Update main.c #361

Cam0Cow · 2023-09-30T19:45:22Z

Quality Assurance Checklist

To make reviews more efficient, please make sure the software feature meets the following standards and check everything off that meets the quality check. Once everything has been checked, the assigned reviewers will begin the review process. Edit this description to check off the list.

There are exceptions with all guidelines. As long as your decisions are justified, then you are good! Contact the reviewers or the leads about any exceptions.

Requirements

Things to Consider

Even if the above are checked, is this the best way of writing my code?
- It's possible to write code that works, but are there ways to make code more efficient?

Cam0Cow · 2023-09-30T19:47:34Z

Not done yet, still need to remove fault state when #312 gets merged in, and then error_loc_t needs to be removed whenever #333 gets done.
Closes #357

Remove OS_ERR_LOC from main

diyarajon

IGN_CONT_PERIOD on line 21 is not being used so I believe that it can be deleted.

Apps/Src/main.c

NathanielDelgado

Seems fine. Just don't know if we want CommandLine as default in main.c

commit f72917b Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 15:55:26 2023 +0000 Fixed accidental deletion in docs. commit 2755a69 Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 15:50:32 2023 +0000 Memset the gTxMessage.Data to zero since one-byte messages weren't clearing out old data in the rest of the bytes, updated comments in the test file. commit 5d3ddfb Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 14:50:01 2023 +0000 Added commas to enum to match new enum generation format. commit 347ef98 Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 14:27:58 2023 +0000 Updated NUM_CAN_IDS to MAX_CAN_ID in the CANId enum. commit 03f262c Merge: 362628e e6c9fb6 Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 10:31:31 2023 +0000 Merge branch 'master' into sendcarcan-telemetry-merge commit 362628e Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 10:24:37 2023 +0000 Revisions to SendCarCAN and test file to allow messages to be inspected in GDB using variables instead of prints which were overwhelming UART. commit 8bdf6bb Author: Madeleine Lee <[email protected]> Date: Mon Nov 13 23:04:14 2023 +0000 Addressing review comments: updated SendTritium macros, removed motorMsgCount queue, downsized SendCarCAN FIFO. commit 0079ce4 Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 17:57:19 2023 +0000 Test file changes for last minute panic debugging. Added an array to see what IDS are being received. commit de12ac1 Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 17:32:41 2023 +0000 Added while loop to putIOState commit ff4bf0a Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 08:16:23 2023 +0000 Updates from hardware testing: added counter array to reduce frequency at which we forwared motor messages onto CarCAN, moved init functions in test file, added Renode independent watchdog fix. commit 77dbc2a Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 03:22:40 2023 +0000 Changed PutIOState to send directly instead of putting messages in the queue to be sent by SendCarCAN later. commit ce1d74a Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 03:20:33 2023 +0000 Moved mutex, semaphore creation and fifo renewal to a new SendCarCAN_Init function so that other tasks can put things into the queue before SendCarCAN is ready. Additionally, created a new static task in SendCarCAN.c called PutIOState which periodically sends messages over CarCAN. commit 9043b7b