[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

@@ -0,0 +1,13 @@
+# CANErrors
+
+This is the CAN Errors demo project. This defines the mechanism for reporting errors from the vehicle microcontrollers. This project will send errors over the CAN line and process them on a host machine.
+
+## Generating The DBC Code
+- Code must be generated using CanGen. Install CanGen in the racecar directory with "pip install -e scripts/cangen"
+   - A venv isn't needed for this!
+- Generate the code in the firmware directory with "cangen projects/Demo/CANErrors"
+
+## 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!
+- To execute the new build, run "./build/Demo/CANErrors/cli/main.exe"

firmware/projects/Demo/CANErrors/bindings.h

@@ -0,0 +1,9 @@
+#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

@@ -0,0 +1,39 @@
+VERSION ""
+
+NS_ : 
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+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

@@ -0,0 +1,110 @@
+/// @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
+***************************************************************/
+
+// Interface to set/send all possible errors for the system
+class ErrorHandler {
+    private:
+        // Object that holds a 64 bit int, each bit representing an error
+        generated::can::TMS_ERROR error_msg{};
+    public:
+        // Sets the error based on the error index given
+        void setError(uint32_t error) {
+            if (error < 0 || error > 63) {
+                std::cerr << "Error index must be between 0 and 63!" << std::endl;
+                return;
+            }
+
+            error_msg.errors |= (1ULL << error);
+        }
+
+        // Sends the error message through the provided CAN bus
+        void sendError(shared::can::CanBus error_can_bus) {
+            error_can_bus.Send(error_msg);
+
+            // Reset after a send to not send duplicate errors
+            resetError();
+        }
+
+        // Resets all errors back to untriggered
+        void resetError() {
+            error_msg.errors = 0;
+        }
+};
+
+// Defines all possible errors to set
+enum Error {
+    Error0 = 0,
+    Error1 = 1,
+    Error2 = 2,
+    Error3 = 3,
+    Error4 = 4,
+    Error5 = 5,
+    Error6 = 6,
+    Error7 = 7,
+    Error8 = 8,
+    Error9 = 9,
+    Error10 = 10,
+    Error11 = 11,
+    Error12 = 12,
+    Error13 = 13,
+    Error14 = 14,
+    Error15 = 15,
+    Error16 = 16,
+    Error17 = 17,
+    Error18 = 18,
+    Error19 = 19,
+    Error20 = 20,
+    Error21 = 21,
+    Error22 = 22,
+    Error23 = 23,
+    Error24 = 24,
+    Error25 = 25,
+    Error26 = 26,
+    Error27 = 27,
+    Error28 = 28,
+    Error29 = 29,
+    Error30 = 30,
+    Error31 = 31,
+    Error32 = 32,
+    Error33 = 33,
+    Error34 = 34,
+    Error35 = 35,
+    Error36 = 36,
+    Error37 = 37,
+    Error38 = 38,
+    Error39 = 39,
+    Error40 = 40,
+    Error41 = 41,
+    Error42 = 42,
+    Error43 = 43,
+    Error44 = 44,
+    Error45 = 45,
+    Error46 = 46,
+    Error47 = 47,
+    Error48 = 48,
+    Error49 = 49,
+    Error50 = 50,
+    Error51 = 51,
+    Error52 = 52,
+    Error53 = 53,
+    Error54 = 54,
+    Error55 = 55,
+    Error56 = 56,
+    Error57 = 57,
+    Error58 = 58,
+    Error59 = 59,
+    Error60 = 60,
+    Error61 = 61,
+    Error62 = 62,
+    Error63 = 63
+};

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_msg{};
+
+    while (true) {
+        error_can_bus.Update();
+
+        // Test #1: Iterate through each error, setting it and sending it
+        for (int i = 0; i < 63; i++) {
+            error_msg.setError(i);
+            error_msg.sendError(error_can_bus);
+        }
+
+        // Test #2: Set random errors using the enum
+        error_msg.setError(Error0);
+        error_msg.setError(Error5);
+        error_msg.setError(Error10);
+        error_msg.setError(Error15);
+        error_msg.setError(Error20);
+        error_msg.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)