[Issue #201] CAN errors C++ implementation

firmware/projects/Demo/CANErrors/CMakeLists.txt

@@ -0,0 +1,20 @@
+# Luai Bashar
+# November 5, 2024
+
+# The target executable 'main' is created in the master CMakeLists. Do not change its name.
+# We only need to add the source code files and include directories.
+
+include("${CMAKE_SOURCE_DIR}/cmake/cangen.cmake")
+
+target_sources(main
+	PRIVATE
+	main.cc
+)
+
+target_include_directories(main
+	PRIVATE
+	${CMAKE_CURRENT_SOURCE_DIR}/inc
+)
+
+# Notice that we don't include any mcal/ subdirectory in this CMake file.
+# The master CMakeLists handles platform selection and library linking.

firmware/projects/Demo/CANErrors/README.md

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+# CANErrors
+This is the CAN Errors demo project. It defines a global system for the vehicle to send/receive errors through different subsystems. It defines:
+- A 64 bit CAN error signal. Each bit represents a different error, and will be sent periodically for other systems to know if an error has occurred
+- The `ErrorHandler` class, an interface to set/send different errors on the CAN signal
+- Enum `Error` that defines all 64 possible errors to send through the CAN signal
+
+## How to use `ErrorHandler`
+
+### Defining an instance of ErrorHandler:
+```
+ErrorHandler error_handler{};
+```
+
+### Setting errors with ErrorHandler:
+- `SetError` takes an error from the `Error` enum and sets it
+```
+error_handler.SetError(Error0);
+error_handler.SetError(Error15);
+error_handler.SetError(Error48);
+```
+
+### Sending errors with ErrorHandler:
+- `SendError` takes a CAN bus and sends the errors through that bus. It resets the errors to send the next set of errors
+```
+error_handler.SendError(error_can_bus);
+```
+
+## Building the Project
+- To build the project, run the following in the firmware directory `make PROJECT=Demo/CANErrors PLATFORM=cli`
+   - This should create a build file with no errors!
+   - This will also generate the dbc files automatically, but if you want to generate them seperately, run `cangen projects/Demo/CANErrors`
+- To execute the new build, run `./build/Demo/CANErrors/cli/main.exe`

firmware/projects/Demo/CANErrors/bindings.h

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+#pragma once
+
+#include "shared/comms/can/can_bus.h"
+
+namespace bindings {
+    extern shared::periph::CanBase& error_can_base;
+    extern void Initialize();
+    extern void TickBlocking(uint32_t);
+}   // namespace bindings

firmware/projects/Demo/CANErrors/config.yaml

@@ -0,0 +1,5 @@
+canGen:
+  busses:
+    - name: error
+      node: tms
+      dbcFile: errors.dbc

firmware/projects/Demo/CANErrors/errors.dbc

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+VERSION ""
+
+BS_:
+
+BU_: TMS
+
+// Defines one 64 bit signal where each bit represents a different error
+BO_ 390 TMS_ERROR: 8 TMS
+    SG_ Errors : 0|64@1+ (1,0) [0|0] "bitfield" Vector__XXX