Author: Madeleine Lee <[email protected]> Date: Fri Nov 10 23:57:18 2023 +0000 Deleted extra lines added when merging. commit a5e63df Merge: d303e9b 5ae3439 Author: Madeleine Lee <[email protected]> Date: Fri Nov 10 23:41:44 2023 +0000 Merge branch 'master' into sendcarcan-telemetry-merge commit d303e9b Author: Madeleine Lee <[email protected]> Date: Fri Nov 10 23:07:18 2023 +0000 Test file updates from testing on hardware. commit 9c755ba Author: Madeleine Lee <[email protected]> Date: Sat Nov 4 21:08:49 2023 +0000 Added ability to print FIFO queue indexes, added ReadTritium task in SendCarCAN test, fixed CAN initialization to read CarCAN but also initialize MOTORCAN. commit 489a494 Author: Madeleine Lee <[email protected]> Date: Fri Oct 27 14:44:45 2023 +0000 Cleaned up and worked on test file, removed attempt to put fifo in header file and added a wrapper instead. Test compiles but hasn't been verified to work successfully yet. commit c38a3d7 Author: Madeleine Lee <[email protected]> Date: Sat Oct 21 04:57:18 2023 +0000 SendCarCAN test file compiles! But at what cost... commit ad84abf Author: Madeleine Lee <[email protected]> Date: Sat Oct 21 04:47:33 2023 +0000 Made aa first draft of the SendCarCAN test file and attempted to get at the SendCarCAN file by exposing it with a macro mess. controls-leader code compiles, but the test file does not compile yet. commit 3d1d906 Author: Madeleine Lee <[email protected]> Date: Fri Oct 20 21:06:52 2023 +0000 Altered test macros so that we can define __TEST_SENDTRITIUM and print info while running tests on hardware or also define __TEST_SENDTRITIUM_SOFTWAREONLY to bypass hardware inputs/outputs. commit 73dddf7 Author: Madeleine Lee <[email protected]> Date: Fri Oct 20 03:02:13 2023 +0000 Added line to put messages from the motor into the CarCAN queue to be sent. commit 90cb9c6 Author: Madeleine Lee <[email protected]> Date: Fri Oct 20 02:50:50 2023 +0000 Deleted most putIOStateTimer thigns, added a macro and counter in the sendCarCAN loop to send the IO message at approximately the same frequency as before (250 ms), but this time using loops, delays, and counters. It won't be as accurate, but it should still be at a relatively similar frequency. commit 5185426 Author: Madeleine Lee <[email protected]> Date: Sat Oct 14 20:29:23 2023 +0000 Changed main loop to check the queue periodically instead of pending on a semaphore. The loop will check two semaphores- one to see if it's time to put an IO State message in the queue (based on if the putIOState timer has expired or not) and one to see if there's a message in the queuethat we should send. commit 2d7dbbf Author: Madeleine Lee <[email protected]> Date: Sat Oct 7 23:21:43 2023 +0000 Started a test file for SendCarCAN. commit 2f45100 Merge: 6f69ba9 fd33899 Author: ishdeshpa <[email protected]> Date: Tue Sep 26 00:09:02 2023 +0000 merged in master, now builds. test still needs to be written and bugfixes made. also ignition switch message needs to be added. commit 6f69ba9 Author: ishdeshpa <[email protected]> Date: Mon Sep 25 23:50:29 2023 +0000 merge conflict resolved commit de426c5 Author: ishdeshpa <[email protected]> Date: Mon Jul 10 19:36:13 2023 +0000 adapted CAN_Queue into a library file and integrated with SendCarCAN commit cfd0b7c Author: ishdeshpa <[email protected]> Date: Sun Jul 9 22:16:56 2023 +0000 renamed telemetry to send car can commit 771a916 Author: Nathaniel Delgado <[email protected]> Date: Sat Jul 8 03:13:27 2023 +0000 Merged functionality of SendCarCAN into Telemetry and removed SendCarCAN remnants

