, db-core-src, spdlog, fmt }:
+stdenv.mkDerivation {
+    name = "db-core";
+    src = db-core-src;
+    nativeBuildInputs = [ cmake pkg-config cmake_macros ];
+    propagatedBuildInputs = [  boost protobuf drivebrain_core_msgs_proto_cpp hytech_np_proto_cpp nlohmann_json cmake_macros spdlog fmt ];
+}

default.nix

@@ -1,10 +1,10 @@
-{ pkgs, stdenv, cmake, boost, pkg-config, lz4 ,zstd, protobuf, nlohmann_json, foxglove-ws-protocol-cpp, cmake_macros, hytech_np_proto_cpp, dbcppp, gtest, drivebrain_core_msgs_proto_cpp, mcap, db_service_grpc_cpp, grpc, vn_lib, matlab_math, spdlog, fmt, ... }:
+{ pkgs, stdenv, cmake, boost, pkg-config, lz4 ,zstd, protobuf, nlohmann_json, foxglove-ws-protocol-cpp, cmake_macros, hytech_np_proto_cpp, dbcppp, gtest, drivebrain_core_msgs_proto_cpp, mcap, db_service_grpc_cpp, grpc, vn_lib, drivebrain_core, simulink_automation, spdlog, fmt, ... }:
 
 stdenv.mkDerivation {
   name = "drivebrain_software";
   src = ./.;
   nativeBuildInputs = [ cmake pkg-config ];
-  propagatedBuildInputs = [ protobuf lz4 zstd boost cmake_macros nlohmann_json foxglove-ws-protocol-cpp hytech_np_proto_cpp dbcppp gtest drivebrain_core_msgs_proto_cpp mcap db_service_grpc_cpp grpc vn_lib matlab_math spdlog fmt];
-
+  propagatedBuildInputs = [ protobuf lz4 zstd boost cmake_macros nlohmann_json foxglove-ws-protocol-cpp hytech_np_proto_cpp dbcppp gtest drivebrain_core_msgs_proto_cpp mcap db_service_grpc_cpp grpc vn_lib drivebrain_core simulink_automation spdlog fmt ];
   dontStrip = true;
+  cmakeFlags = [ "-DCMAKE_FIND_DEBUG_MODE=ON"];
 }

drivebrain_app/main.cpp

@@ -103,7 +103,7 @@ int main(int argc, char *argv[])
     control::SimpleController controller(logger, config);
     configurable_components.push_back(&controller);
     bool construction_failed = false;
-    estimation::MatlabMath matlab_math(logger, config, construction_failed);
+    estimation::Tire_Model_Codegen_MatlabModel matlab_math(logger, config, construction_failed);
 
     if (construction_failed)
     {