refactor: Remove StatusLight, BrakeLight, Speaker, and Button classes…

… which just wrapped peripherals.

firmware/projects/FrontController/inc/app.hpp

@@ -7,11 +7,9 @@
 #include <cstdint>
 
 #include "../generated/can/pt_bus.hpp"
+#include "../generated/can/veh_bus.hpp"
 #include "../generated/can/veh_messages.hpp"
 #include "shared/periph/adc.hpp"
-#include "shared/periph/can.hpp"
-#include "shared/periph/gpio.hpp"
-#include "shared/util/mappers/linear_map.hpp"
 #include "shared/util/mappers/mapper.hpp"
 #include "shared/util/moving_average.hpp"
 
@@ -42,45 +40,6 @@ class AnalogInput {
     const shared::util::Mapper<double, uint16_t>* adc_to_position_;
 };
 
-class Speaker {
-public:
-    Speaker(shared::periph::DigitalOutput& digital_output)
-        : digital_output_(digital_output) {}
-
-    void Update(bool state) const {
-        digital_output_.Set(state);
-    }
-
-private:
-    shared::periph::DigitalOutput& digital_output_;
-};
-
-class BrakeLight {
-public:
-    BrakeLight(shared::periph::DigitalOutput& digital_output)
-        : digital_output_(digital_output) {}
-
-    void Update(bool state) const {
-        digital_output_.Set(state);
-    }
-
-private:
-    shared::periph::DigitalOutput& digital_output_;
-};
-
-class Button {
-public:
-    Button(shared::periph::DigitalInput& digital_input)
-        : digital_input_(digital_input) {}
-
-    bool Read() const {
-        return digital_input_.Read();
-    }
-
-private:
-    shared::periph::DigitalInput& digital_input_;
-};
-
 /**
  * @brief Struct containing all data required for each simulink AMK input
  * @note (SAM): Do not edit this struct, even though it will be very similar to
@@ -216,18 +175,3 @@ class Contactors {
 private:
     generated::can::VehBus& can_bus_;
 };
-
-class StatusLight {
-public:
-    StatusLight(shared::periph::DigitalOutput& digital_output)
-        : digital_output_(digital_output) {}
-
-    void Toggle() {
-        digital_output_.Set(next_value_);
-        next_value_ = !next_value_;
-    }
-
-private:
-    bool next_value_ = true;
-    shared::periph::DigitalOutput& digital_output_;
-};

firmware/projects/FrontController/main.cc

@@ -8,11 +8,8 @@
 #include "generated/can/veh_messages.hpp"
 #include "inc/app.hpp"
 #include "inc/simulink.hpp"
-#include "shared/os/os.hpp"
-#include "shared/periph/adc.hpp"
 #include "shared/periph/gpio.hpp"
 #include "shared/util/mappers/linear_map.hpp"
-#include "shared/util/mappers/mapper.hpp"
 
 /***************************************************************
     CAN
@@ -28,10 +25,6 @@ PtBus pt_can_bus{bindings::pt_can_base};
 
 ControlSystem control_system{};
 
-Speaker driver_speaker{bindings::driver_speaker};
-BrakeLight brake_light{bindings::brake_light};
-StatusLight status_light{bindings::status_light};
-
 // See fc_docs/pedal_function and
 // vehicle_control_system/firmware_io/simulink_input.csv
 auto accel_pedal_1_map = shared::util::LinearMap<double, uint16_t>{
@@ -79,8 +72,6 @@ AnalogInput steering_wheel{
     &steering_wheel_map,
 };
 
-Button start_button{bindings::start_button};
-
 AMKMotor motor_left{pt_can_bus, 1};
 AMKMotor motor_right{pt_can_bus, 0};
 
@@ -120,7 +111,7 @@ SimulinkInput ReadCtrlSystemInput() {
     input.DI_SteeringAngle = steering_wheel.Update();
     input.DI_FrontBrakePressure = brake_pedal_front.Update();
     input.DI_RearBrakePressure = brake_pedal_rear.Update();
-    input.DI_StartButton = start_button.Read();
+    input.DI_StartButton = bindings::start_button.Read();
     input.DI_AccelPedalPosition1 = accel_pedal_1.Update();
     input.DI_AccelPedalPosition2 = accel_pedal_2.Update();
 
@@ -188,9 +179,9 @@ SimulinkInput ReadCtrlSystemInput() {
  * @param output
  */
 void SetCtrlSystemOutput(const SimulinkOutput& output) {
-    driver_speaker.Update(output.DI_DriverSpeaker);
+    bindings::driver_speaker.Set(output.DI_DriverSpeaker);
 
-    brake_light.Update(output.DI_BrakeLightEn);
+    bindings::brake_light.Set(output.DI_BrakeLightEn);
 
     // @todo This Update() is not implemented
     // status_light.Update(output.DI_p_PWMstatusLightCycle,
@@ -232,7 +223,9 @@ void SetCtrlSystemOutput(const SimulinkOutput& output) {
  *
  */
 void UpdateStatusLight() {
-    status_light.Toggle();
+    static bool toggle = true;
+    bindings::status_light.Set(toggle);
+    toggle = !toggle;
 }
 
 /***************************************************************