…_ReadCarCAN, changed BPS_CONTACTOR CAN message ID to 0x102 instead of x101 (which is for BPS All Clear)

commit 6cf7996 Author: Madeleine Lee <[email protected]> Date: Sun Dec 3 05:59:52 2023 +0000 Changes from integration with BPS: flipped reading of ignition pins in PutIOState to account for the inverted logic, added a new bit of information to PutIOState in byte 3, bit 2 which tells BPS if the array contactor should be turned on or not (true if IGN_1 or IGN_2 are on). This is necessary because when the ignition is switched to motor state, the array pin is turned off (only one or the other is on at a time). Note: in the future we'd like to use the GPIO read settings to account for the inverted ignition logic so we don't have to negate every Minions_Read. commit f72917b Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 15:55:26 2023 +0000 Fixed accidental deletion in docs. commit 2755a69 Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 15:50:32 2023 +0000 Memset the gTxMessage.Data to zero since one-byte messages weren't clearing out old data in the rest of the bytes, updated comments in the test file. commit 5d3ddfb Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 14:50:01 2023 +0000 Added commas to enum to match new enum generation format. commit 347ef98 Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 14:27:58 2023 +0000 Updated NUM_CAN_IDS to MAX_CAN_ID in the CANId enum. commit 03f262c Merge: 362628e e6c9fb6 Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 10:31:31 2023 +0000 Merge branch 'master' into sendcarcan-telemetry-merge commit 362628e Author: Madeleine Lee <[email protected]> Date: Fri Nov 17 10:24:37 2023 +0000 Revisions to SendCarCAN and test file to allow messages to be inspected in GDB using variables instead of prints which were overwhelming UART. commit 8bdf6bb Author: Madeleine Lee <[email protected]> Date: Mon Nov 13 23:04:14 2023 +0000 Addressing review comments: updated SendTritium macros, removed motorMsgCount queue, downsized SendCarCAN FIFO. commit 0079ce4 Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 17:57:19 2023 +0000 Test file changes for last minute panic debugging. Added an array to see what IDS are being received. commit de12ac1 Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 17:32:41 2023 +0000 Added while loop to putIOState commit ff4bf0a Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 08:16:23 2023 +0000 Updates from hardware testing: added counter array to reduce frequency at which we forwared motor messages onto CarCAN, moved init functions in test file, added Renode independent watchdog fix. commit 77dbc2a Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 03:22:40 2023 +0000 Changed PutIOState to send directly instead of putting messages in the queue to be sent by SendCarCAN later. commit ce1d74a Author: Madeleine Lee <[email protected]> Date: Sat Nov 11 03:20:33 2023 +0000 Moved mutex, semaphore creation and fifo renewal to a new SendCarCAN_Init function so that other tasks can put things into the queue before SendCarCAN is ready. Additionally, created a new static task in SendCarCAN.c called PutIOState which periodically sends messages over CarCAN. commit 9043b7b Author: Madeleine Lee <[email protected]> Date: Fri Nov 10 23:57:18 2023 +0000 Deleted extra lines added when merging. commit a5e63df Merge: d303e9b 5ae3439 Author: Madeleine Lee <[email protected]> Date: Fri Nov 10 23:41:44 2023 +0000 Merge branch 'master' into sendcarcan-telemetry-merge commit d303e9b Author: Madeleine Lee <[email protected]> Date: Fri Nov 10 23:07:18 2023 +0000 Test file updates from testing on hardware. commit 9c755ba Author: Madeleine Lee <[email protected]> Date: Sat Nov 4 21:08:49 2023 +0000 Added ability to print FIFO queue indexes, added ReadTritium task in SendCarCAN test, fixed CAN initialization to read CarCAN but also initialize MOTORCAN. commit 489a494 Author: Madeleine Lee <[email protected]> Date: Fri Oct 27 14:44:45 2023 +0000 Cleaned up and worked on test file, removed attempt to put fifo in header file and added a wrapper instead. Test compiles but hasn't been verified to work successfully yet. commit c38a3d7 Author: Madeleine Lee <[email protected]> Date: Sat Oct 21 04:57:18 2023 +0000 SendCarCAN test file compiles! But at what cost... commit ad84abf Author: Madeleine Lee <[email protected]> Date: Sat Oct 21 04:47:33 2023 +0000 Made aa first draft of the SendCarCAN test file and attempted to get at the SendCarCAN file by exposing it with a macro mess. controls-leader code compiles, but the test file does not compile yet. commit 3d1d906 Author: Madeleine Lee <[email protected]> Date: Fri Oct 20 21:06:52 2023 +0000 Altered test macros so that we can define __TEST_SENDTRITIUM and print info while running tests on hardware or also define __TEST_SENDTRITIUM_SOFTWAREONLY to bypass hardware inputs/outputs. commit 73dddf7 Author: Madeleine Lee <[email protected]> Date: Fri Oct 20 03:02:13 2023 +0000 Added line to put messages from the motor into the CarCAN queue to be sent. commit 90cb9c6 Author: Madeleine Lee <[email protected]> Date: Fri Oct 20 02:50:50 2023 +0000 Deleted most putIOStateTimer thigns, added a macro and counter in the sendCarCAN loop to send the IO message at approximately the same frequency as before (250 ms), but this time using loops, delays, and counters. It won't be as accurate, but it should still be at a relatively similar frequency. commit 5185426 Author: Madeleine Lee <[email protected]> Date: Sat Oct 14 20:29:23 2023 +0000 Changed main loop to check the queue periodically instead of pending on a semaphore. The loop will check two semaphores- one to see if it's time to put an IO State message in the queue (based on if the putIOState timer has expired or not) and one to see if there's a message in the queuethat we should send. commit 2d7dbbf Author: Madeleine Lee <[email protected]> Date: Sat Oct 7 23:21:43 2023 +0000 Started a test file for SendCarCAN. commit 2f45100 Merge: 6f69ba9 fd33899 Author: ishdeshpa <[email protected]> Date: Tue Sep 26 00:09:02 2023 +0000 merged in master, now builds. test still needs to be written and bugfixes made. also ignition switch message needs to be added. commit 6f69ba9 Author: ishdeshpa <[email protected]> Date: Mon Sep 25 23:50:29 2023 +0000 merge conflict resolved commit de426c5 Author: ishdeshpa <[email protected]> Date: Mon Jul 10 19:36:13 2023 +0000 adapted CAN_Queue into a library file and integrated with SendCarCAN commit cfd0b7c Author: ishdeshpa <[email protected]> Date: Sun Jul 9 22:16:56 2023 +0000 renamed telemetry to send car can commit 771a916 Author: Nathaniel Delgado <[email protected]> Date: Sat Jul 8 03:13:27 2023 +0000 Merged functionality of SendCarCAN into Telemetry and removed SendCarCAN remnants

