Freerb/242 update can drivers (#322)

* Adds missing import * moves and removes unused files * Reimplement CAN * Adds message formatter * bk work * for review * simplify get and pop methods * remove unused import * Add comments to Pop and Get * Update headers * Rename veh to demo * Update scripts/cangen/cangen/templates/bus.h.jinja2 Co-authored-by: Samuel Parent <[email protected]> * Add clang-format on * Explain optional unpacking * Revert to TxMessage concept --------- Co-authored-by: Samuel Parent <[email protected]>
macformula · Nov 29, 2024 · cdc1af3 · cdc1af3
1 parent f1f34c4
commit cdc1af3
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Showing 29 changed files with 358 additions and 483 deletions.
diff --git a/firmware/mcal/cli/periph/can.hpp b/firmware/mcal/cli/periph/can.hpp
@@ -8,11 +8,12 @@
 #include <string.h>
 #include <unistd.h>
 
+#include <chrono>
 #include <cstring>
 #include <iomanip>
 #include <iostream>
 
-#include "shared/comms/can/raw_can_msg.hpp"
+#include "shared/comms/can/msg.hpp"
 #include "shared/periph/can.hpp"
 
 namespace mcal::cli::periph {
@@ -25,27 +26,19 @@ class CanBase : public shared::periph::CanBase {
         std::cout << "can interface: " << iface_ << std::endl;
     }
 
-    void Send(const shared::can::RawCanMsg& can_tx_msg) {
-        std::cout << iface_ << " [" << std::hex << std::uppercase
-                  << std::setfill('0') << std::setw(2) << can_tx_msg.header.id
-                  << "] ";
-
-        // Loop through each data byte and print it in uppercase hex with
-        // leading zeros
-        for (int i = 0; i < sizeof(can_tx_msg.data); ++i) {
-            std::cout << std::hex << std::uppercase << std::setfill('0')
-                      << std::setw(2) << static_cast<int>(can_tx_msg.data[i])
-                      << " ";
-        }
-
-        std::cout << std::endl;
+    void Send(const shared::can::RawMessage& msg) {
+        std::cout << std::format("{} {}", iface_, msg) << std::endl;
     }
 
-    void ReadQueue(shared::can::RawCanMsg can_rx_msgs[], size_t len) {}
-
 private:
-    using RawCanMsg = shared::can::RawCanMsg;
     std::string iface_;
+
+    uint32_t GetTimestamp() const override {
+        using namespace std::chrono;
+        auto t = system_clock::now().time_since_epoch();
+        auto ms = duration_cast<milliseconds>(t).count();
+        return ms;
+    }
 };
 
 }  // namespace mcal::cli::periph
diff --git a/firmware/mcal/linux/periph/can.cc b/firmware/mcal/linux/periph/can.cc
@@ -1,44 +1,25 @@
 #include <linux/can.h>
 #include <sys/types.h>
 
+#include <chrono>
 #include <cstring>
 #include <format>
 #include <iomanip>
+#include <iostream>
 #include <mutex>
-#include <string>
 #include <thread>
 
 #include "can.h"
-#include "shared/comms/can/raw_can_msg.hpp"
+#include "shared/comms/can/msg.hpp"
 #include "vcan/vcan.h"
 