firmware/projects/Demo/CANErrors/inc/app.h

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+/// @author Luai Bashar
+/// @date 2024-11-10
+/// @brief Functions and types that will be used in CANErrors main
+
+#pragma once
+
+#include "../generated/can/error_can_messages.h"
+#include "shared/comms/can/can_bus.h"
+
+/***************************************************************
+    App-level objects
+***************************************************************/
+
+// Defines all possible errors to set
+enum class Error {
+    kError0 = 0,
+    kError1 = 1,
+    kError2 = 2,
+    kError3 = 3,
+    kError4 = 4,
+    kError5 = 5,
+    kError6 = 6,
+    kError7 = 7,
+    kError8 = 8,
+    kError9 = 9,
+    kError10 = 10,
+    kError11 = 11,
+    kError12 = 12,
+    kError13 = 13,
+    kError14 = 14,
+    kError15 = 15,
+    kError16 = 16,
+    kError17 = 17,
+    kError18 = 18,
+    kError19 = 19,
+    kError20 = 20,
+    kError21 = 21,
+    kError22 = 22,
+    kError23 = 23,
+    kError24 = 24,
+    kError25 = 25,
+    kError26 = 26,
+    kError27 = 27,
+    kError28 = 28,
+    kError29 = 29,
+    kError30 = 30,
+    kError31 = 31,
+    kError32 = 32,
+    kError33 = 33,
+    kError34 = 34,
+    kError35 = 35,
+    kError36 = 36,
+    kError37 = 37,
+    kError38 = 38,
+    kError39 = 39,
+    kError40 = 40,
+    kError41 = 41,
+    kError42 = 42,
+    kError43 = 43,
+    kError44 = 44,
+    kError45 = 45,
+    kError46 = 46,
+    kError47 = 47,
+    kError48 = 48,
+    kError49 = 49,
+    kError50 = 50,
+    kError51 = 51,
+    kError52 = 52,
+    kError53 = 53,
+    kError54 = 54,
+    kError55 = 55,
+    kError56 = 56,
+    kError57 = 57,
+    kError58 = 58,
+    kError59 = 59,
+    kError60 = 60,
+    kError61 = 61,
+    kError62 = 62,
+    kError63 = 63
+};
+
+// Interface to set/send all possible errors for the system
+class ErrorHandler {
+    public:
+        // Sets the error based on the error index given
+        void SetError(Error error) {
+            uint64_t error_index = static_cast<uint64_t>(error);
+            error_message_.errors |= (1ULL << error_index);
+        }
+
+        // Sends the error message through the provided CAN bus
+        // TODO: Error message is only for a specific bus, change this when autogen code is created
+        void SendError(shared::can::CanBus error_can_bus) {
+            error_can_bus.Send(error_message_);
+
+            // Reset after a send to not send duplicate errors
+            ResetError();
+        }
+    private:
+        // Object that holds a 64 bit int, each bit representing an error
+        generated::can::TMS_ERROR error_message_{};
+
+        // Resets all errors back to untriggered
+        void ResetError() {
+            error_message_.errors = 0;
+        }
+};

firmware/projects/Demo/CANErrors/main.cc

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+/// @author Luai Bashar
+/// @date 2024-11-05
+
+#include <cstdint>
+
+#include "app.h"
+#include "bindings.h"
+#include "shared/comms/can/can_bus.h"
+#include "generated/can/error_msg_registry.h"
+
+// Initializing can bus that sends the error message
+generated::can::ErrorMsgRegistry error_can_registry{};
+shared::can::CanBus error_can_bus{
+    bindings::error_can_base,
+    error_can_registry,
+};
+
+int main(void) {
+    // Initialize the CLI and milliseconds to repeat by
+    bindings::Initialize();
+    uint32_t tick_duration = 100;
+
+    // Initialize the error object that sets/sends each error
+    ErrorHandler error_message{};
+
+    while (true) {
+        error_can_bus.Update();
+
+        // Test #1: Iterate through each error, setting it and sending it
+        for (int i = 0; i < 64; i++) {
+            Error error = static_cast<Error>(i);
+            error_message.SetError(error);
+            error_message.SendError(error_can_bus);
+        }
+
+        // Test #2: Set random errors using the enum
+        error_message.SetError(Error::kError0);
+        error_message.SetError(Error::kError5);
+        error_message.SetError(Error::kError10);
+        error_message.SetError(Error::kError15);
+        error_message.SetError(Error::kError20);
+        error_message.SendError(error_can_bus);
+
+        // Wait for 100ms before repeating the process
+        bindings::TickBlocking(tick_duration);
+    }
+
+    return 0;
+}

firmware/projects/Demo/CANErrors/platforms/cli/CMakeLists.txt

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+target_sources(bindings PRIVATE bindings.cc)
+
+target_link_libraries(bindings PUBLIC mcal-cli)

firmware/projects/Demo/CANErrors/platforms/cli/bindings.cc

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+/// @author Luai Bashar
+/// @date 2024-11-05
+
+#include <chrono>
+#include <thread>
+
+#include "mcal/cli/periph/can.h"
+#include "shared/periph/can.h"
+
+#include "../../generated/can/error_can_messages.h"
+#include "shared/comms/can/can_bus.h"
+
+namespace mcal {
+    using namespace cli::periph;
+
+    CanBase error_can_base{"vcan0"};
+}
+
+namespace bindings {
+    shared::periph::CanBase& error_can_base = mcal::error_can_base;
+
+    // Simulates a sleep, waiting for inputted ticks ms
+    void TickBlocking(uint32_t ticks) {
+        std::chrono::milliseconds duration(ticks);
+
+        std::this_thread::sleep_for(duration);
+    }
+
+    // Initializes the can/CLI outputs
+    void Initialize() {
+        mcal::error_can_base.Setup();
+        std::cout << "Initializing CLI..." << std::endl;
+    }
+}

firmware/projects/Demo/CANErrors/platforms/cli/mcal_conf.cmake

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+set(MCAL cli)