commit 66958b8 Author: Nathaniel Delgado <[email protected]> Date: Sat Dec 16 18:29:35 2023 -0600 SendCarCAN Restructure (#337) * Merged functionality of SendCarCAN into Telemetry and removed SendCarCAN remnants * renamed telemetry to send car can * adapted CAN_Queue into a library file and integrated with SendCarCAN * merge conflict resolved * Started a test file for SendCarCAN. * Changed main loop to check the queue periodically instead of pending on a semaphore. The loop will check two semaphores- one to see if it's time to put an IO State message in the queue (based on if the putIOState timer has expired or not) and one to see if there's a message in the queuethat we should send. * Deleted most putIOStateTimer thigns, added a macro and counter in the sendCarCAN loop to send the IO message at approximately the same frequency as before (250 ms), but this time using loops, delays, and counters. It won't be as accurate, but it should still be at a relatively similar frequency. * Added line to put messages from the motor into the CarCAN queue to be sent. * Altered test macros so that we can define __TEST_SENDTRITIUM and print info while running tests on hardware or also define __TEST_SENDTRITIUM_SOFTWAREONLY to bypass hardware inputs/outputs. * Made aa first draft of the SendCarCAN test file and attempted to get at the SendCarCAN file by exposing it with a macro mess. controls-leader code compiles, but the test file does not compile yet. * SendCarCAN test file compiles! But at what cost... * Cleaned up and worked on test file, removed attempt to put fifo in header file and added a wrapper instead. Test compiles but hasn't been verified to work successfully yet. * Added ability to print FIFO queue indexes, added ReadTritium task in SendCarCAN test, fixed CAN initialization to read CarCAN but also initialize MOTORCAN. * Test file updates from testing on hardware. * Deleted extra lines added when merging. * Moved mutex, semaphore creation and fifo renewal to a new SendCarCAN_Init function so that other tasks can put things into the queue before SendCarCAN is ready. Additionally, created a new static task in SendCarCAN.c called PutIOState which periodically sends messages over CarCAN. * Changed PutIOState to send directly instead of putting messages in the queue to be sent by SendCarCAN later. * Updates from hardware testing: added counter array to reduce frequency at which we forwared motor messages onto CarCAN, moved init functions in test file, added Renode independent watchdog fix. * Added while loop to putIOState * Test file changes for last minute panic debugging. Added an array to see what IDS are being received. * Addressing review comments: updated SendTritium macros, removed motorMsgCount queue, downsized SendCarCAN FIFO. * Revisions to SendCarCAN and test file to allow messages to be inspected in GDB using variables instead of prints which were overwhelming UART. * Updated NUM_CAN_IDS to MAX_CAN_ID in the CANId enum. * Added commas to enum to match new enum generation format. * Memset the gTxMessage.Data to zero since one-byte messages weren't clearing out old data in the rest of the bytes, updated comments in the test file. * Fixed accidental deletion in docs. * Changes from integration with BPS: flipped reading of ignition pins in PutIOState to account for the inverted logic, added a new bit of information to PutIOState in byte 3, bit 2 which tells BPS if the array contactor should be turned on or not (true if IGN_1 or IGN_2 are on). This is necessary because when the ignition is switched to motor state, the array pin is turned off (only one or the other is on at a time). Note: in the future we'd like to use the GPIO read settings to account for the inverted ignition logic so we don't have to negate every Minions_Read. * Addressed review comments: Shifted task priorities to be next to each other, added to the comment for SendCarCAN_Put. * addressed review comments --------- Co-authored-by: ishdeshpa <[email protected]> Co-authored-by: Madeleine Lee <[email protected]> commit 5c13022 Author: Nathaniel Delgado <[email protected]> Date: Wed Dec 13 14:59:37 2023 -0600 Added bps can sim for integration simulation

IshDeshpa

LGTM

Tests/Test_TrailingZeros.c

Drivers/Src/CANbus.c

Drivers/Inc/CANbus.h

Drivers/Inc/CANConfig.h

BSP/STM32F413/Makefile

Apps/Inc/fifo.h

Apps/Src/ReadTritium.c

Apps/Src/SendCarCAN.c

Apps/Src/SendTritium.c

Apps/Src/Tasks.c

babusid

Mostly looks good, but the queue saturation fix in SCC is kind of a patch job, and while it practically likely is stable, theoretically the messages it skips is completely arbitrary. I would investigate an approach with stronger guarantees.