-static std::string message_to_string(const shared::can::RawCanMsg& msg) {
-    std::string str = std::format("[{:02X}]", msg.header.id);
-    for (int i = 0; i < sizeof(msg.header.data_len); ++i) {
-        str += std::format(" {:02X}", msg.data[i]);
-    }
-    return str;
-}
-
-static can_frame to_can_frame(const shared::can::RawCanMsg& msg) {
-    struct can_frame frame{.can_id = msg.header.id,
-                           .can_dlc = msg.header.data_len};
-    std::memcpy(&frame.data, msg.data, 8);
-    return frame;
-}
-
-static shared::can::RawCanMsg from_can_frame(const can_frame& frame) {
-    shared::can::RawCanMsg msg;
-    msg.header = {
-        .id = frame.can_id,
-        .data_len = frame.can_dlc,
-        .is_extended_frame = static_cast<bool>(frame.can_id & CAN_EFF_FLAG),
+static can_frame to_can_frame(const shared::can::RawMessage& msg) {
+    struct can_frame frame{
+        .can_id = msg.id,
+        .can_dlc = msg.data_length,
     };
-    msg.tick_timestamp = 0;
-
-    std::copy(frame.data, frame.data + 8, msg.data);
-
-    return msg;
+    std::memcpy(&frame.data, msg.data, msg.data_length);
+    return frame;
 }
 
 namespace mcal::lnx::periph {
@@ -52,34 +33,17 @@ void CanBase::Setup() {
     reader_thread_ = std::thread(&CanBase::StartReading, this);
 }
 
-void CanBase::Send(const shared::can::RawCanMsg& can_tx_msg) {
+void CanBase::Send(const shared::can::RawMessage& can_tx_msg) {
     std::cout << std::format("CanBase {}: Sending\n| {}", socket_.GetIface(),
-                             message_to_string(can_tx_msg))
+                             can_tx_msg)
               << std::endl;
 
     auto frame = to_can_frame(can_tx_msg);
     socket_.Write(&frame);
 }
 
-void CanBase::ReadQueue(shared::can::RawCanMsg can_rx_msgs[], size_t len) {
-    uint16_t msg_idx = 0;
-    std::lock_guard<std::mutex> lock(queue_access_);
-    while (!can_queue_.empty() && msg_idx < len) {
-        can_rx_msgs[msg_idx] = can_queue_.front();
-
-        std::cout << std::format("CanBase {}: Received\n| {}",
-                                 socket_.GetIface(),
-                                 message_to_string(can_rx_msgs[msg_idx]))
-                  << std::endl;
-
-        can_queue_.pop();
-        msg_idx++;
-    }
-}
-
 void CanBase::StartReading() {
     struct can_frame frame;
-    shared::can::RawCanMsg raw_msg;
 
     while (true) {
         // Block until a frame arrives
@@ -89,13 +53,18 @@ void CanBase::StartReading() {
             exit(1);
         }
 
-        raw_msg = from_can_frame(frame);
+        shared::can::RawMessage raw_msg(frame.can_id, frame.can_dlc,
+                                        frame.data);
 
-        {  // push RawCanMsg to queue
-            std::lock_guard<std::mutex> lock(queue_access_);
-            can_queue_.push(raw_msg);
-        }
+        AddToBus(raw_msg);
     }
 }
 
+uint32_t CanBase::GetTimestamp() const {
+    using namespace std::chrono;
+    auto t = system_clock::now().time_since_epoch();
+    auto ms = duration_cast<milliseconds>(t).count();
+    return ms;
+}
+
 }  // namespace mcal::lnx::periph
diff --git a/firmware/mcal/linux/periph/can.hpp b/firmware/mcal/linux/periph/can.hpp
@@ -1,11 +1,8 @@
 #pragma once
 
-#include <mutex>
-#include <queue>
 #include <thread>
 
 #include "mcal/linux/periph/vcan/vcan.hpp"
-#include "shared/comms/can/raw_can_msg.hpp"
 #include "shared/periph/can.hpp"
 #include "vcan/vcan.h"
 
@@ -16,16 +13,14 @@ class CanBase : public shared::periph::CanBase {
     CanBase(std::string can_iface);
 
     void Setup();
-    void Send(const shared::can::RawCanMsg&);
-    void ReadQueue(shared::can::RawCanMsg[], size_t len);
+    void Send(const shared::can::RawMessage&) override;
 
 private:
+    uint32_t GetTimestamp() const override;
+
     struct vcan::VcanSocket socket_;
 
