Merge branch 'feature/param_server' of github.com:hytech-racing/MCU i…

…nto feature/param_server

lib/interfaces/include/EthernetInterface.h

@@ -1,15 +1,23 @@
-#ifndef __ETHERNETINTERFACE_H__
-#define __ETHERNETINTERFACE_H__
+#ifndef ETHERNETINTERFACE
+#define ETHERNETINTERFACE
+#include <QNEthernet.h>
 
-#include <Arduino.h>
-#include "QNEthernet.h"
+#include "circular_buffer.h"
 
-using namespace qindesign::network;
 
-EthernetUDP udp;
 
-uint8_t mac_address[6];
+class EthernetInterface
+{
+public:
+    EthernetInterface() {};
+    void begin(int port);
+    /// @brief sends all udp packets in queue
+    void handle_sending();
+    /// @brief receives all udp packets
+    void handle_recvs();
 
-void init_ethernet_device();
+private:
+    EthernetUDP udp_ethernet_;
+}
 
 #endif

lib/systems/include/ParameterSystem.h

@@ -1,56 +1,16 @@
-#pragma once
-#include <unordered_map>
+#ifndef PARAMETERSYSTEM
+#define PARAMETERSYSTEM
+#include "Parameters.h"
 
-namespace Parameters {
+template<typename T>
+void setParameter(T& paramType, float value) {
+    paramType.set(value);
+}
 
-class FloatParameter {
-public:
-    virtual float get() const = 0;
-    virtual void set(float value) = 0;
-    virtual ~FloatParameter() {}
-};
+template<typename T>
+auto getParameter(T& paramType){
+    return paramType.get();
+}
 
-class BoolParameter {
-public:
-    virtual bool get() const = 0;
-    virtual void set(bool value) = 0;
-    virtual ~BoolParameter() {}
-};
 
-class MaxSpeed : public FloatParameter {
-    float value;
-public:
-    MaxSpeed() : value(120.0) {}
-    float get() const override { return value; }
-    void set(float v) override { value = v; }
-};
-
-class Threshold : public FloatParameter {
-    float value;
-public:
-    Threshold() : value(0.75) {}
-    float get() const override { return value; }
-    void set(float v) override { value = v; }
-};
-
-class IsActive : public BoolParameter {
-    bool value;
-public:
-    IsActive() : value(false) {}
-    bool get() const override { return value; }
-    void set(bool v) override { value = v; }
-};
-
-MaxSpeed MaxSpeedInstance;
-Threshold ThresholdInstance;
-std::unordered_map<const char *, Parameters::FloatParameter*> floatLookupMap = {
-    {"b1fc2577", &MaxSpeedInstance},
-    {"0da627ad", &ThresholdInstance},
-};
-
-IsActive IsActiveInstance;
-std::unordered_map<const char *, Parameters::BoolParameter*> boolLookupMap = {
-    {"57401e59", &IsActiveInstance},
-};
-
-}
+#endif

lib/systems/library.json

@@ -7,7 +7,8 @@
       "shared-interfaces-lib": "*",
       "shared-systems-lib": "*",
       "CASE_lib": "*",
-      "shared_data": "*"
+      "shared_data": "*",
+      "HT_params_lib": "*"
     },
     "frameworks": "*",
     "platforms": "*"

platformio.ini

@@ -11,6 +11,7 @@ lib_ignore =
 test_ignore=
   test_interfaces*
 lib_deps=
+    https://github.com/hytech-racing/HT_params/releases/download/3/HT_params_lib.tar.gz 
     git+ssh://git@github.com/hytech-racing/CASE_lib.git#v39
     https://github.com/hytech-racing/shared_firmware_systems.git
 
@@ -42,17 +43,25 @@ board = teensy41
 framework = arduino
 upload_protocol = teensy-cli
 extra_scripts = pre:extra_script.py
+custom_nanopb_protos =
+    +<proto/ht_msgs.proto>
+
 lib_deps = 
     SPI
+    Nanopb
+    ssilverman/QNEthernet@^0.27.0
     https://github.com/hytech-racing/shared_firmware_interfaces.git
     https://github.com/hytech-racing/shared_firmware_systems.git
     https://github.com/RCMast3r/spi_libs
     https://github.com/tonton81/FlexCAN_T4
     https://github.com/ssilverman/QNEthernet.git
     https://github.com/RCMast3r/hytech_can#testing_new_inv_ids
     https://github.com/hytech-racing/HT_CAN/releases/download/80/can_lib.tar.gz
+    https://github.com/hytech-racing/HT_params/releases/download/3/HT_params_lib.tar.gz
+    https://github.com/tonton81/Circular_Buffer
     git+ssh://git@github.com/hytech-racing/CASE_lib.git#v39
 
+
 [env:test_can_on_teensy]
 lib_ignore =
     mock_interfaces

proto/ht_msgs.proto

@@ -0,0 +1,21 @@
+syntax = "proto3";
+
+package ht_eth;
+
+message config
+{       
+    string id = 1;
+    oneof config_val {
+        bool bool_val = 2;
+        float float_val = 3;
+        int32 int_val = 4;
+    }
+}
+
+message CASE_output
+{       
+    float vehm_fl_slip = 1;
+    float vehm_fr_slip = 2;
+    float vehm_rl_slip = 3;
+    float vehm_rr_slip = 4;
+}