diyarajon

Just a couple of comments and questions on the code

Apps/Src/ReadTritium.c

Apps/Src/SendCarCAN.c

Apps/Src/SendTritium.c

diyarajon

Thanks for explaining the code from my questions last time. I left some suggestions on comments and can filter list. Very very cool cod🐟

Apps/Inc/SendTritium.h

Apps/Src/SendCarCAN.c

Apps/Src/main.c

Drivers/Inc/CANConfig.h

KnockbackNemo

I left a few questions, but otherwise it looks pretty good!
I also wanted to note that since we're leaving some comments to be fixed in other issue tickets (#387, #374 , #386, #388 ), we probably want to make sure the important ones are addressed for the car (or integration/when needed).

Apps/Src/ReadTritium.c

Apps/Src/SendTritium.c

Apps/Src/Tasks.c

IshDeshpa · 2024-01-01T00:16:49Z

Gonna start addressing these changes.

Co-authored-by: Diya Rajon <[email protected]> Co-authored-by: Madeleine Lee <[email protected]>

* Changed github actions workflow to use install script from Embedded-Sharepoint * initialize submodules before install tools * fixed directory * changed flags * changed the target that is the phony so that later we could add additional targets and change what 'leader' points to

KnockbackNemo

I left a suggestion, but it's more related to preference and doesn't need to be followed if you disagree. Otherwise, looks good to me!

Apps/Src/SendTritium.c

Apps/Src/SendCarCAN.c

Co-authored-by: Madeleine Lee <[email protected]>

diyarajon

Looks good! I left some questions.

Apps/Src/SendCarCAN.c

Apps/Src/main.c

Drivers/Src/CANConfig.c

Co-authored-by: Diya Rajon <[email protected]>

stale

NathanielDelgado

lgtm

KnockbackNemo

Looks good!

Cam0Cow added 2 commits September 30, 2023 14:34

Remove contactor handling and extraneous delays from main

2e8460c

Create CommandLine task in main.c

b6fd25e

Cam0Cow requested review from NathanielDelgado and IshDeshpa September 30, 2023 19:47

Cam0Cow added 2 commits October 27, 2023 16:53

Merge branch 'master' into check_main

183ab34

Remove OS_ERR_LOC from main

Merge branch 'master' into check_main

ca360f5

Cam0Cow marked this pull request as ready for review November 4, 2023 16:08

diyarajon requested changes Nov 10, 2023

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changed ordering of task prios

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Merge branch 'master' into check_main

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Cam0Cow linked an issue Nov 11, 2023 that may be closed by this pull request

Main.C Initialization Procedure #357

Closed

Merge branch 'master' into check_main

31e2d81

IshDeshpa dismissed stale reviews from NathanielDelgado and diyarajon via 31e2d81 November 25, 2023 16:47

Cam0Cow and others added 10 commits November 25, 2023 11:41

Actually switch to hard floats, remove duplicated flags

e8c22a1

disabled regen

fa89f23

test commit

7b16d4d

Changes from integration with BPS: uncommented initialization of Task…

5cb19e2

…_ReadCarCAN, changed BPS_CONTACTOR CAN message ID to 0x102 instead of x101 (which is for BPS All Clear)

test commit

8615137

mostly working

8c3c16a

ReadTritium fixes

84a04c0

IshDeshpa force-pushed the check_main branch from 08dbe9e to e0c40ec Compare December 17, 2023 02:59

IshDeshpa added 2 commits December 16, 2023 21:13

removed duplicates

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Merge remote-tracking branch 'origin/master' into check_main

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Removed redundant code

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NathanielDelgado dismissed IshDeshpa’s stale review via 9c2e234 December 27, 2023 07:51

Merge branch 'master' into check_main

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IshDeshpa and others added 4 commits December 31, 2023 18:39

Apply suggestions from code review

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Co-authored-by: Diya Rajon <[email protected]> Co-authored-by: Madeleine Lee <[email protected]>

Merge branch 'master' into check_main

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addressed more review comments

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IshDeshpa merged commit 70b3526 into master Jan 2, 2024
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Update main.c #361

Update main.c #361

Cam0Cow commented Sep 30, 2023 •

edited

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Update main.c #361

Update main.c #361

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Cam0Cow commented Sep 30, 2023 • edited Loading

Quality Assurance Checklist

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Cam0Cow commented Sep 30, 2023 •

edited

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