-    std::queue<shared::can::RawCanMsg> can_queue_;
-    std::mutex queue_access_;
     std::thread reader_thread_;
-
     void StartReading();
 };
 }  // namespace mcal::lnx::periph
diff --git a/firmware/projects/Demo/CAN/Receive/bindings.hpp b/firmware/projects/Demo/CAN/Receive/bindings.hpp
@@ -5,7 +5,7 @@
 
 namespace bindings {
 
-extern shared::periph::CanBase& veh_can_base;
+extern shared::periph::CanBase& demo_can_base;
 extern shared::periph::DigitalOutput& indicator;
 
 extern void Initialize();

diff --git a/firmware/projects/Demo/CAN/Receive/main.cc b/firmware/projects/Demo/CAN/Receive/main.cc
@@ -3,28 +3,27 @@
 
 #include <cstdint>
 
-#include "bindings.hpp"
-#include "generated/can/demobus_can_messages.hpp"
-#include "generated/can/demobus_msg_registry.hpp"
-#include "shared/comms/can/can_bus.hpp"
+#include "bindings.h"
+#include "generated/can/demobus_bus.pp"
+#include "generated/can/demobus_messages.hpp"
+#include "shared/comms/can/bus.hpp"
 
-generated::can::DemobusMsgRegistry veh_can_registry{};
+using namespace generated::can;
 
-shared::can::CanBus veh_can_bus{
-    bindings::veh_can_base,
-    veh_can_registry,
-};
+DemobusBus demo_can_bus{bindings::demo_can_base};
 
 int main(void) {
     bindings::Initialize();
 
-    generated::can::ButtonStatus btn_msg{};
-
     while (true) {
-        veh_can_bus.Update();
-        veh_can_bus.Read(btn_msg);
-
-        bindings::indicator.Set(btn_msg.state);
+        auto btn_msg = demo_can_bus.PopRxButtonStatus();
+
+        // We're not guaranteed to have message available, so we need to check.
+        if (btn_msg.has_value()) {
+            // Unpack the value from the optional
+            RxButtonStatus msg = btn_msg.value();
+            bindings::indicator.Set(msg.State());
+        }
     }
 
     return 0;

diff --git a/firmware/projects/Demo/CAN/Receive/platforms/cli/bindings.cc b/firmware/projects/Demo/CAN/Receive/platforms/cli/bindings.cc
@@ -13,17 +13,17 @@
 namespace mcal {
 using namespace cli::periph;
 
-CanBase veh_can_base{"vcan0"};
+CanBase demo_can_base{"vcan0"};
 DigitalOutput indicator{"Indicator"};
 }  // namespace mcal
 
 namespace bindings {
-shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
+shared::periph::CanBase& demo_can_base = mcal::demo_can_base;
 shared::periph::DigitalOutput& indicator = mcal::indicator;
 
 void Initialize() {
     std::cout << "Initializing CLI..." << std::endl;
-    mcal::veh_can_base.Setup();
+    mcal::demo_can_base.Setup();
     std::cerr << "The CLI platform has no way to receive messages from "
                  "CAN/Send. Consider using the linux platform instead."
               << std::endl;

diff --git a/firmware/projects/Demo/CAN/Receive/platforms/linux/bindings.cc b/firmware/projects/Demo/CAN/Receive/platforms/linux/bindings.cc
@@ -9,19 +9,19 @@
 namespace mcal {
 using namespace lnx::periph;
 
-CanBase veh_can_base{"vcan0"};
+CanBase demo_can_base{"vcan0"};
 DigitalOutput indicator{"Indicator"};
 
 }  // namespace mcal
 
 namespace bindings {
 
-shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
+shared::periph::CanBase& demo_can_base = mcal::demo_can_base;
 shared::periph::DigitalOutput& indicator = mcal::indicator;
 
 void Initialize() {
     std::cout << "Initializing Linux" << std::endl;
-    mcal::veh_can_base.Setup();
+    mcal::demo_can_base.Setup();
 }
 
 }  // namespace bindings
diff --git a/firmware/projects/Demo/CAN/Send/bindings.hpp b/firmware/projects/Demo/CAN/Send/bindings.hpp
@@ -7,7 +7,7 @@
 
 namespace bindings {
 
-extern shared::periph::CanBase& veh_can_base;
+extern shared::periph::CanBase& demo_can_base;
 extern shared::periph::DigitalInput& button;
 
 extern void Initialize();

diff --git a/firmware/projects/Demo/CAN/Send/main.cc b/firmware/projects/Demo/CAN/Send/main.cc
@@ -3,30 +3,23 @@
 
 #include <cstdint>
 
-#include "bindings.hpp"
-#include "generated/can/demobus_can_messages.hpp"
-#include "generated/can/demobus_msg_registry.hpp"
-#include "shared/comms/can/can_bus.hpp"
+#include "bindings.h"
+#include "generated/can/demobus_bus.hpp"
+#include "generated/can/demobus_messages.hpp"
 
-generated::can::DemobusMsgRegistry veh_can_registry{};
+using namespace generated::can;
 
-shared::can::CanBus veh_can_bus{
-    bindings::veh_can_base,
-    veh_can_registry,
-};
+DemobusBus can_bus{bindings::demo_can_base};
 
 int main(void) {
     bindings::Initialize();
     uint32_t interval_ms = 50;
 
-    generated::can::ButtonStatus btn_msg{};
-
     while (true) {
-        veh_can_bus.Update();
-
-        btn_msg.state = bindings::button.Read();
-
-        veh_can_bus.Send(btn_msg);
+        TxButtonStatus msg{
+            .state = bindings::button.Read(),
+        };
+        can_bus.Send(msg);
         bindings::TickBlocking(interval_ms);
     }
 

diff --git a/firmware/projects/Demo/CAN/Send/platforms/cli/bindings.cc b/firmware/projects/Demo/CAN/Send/platforms/cli/bindings.cc
@@ -13,12 +13,12 @@
 namespace mcal {
 using namespace cli::periph;
 
-CanBase veh_can_base{"vcan0"};
+CanBase demo_can_base{"vcan0"};
 DigitalInput button{"Button"};
 }  // namespace mcal
 
 namespace bindings {
-shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
+shared::periph::CanBase& demo_can_base = mcal::demo_can_base;
 shared::periph::DigitalInput& button = mcal::button;
 
 void TickBlocking(uint32_t ticks) {
@@ -28,7 +28,7 @@ void TickBlocking(uint32_t ticks) {
 }
 
 void Initialize() {
-    mcal::veh_can_base.Setup();
+    mcal::demo_can_base.Setup();
     std::cout << "Initializing CLI..." << std::endl;
 }
 }  // namespace bindings
diff --git a/firmware/projects/Demo/CAN/Send/platforms/linux/bindings.cc b/firmware/projects/Demo/CAN/Send/platforms/linux/bindings.cc
@@ -9,14 +9,14 @@
 namespace mcal {
 using namespace lnx::periph;
 
-CanBase veh_can_base{"vcan0"};
+CanBase demo_can_base{"vcan0"};
 DigitalInput button{"Button"};
 
 }  // namespace mcal
 
 namespace bindings {
 
-shared::periph::CanBase& veh_can_base = mcal::veh_can_base;
+shared::periph::CanBase& demo_can_base = mcal::demo_can_base;
 shared::periph::DigitalInput& button = mcal::button;
 
 void TickBlocking(uint32_t ms) {
@@ -25,7 +25,7 @@ void TickBlocking(uint32_t ms) {
 
 void Initialize() {
     std::cout << "Initializing Linux" << std::endl;
-    mcal::veh_can_base.Setup();
+    mcal::demo_can_base.Setup();
 }
 
 }  // namespace bindings